Method and device for determining lane where vehicle is located, equipment, medium and vehicle
By acquiring and predicting the vehicle position trajectory and accurately determining the lane in which the vehicle is located, the problem of inaccurate vehicle positioning in complex intersections and short-term lane changes is solved, and the positioning accuracy is improved.
Patent Information
- Application Number
- CN202311516981.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-14
- Publication Date
- 2025-05-16
AI Technical Summary
In complex intersections or short-term lane changes, it is difficult for the prior art to accurately determine the lane where the vehicle is located, and mispositioning is prone to occur.
By obtaining the current and historical position of the vehicle, predicting the future position trajectory of the vehicle, judging the accuracy of the lane in which the vehicle is located, and ensuring the accurate determination of the lane in which the vehicle is located in in complex scenarios.
It improves the positioning accuracy of the lane in which the vehicle is located and reduces the possibility of mispositioning, especially in complex intersections and short-term lane changes.
Smart Images
Figure CN120014878A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of vehicle positioning technology, and in particular to a method, device, equipment, medium and vehicle for determining a lane in which a vehicle is located. Background Art
[0002] Without relying on navigation, the vehicle can locate the lane it is in through the inclusion relationship between the vehicle position and the lane position. However, if the vehicle is driving at a complex intersection or the vehicle changes lanes briefly, there will be a problem of mislocating the lane the vehicle is in. For example, at a complex intersection, multiple lanes are intertwined, and it is very easy to mislocate the lane the vehicle is in according to the inclusion relationship; in a short lane change scenario, the vehicle will change lanes and drive into other lanes for a short time, and then return to the original lane. At this time, according to the inclusion relationship, it will be determined that the vehicle is in the lane where the lane is changed, but in reality, the vehicle will return to the original lane after a short lane change, and in this scenario, the lane the vehicle is in should be identified as the original lane. Therefore, how to more accurately determine the lane the vehicle is in has become an urgent problem to be solved. Summary of the invention
[0003] In order to solve the above technical problems, the present disclosure provides a method, device, equipment, medium and vehicle for determining the lane in which a vehicle is located.
[0004] A first aspect of the present disclosure provides a method for determining a lane in which a vehicle is located, comprising:
[0005] Get the current first position of the vehicle;
[0006] determining whether the first position is within a target lane where the vehicle was located at a previous position of the first position;
[0007] When the first position is within the target lane, determining the target lane as the current lane in which the vehicle is located;
[0008] When the first position is outside the target lane, predicting a future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position to obtain a first predicted trajectory of the vehicle;
[0009] Obtain a second position of the vehicle subsequent to the first position;
[0010] Based on the positional relationship between the second position and the first predicted trajectory, a current lane of the vehicle is determined.
[0011] A second aspect of the present disclosure provides a device for determining a lane in which a vehicle is located, comprising:
[0012] A first acquisition module, used to acquire a current first position of the vehicle;
[0013] A determination module, used to determine whether the first position is within a target lane where the vehicle is located at a previous position of the first position;
[0014] A first determination module, configured to determine the target lane as the current lane where the vehicle is located when the first position is within the target lane;
[0015] a prediction module, configured to predict a future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position when the first position is outside the target lane, so as to obtain a first predicted trajectory of the vehicle;
[0016] A second acquisition module, used to acquire a second position of the vehicle after the first position;
[0017] The second determination module is used to determine the current lane of the vehicle based on the position relationship between the second position and the first predicted trajectory.
[0018] A third aspect of the present disclosure provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method for determining the lane of a vehicle according to the first aspect can be implemented.
[0019] A fourth aspect of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method for determining the lane of a vehicle according to the first aspect can be implemented.
[0020] The fifth aspect of the present disclosure provides a vehicle, including the device for determining the lane of the vehicle of the second aspect or the computer device of the third aspect or the computer-readable storage medium of the fourth aspect, which can implement the method for determining the lane of the vehicle of the first aspect.
[0021] Compared with the prior art, the technical solution provided by the present invention has the following advantages:
[0022] The present invention obtains a current first position of a vehicle; determines whether the first position is within a target lane where the vehicle was located at a previous position of the first position; when the first position is within the target lane, determines the target lane as the current lane where the vehicle is located; when the first position is outside the target lane, predicts the future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position to obtain a first predicted trajectory of the vehicle; obtains a second position of the vehicle after the first position; and determines the current lane where the vehicle is located based on the positional relationship between the second position and the first predicted trajectory. The lane where the vehicle is located can be determined based on the positional relationship between the vehicle position and the historical lanes, and the positional relationship between the vehicle position and the predicted trajectory of the vehicle, thereby improving the accuracy of positioning the lane where the vehicle is located. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.
[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0025] Figure 1 is a flow chart of a method for determining a lane in which a vehicle is located provided by an embodiment of the present disclosure;
[0026] Figure 2 is a flow chart of another method for determining a lane in which a vehicle is located provided by an embodiment of the present disclosure;
[0027] Figure 3 is a schematic structural diagram of a device for determining a lane in which a vehicle is located provided by an embodiment of the present disclosure;
[0028] Figure 4 It is a structural diagram of a computer device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION
[0029] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.
[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.
[0031] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.
[0032] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0033] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".
[0034] The method for determining the lane of a vehicle provided by the embodiment of the present disclosure may be executed by a computer device, which may be understood as any device with processing and computing capabilities, and may include but is not limited to electronic devices such as vehicle-mounted devices and computers.
[0035] In order to better understand the inventive concept of the embodiments of the present disclosure, the technical solutions of the embodiments of the present disclosure are described below in conjunction with exemplary embodiments.
[0036] Figure 1 is a flow chart of a method for determining a lane in which a vehicle is located provided by an embodiment of the present disclosure, such as Figure 1 As shown, the method for determining the lane in which the vehicle is located provided in this embodiment includes the following steps:
[0037] Step 110: Obtain the current first position of the vehicle.
[0038] In the disclosed embodiment, a computer device is provided in the vehicle, such as a vehicle computer device, and the computer device can obtain the current first position of the vehicle.
[0039] For example, the current first position of the vehicle in the world coordinate system may be obtained through a positioning device provided on the vehicle, or the current first position of the vehicle in the on-board map may be obtained through a positioning device provided on the vehicle, which is not limited here.
[0040] Step 120: Determine whether the first position is within a target lane where the vehicle was located at a previous position of the first position.
[0041] In the disclosed embodiment, the computer device can determine whether the first position is within the target lane where the previous position of the first position is located in combination with the lane position information in the map. The previous position of the first position can be understood as the previous adjacent position of the first position of the vehicle, and the target lane is the lane where the previous adjacent position of the first position of the vehicle is located.
[0042] For example, it is possible to determine whether the first position is within the target lane where the previous position of the first position is located based on the relationship between the first position and the lane boundary range of the target lane where the previous position of the first position is located. When the first position is within the lane boundary range of the target lane, it can be determined that the first position is within the target lane; and when the first position is outside the lane boundary range of the target lane, it can be determined that the first position is outside the target lane.
[0043] Step 130: When the first position is within the target lane, determine the target lane as the current lane where the vehicle is located.
[0044] In the disclosed embodiment, when the first position is within the target lane where the previous position of the first position is located, it indicates that the vehicle has not changed lanes and is still within the original lane, and the computer device may determine the target lane as the current lane where the vehicle is located.
[0045] Step 140: When the first position is outside the target lane, predict the future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position to obtain a first predicted trajectory of the vehicle.
[0046] In the disclosed embodiment, when the first position is outside the target lane, it means that the vehicle has changed lanes and is outside the original lane. The computer device can predict the future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position to obtain a first predicted trajectory of the vehicle.
[0047] For example, at least one historical position of the vehicle before the first position in the world coordinate system can be obtained from the stored historical data; or at least one historical position of the vehicle before the first position in the vehicle map can be obtained from the stored historical data; it is not limited here. The at least one historical position before the first position can be understood as multiple positions that the vehicle passed before the first position.
[0048] In some embodiments, the future position of the vehicle is predicted to obtain a first predicted trajectory of the vehicle, which may be obtained by fitting the first position and at least one historical position before the first position to obtain the first predicted trajectory of the vehicle. For example, based on a preset curve fitting algorithm, the first position and the trajectory points corresponding to at least one historical position before the first position may be fitted to obtain the first predicted trajectory of the vehicle. The preset curve fitting algorithm may include a least squares method or other curve fitting algorithm. For details, reference may be made to related technologies, which will not be described in detail here.
[0049] Step 150: Acquire a second position of the vehicle after the first position.
[0050] In the disclosed embodiment, after obtaining the first predicted trajectory of the vehicle, the computer device may obtain a second position of the vehicle after the first position.
[0051] The second position may be understood as the first position after the first position of the vehicle, that is, the next adjacent position to the first position.
[0052] The second position is the position of the vehicle in the world coordinate system after the vehicle passes the first position. For example, the second position of the vehicle after the first position can be obtained through the positioning device installed on the vehicle; or the second position of the vehicle in the vehicle map after the vehicle passes the first position can be obtained through the positioning device installed on the vehicle; this is not limited here. The computer device can obtain the second position of the vehicle after the first position in real time, or it can obtain the second position of the vehicle after the first position at preset time intervals. The preset time can be set as needed and is not limited here.
[0053] Step 160: Determine the current lane of the vehicle based on the positional relationship between the second position and the first predicted trajectory.
[0054] In the disclosed embodiment, when the first position is outside the first lane, the computer device may determine the current lane of the vehicle based on a positional relationship between a second position subsequent to the first position and the first predicted trajectory.
[0055] Specifically, it can be determined whether the second position is within a preset range of the first predicted trajectory. The preset range can be set as needed and is not limited here. At this time, the following two situations may occur, including situation A and situation B:
[0056] Case A: When the second position is within a preset range of the first predicted trajectory, the computer device may execute steps 1601-1602:
[0057] Step 1601: Obtain a first lane where a first position is located, where the first lane is the lane where the first position is located when the first position is outside a target lane.
[0058] Specifically, the computer device may determine the lane corresponding to the lane boundary range where the first position is located as the first lane where the first position is located. The first lane may be understood as the lane where the first position is located when the first position is outside the target lane.
[0059] Step 1602: Determine the current lane of the vehicle in the first lane and the lanes associated with the first lane.
[0060] The associated lanes of the first lane may include adjacent lanes and subsequent lanes of the first lane.
[0061] Case B: When the second position is outside the preset range of the first predicted trajectory, the computer device may execute steps 1611-1613:
[0062] Step 1611: Based on the second position and at least one historical position of the vehicle before the second position, predict the future position of the vehicle to obtain a second predicted trajectory of the vehicle.
[0063] The at least one historical position before the second position may be understood as a plurality of historical positions of the vehicle before the second position.
[0064] In some embodiments, the future position of the vehicle is predicted to obtain the second predicted trajectory of the vehicle, which may be obtained by fitting the second position and at least one historical position before the second position to obtain the second predicted trajectory of the vehicle. For example, based on a preset curve fitting algorithm, the second position and the trajectory points corresponding to at least one historical position before the second position may be fitted to obtain the second predicted trajectory of the vehicle. The preset curve fitting algorithm may include a least squares method or other curve fitting algorithm. For details, reference may be made to related technologies, which will not be described in detail here.
[0065] Step 1612: Obtain a third position of the vehicle after the second position.
[0066] The third position may be understood as the first position after the second position of the vehicle, that is, the next adjacent position to the second position.
[0067] The third position is the position of the vehicle in the world coordinate system after the vehicle passes the second position. For example, the third position of the vehicle after the second position can be obtained through the positioning device installed on the vehicle; or the third position of the vehicle in the vehicle map after the vehicle passes the second position can be obtained through the positioning device installed on the vehicle; this is not limited here. The computer device can obtain the third position of the vehicle after the second position in real time, or it can obtain the third position of the vehicle after the second position at preset time intervals. The preset time can be set as needed and is not limited here.
[0068] Step 1613: Determine the current lane of the vehicle based on the positional relationship between the third position and the second predicted trajectory.
[0069] Specifically, based on the positional relationship between the third position and the second predicted trajectory, the current lane of the vehicle is determined, and the computer device can determine whether the third position is within the preset range of the second predicted trajectory. At this time, the following two situations may occur, including situation C and situation D:
[0070] Case C: When the third position is within the preset range of the second predicted trajectory, the computer device may execute S11-S13:
[0071] S11. Obtain a second lane where the second position is located, where the second lane is the lane where the second position is located when the second position is outside the first lane.
[0072] Specifically, the computer device may determine the lane corresponding to the lane boundary range where the second position is located as the second lane where the second position is located.
[0073] S12: Determine a current lane in which the vehicle is located in the second lane and lanes associated with the second lane.
[0074] The associated lanes of the second lane may include adjacent lanes and subsequent lanes of the second lane.
[0075] S13. When the third position is outside a preset range of the second predicted trajectory, predict the future position of the vehicle based on the third position and at least one historical position of the vehicle before the third position to obtain a third predicted trajectory of the vehicle.
[0076] In some embodiments, the future position of the vehicle is predicted to obtain a third predicted trajectory of the vehicle, which may be obtained by fitting the third position and at least one historical position before the third position to obtain the third predicted trajectory of the vehicle. For example, based on a preset curve fitting algorithm, the third position and the trajectory points corresponding to at least one historical position before the third position may be fitted to obtain the third predicted trajectory of the vehicle. The preset curve fitting algorithm may include a least squares method or other curve fitting algorithm. For details, reference may be made to related technologies, which will not be described in detail here.
[0077] S14. Acquire a fourth position of the vehicle after the third position.
[0078] In the disclosed embodiment, after obtaining the third predicted trajectory of the vehicle, the computer device may obtain a fourth position of the vehicle after the third position.
[0079] The fourth position may be understood as the first position after the third position of the vehicle, ie, the next adjacent position to the third position.
[0080] The fourth position is the position of the vehicle in the world coordinate system after the vehicle passes the third position. For example, the fourth position of the vehicle after the third position can be obtained through the positioning device installed on the vehicle; or the fourth position of the vehicle in the vehicle map after the vehicle passes the third position can be obtained through the positioning device installed on the vehicle; this is not limited here. The computer device can obtain the fourth position of the vehicle after the third position in real time, or it can obtain the fourth position of the vehicle after the third position at preset time intervals. The preset time can be set as needed and is not limited here.
[0081] S15. Determine a current lane of the vehicle based on a positional relationship between the fourth position and the third predicted trajectory.
[0082] The specific process in the embodiment of the present disclosure is similar to the above-mentioned content of determining the current lane of the vehicle based on the positional relationship between the second position and the first predicted trajectory, and will not be repeated here.
[0083] And so on, until the current lane of the vehicle is determined.
[0084] Therefore, the current lane of the vehicle can be determined based on the positional relationship between the vehicle position and the predicted trajectory of the vehicle, which can improve the accuracy of the lane positioning of the vehicle.
[0085] In the disclosed embodiment, a first current position of the vehicle is acquired; it is determined whether the first position is within a target lane where the vehicle was located at a previous position of the first position; when the first position is within the target lane, the target lane is determined as the current lane where the vehicle is located; when the first position is outside the target lane, the future position of the vehicle is predicted based on the first position and at least one historical position of the vehicle before the first position to obtain a first predicted trajectory of the vehicle; a second position of the vehicle after the first position is acquired; and the current lane of the vehicle is determined based on the positional relationship between the second position and the first predicted trajectory. The current lane of the vehicle can be determined based on the positional relationship between the vehicle position and the historical lanes, as well as the positional relationship between the vehicle position and the predicted trajectory of the vehicle, thereby improving the accuracy of positioning the lane where the vehicle is located.
[0086] In some embodiments of the present disclosure, in the first lane and the associated lanes of the first lane, to determine the current lane where the vehicle is located, the computer device may execute Figure 2 A flow chart of a method for determining the lane in which a vehicle is located is provided, such as Figure 2 As shown, the method for determining the lane in which the vehicle is located provided in this embodiment includes the following steps:
[0087] Step 210: Acquire the left lane and the right lane of the first lane, as well as the subsequent lane of the first lane, the subsequent lane of the left lane, and the subsequent lane of the right lane.
[0088] In the disclosed embodiment, the computer device can obtain the left lane and the right lane of the first lane, as well as the subsequent lane of the first lane, the subsequent lane of the left lane, and the subsequent lane of the right lane from the map data. The first lane is the lane where the first position is located when the first position is outside the first lane.
[0089] Step 220: Connect the center points of the first lane and the lane following the first lane, the center points of the left lane and the lane following the left lane, and the center points of the right lane and the lane following the right lane, respectively, to obtain at least one lane centerline.
[0090] In the disclosed embodiment, the computer device may connect the center points of the first lane and the subsequent lane of the first lane to obtain the center line of the first lane;
[0091] Connect the center points of the left lane and the lane following the left lane to obtain the center line of the first lane;
[0092] Connect the center points of the right lane and the lane following the right lane to obtain the center line of the second lane.
[0093] Step 230: Calculate the degree of consistency between the center line of each lane and the first predicted trajectory.
[0094] In the disclosed embodiment, after obtaining at least one lane centerline, the computer device may calculate the degree of conformity of each lane centerline with the first predicted trajectory.
[0095] The degree of conformity between the lane centerline and the first predicted trajectory may be understood as the degree of matching or similarity between the lane centerline and the first predicted trajectory.
[0096] In some embodiments, calculating the degree of conformity between the center line of each lane and the first predicted trajectory may include steps 2301-2302:
[0097] Step 2301: For each lane centerline, calculate a fitting distance between the lane centerline and the first predicted trajectory.
[0098] In the disclosed embodiment, for each lane centerline, the computer device may calculate a fitting distance of the lane centerline fitted onto the first predicted trajectory.
[0099] The fitting distance can be understood as the sum of the minimum distances of each center point on the lane centerline moving to the first predicted trajectory, or it can be understood as the editing cost of fitting the lane centerline to the first predicted trajectory.
[0100] In some embodiments, for each lane centerline, calculating the fitting distance of the lane centerline to the first predicted trajectory may include S21-S22:
[0101] S21. For each lane centerline, calculate the real sequence edit distance of the lane centerline moving to the first predicted trajectory.
[0102] In the disclosed embodiment, Edit Distance on Real Sequence (EDR) can be understood as a character operation method for converting string A into string B using the least character operation. For details, reference may be made to related technologies and will not be repeated here.
[0103] In the disclosed embodiment, for each lane centerline, the computer device may calculate a real sequence edit distance of the lane centerline moving to the first predicted trajectory.
[0104] S22: Determine the real sequence edit distance as a fitting distance of the lane centerline fitted to the first predicted trajectory.
[0105] In the embodiment of the present disclosure, the computer device may determine the real sequence edit distance as a fitting distance of the lane centerline fitted to the first predicted trajectory.
[0106] Step 2302: Based on the fitting distance, determine the degree of consistency between the lane centerline and the first predicted trajectory, and the fitting distance is negatively correlated with the degree of consistency.
[0107] In the disclosed embodiment, the computer device can determine the degree of conformity between the lane centerline and the first predicted trajectory based on the fitting distance. The fitting distance is negatively correlated with the degree of conformity. The larger the fitting distance between the lane centerline and the first predicted trajectory, the smaller the degree of conformity between the lane centerline and the first predicted trajectory; the smaller the fitting distance between the lane centerline and the first predicted trajectory, the greater the degree of conformity between the lane centerline and the first predicted trajectory.
[0108] Step 240: Select the maximum degree of conformity from each degree of conformity as the target degree of conformity.
[0109] In the disclosed embodiment, after obtaining the degree of conformity between the center line of each lane and the first predicted trajectory, the computer device may select the maximum degree of conformity from among the degrees of conformity as the target degree of conformity.
[0110] Step 250: Determine the lane to which the lane centerline corresponding to the target matching degree belongs as the current lane where the vehicle is located.
[0111] In the disclosed embodiment, the computer device can determine the lane to which the lane centerline corresponding to the target consistency degree belongs as the current lane in which the vehicle is located, that is, determine the lane to which the lane centerline with the greatest degree of consistency with the first predicted trajectory belongs as the current lane in which the vehicle is located.
[0112] Therefore, the lane in which the vehicle is located can be determined based on the positional relationship between the vehicle position and the predicted trajectory of the vehicle, which can improve the accuracy of the positioning of the lane in which the vehicle is located.
[0113] Figure 3 is a schematic diagram of the structure of a device for determining the lane of a vehicle provided by an embodiment of the present disclosure, and the device can be understood as the above-mentioned computer device or a part of the functional modules in the above-mentioned computer device. Figure 3 As shown, the vehicle lane determination device 300 includes:
[0114] A first acquisition module 310 is used to acquire a current first position of the vehicle;
[0115] A determination module 320, for determining whether the first position is within a target lane where the vehicle is located at a previous position of the first position;
[0116] A first determination module 330, configured to determine the target lane as the current lane where the vehicle is located when the first position is within the target lane;
[0117] A prediction module 340, configured to predict a future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position when the first position is outside the target lane, to obtain a first predicted trajectory of the vehicle;
[0118] A second acquisition module 350 is used to acquire a second position of the vehicle after the first position;
[0119] The second determination module 360 is used to determine the current lane of the vehicle based on the position relationship between the second position and the first predicted trajectory.
[0120] Optionally, the prediction module includes:
[0121] The fitting submodule is used to fit the first position and at least one historical position before the first position to obtain a first predicted trajectory of the vehicle.
[0122] Optionally, the second determining module includes:
[0123] A determination submodule, used to determine whether the second position is within a preset range of the first predicted trajectory;
[0124] A first acquisition submodule is used to acquire a first lane where the first position is located when the second position is within a preset range of the first predicted trajectory, the first lane being the lane where the first position is located when the first position is outside the target lane;
[0125] A first determination submodule, configured to determine a current lane in which the vehicle is located in a first lane and lanes associated with the first lane;
[0126] a prediction submodule, configured to predict a future position of the vehicle based on the second position and at least one historical position of the vehicle before the second position to obtain a second predicted trajectory of the vehicle when the second position is outside a preset range of the first predicted trajectory;
[0127] A second acquisition submodule, used for acquiring a third position of the vehicle after the second position;
[0128] The second determination submodule is used to determine the current lane of the vehicle based on the positional relationship between the third position and the second predicted trajectory.
[0129] Optionally, the first determining submodule includes:
[0130] A first acquisition unit is used to acquire a left lane and a right lane of the first lane, and a subsequent lane of the first lane, a subsequent lane of the left lane, and a subsequent lane of the right lane;
[0131] a connecting unit, used to connect the center points of the first lane and the lane following the first lane, the center points of the left lane and the lane following the left lane, and the center points of the right lane and the lane following the right lane, respectively, to obtain at least one lane centerline;
[0132] A calculation unit, used to calculate the degree of conformity between the center line of each lane and the first predicted trajectory;
[0133] A screening unit, used for screening the maximum degree of conformity from various degrees of conformity as a target degree of conformity;
[0134] The first determining unit is used to determine the lane to which the lane centerline corresponding to the target matching degree belongs as the current lane where the vehicle is located.
[0135] Optionally, the above-mentioned calculation unit includes:
[0136] A calculation subunit, for calculating, for each lane centerline, a fitting distance between the lane centerline and the first predicted trajectory;
[0137] The determination subunit is used to determine the degree of consistency between the lane centerline and the first predicted trajectory based on the fitting distance, and the fitting distance is negatively correlated with the degree of consistency.
[0138] Optionally, the above-mentioned computing subunit includes:
[0139] A calculation component, for calculating, for each lane centerline, a real sequence edit distance of the lane centerline moving to the first predicted trajectory;
[0140] A determining component is used to determine the real sequence edit distance as a fitting distance of the lane centerline fitted to the first predicted trajectory.
[0141] Optionally, the second determining submodule includes:
[0142] a determination unit, configured to determine whether the third position is within a preset range of the second predicted trajectory;
[0143] A second acquisition unit, configured to acquire a second lane where the second position is located when the third position is within a preset range of the second predicted trajectory;
[0144] A second determining unit, configured to determine a current lane in which the vehicle is located in a second lane and a lane associated with the second lane;
[0145] a prediction unit, configured to predict a future position of the vehicle based on the third position and at least one historical position of the vehicle before the third position when the third position is outside a preset range of the second predicted trajectory, so as to obtain a third predicted trajectory of the vehicle;
[0146] A third acquiring unit, used for acquiring a fourth position of the vehicle after the third position;
[0147] The third determining unit is used to determine the current lane of the vehicle based on the positional relationship between the fourth position and the third predicted trajectory.
[0148] The device for determining the lane in which a vehicle is located provided in the embodiments of the present disclosure can implement the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.
[0149] The embodiments of the present disclosure also provide a computer device, which includes a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method of any of the above embodiments can be implemented, and its execution method and beneficial effects are similar and will not be repeated here.
[0150] Figure 4 is a schematic diagram of the structure of a computer device provided by an embodiment of the present disclosure, such as Figure 4As shown, the computer device 400 may include a processor 410 and a memory 420, wherein the memory 420 stores a computer program 421, and when the computer program 421 is executed by the processor 410, the method provided by any of the above embodiments can be implemented, and its execution method and beneficial effects are similar and will not be repeated here.
[0151] Of course, to simplify, Figure 4 Only some of the components related to the present invention in the computer device 400 are shown, and components such as a bus, an input / output interface, an input device, and an output device are omitted. In addition, according to specific application conditions, the computer device 400 may also include any other appropriate components.
[0152] An embodiment of the present disclosure provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.
[0153] The above-mentioned computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.
[0154] The computer program may be written in any combination of one or more programming languages to write program codes for performing the operations of the disclosed embodiments, including object-oriented programming languages such as Java, C++, etc., and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer device, partially on the user's device, as a separate software package, partially on the user's computer device and partially on a remote computer device, or entirely on a remote computer device or server.
[0155] An embodiment of the present disclosure provides a vehicle, which may include the above-mentioned device for determining the lane of the vehicle or the above-mentioned computer device or the above-mentioned computer-readable storage medium, and can implement the method of any of the above-mentioned embodiments. The execution method and beneficial effects are similar and will not be repeated here.
[0156] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.
[0157] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.
[0158] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A method for determining a lane in which a vehicle is located, characterized in that: include: Get the current first position of the vehicle; determining whether the first position is within a target lane where the vehicle was located at a previous position of the first position; When the first position is within the target lane, determining the target lane as the current lane where the vehicle is located; When the first position is outside the target lane, predicting a future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position to obtain a first predicted trajectory of the vehicle; Acquire a second position of the vehicle after the first position; Based on the positional relationship between the second position and the first predicted trajectory, a current lane of the vehicle is determined.
2. The method according to claim 1, characterized in that The predicting the future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position to obtain a first predicted trajectory of the vehicle includes: The first position and at least one historical position before the first position are fitted to obtain a first predicted trajectory of the vehicle.
3. The method according to claim 1, characterized in that The determining the current lane of the vehicle based on the positional relationship between the second position and the first predicted trajectory includes: determining whether the second position is within a preset range of the first predicted trajectory; When the second position is within a preset range of the first predicted trajectory, obtaining a first lane in which the first position is located, the first lane being the lane in which the first position is located when the first position is outside the target lane; Determining a current lane in which the vehicle is located among the first lane and lanes associated with the first lane; When the second position is outside a preset range of the first predicted trajectory, predicting a future position of the vehicle based on the second position and at least one historical position of the vehicle before the second position to obtain a second predicted trajectory of the vehicle; Acquire a third position of the vehicle after the second position; Based on the positional relationship between the third position and the second predicted trajectory, a current lane of the vehicle is determined.
4. The method according to claim 3, characterized in that The determining, in the first lane and the lanes associated with the first lane, the current lane in which the vehicle is located includes: Acquire a left lane and a right lane of the first lane, and a subsequent lane of the first lane, a subsequent lane of the left lane, and a subsequent lane of the right lane; Connecting the center points of the first lane and the lane following the first lane, the center points of the left lane and the lane following the left lane, and the center points of the right lane and the lane following the right lane, respectively, to obtain at least one lane centerline; Calculating the degree of conformity between the center line of each lane and the first predicted trajectory; Selecting the maximum degree of conformity from the degrees of conformity as the target degree of conformity; The lane to which the lane centerline corresponding to the target matching degree belongs is determined as the current lane in which the vehicle is located.
5. The method according to claim 4, characterized in that The calculating the degree of conformity between each lane centerline and the first predicted trajectory includes: For each lane centerline, calculating a fitting distance between the lane centerline and the first predicted trajectory; Based on the fitting distance, the degree of consistency between the lane centerline and the first predicted trajectory is determined, and the fitting distance is negatively correlated with the degree of consistency.
6. The method according to claim 5, characterized in that The step of calculating, for each lane centerline, a fitting distance between the lane centerline and the first predicted trajectory includes: For each lane centerline, calculating a real sequence edit distance of the lane centerline moving to the first predicted trajectory; The real sequence edit distance is determined as a fitting distance of the lane centerline fitted onto the first predicted trajectory.
7. The method according to claim 3, characterized in that The determining the current lane of the vehicle based on the positional relationship between the third position and the second predicted trajectory includes: Determining whether the third position is within a preset range of the second predicted trajectory; When the third position is within a preset range of the second predicted trajectory, obtaining a second lane in which the second position is located; Determining a current lane in which the vehicle is located in the second lane and lanes associated with the second lane; When the third position is outside a preset range of the second predicted trajectory, predicting a future position of the vehicle based on the third position and at least one historical position of the vehicle before the third position to obtain a third predicted trajectory of the vehicle; Acquire a fourth position of the vehicle after the third position; Based on the positional relationship between the fourth position and the third predicted trajectory, a current lane of the vehicle is determined.
8. A device for determining the lane in which a vehicle is located, characterized in that: include: A first acquisition module, used to acquire a current first position of the vehicle; A determination module, configured to determine whether the first position is within a target lane where the vehicle was located at a previous position of the first position; A first determination module, configured to determine the target lane as a current lane in which the vehicle is located when the first position is within the target lane; a prediction module, configured to predict a future position of the vehicle based on the first position and at least one historical position of the vehicle before the first position when the first position is outside the target lane, so as to obtain a first predicted trajectory of the vehicle; A second acquisition module, used for acquiring a second position of the vehicle after the first position; The second determination module is used to determine the current lane of the vehicle based on the position relationship between the second position and the first predicted trajectory.
9. A computer device, characterized in that: include: A memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method for determining the lane in which the vehicle is located as described in any one of claims 1 to 7 is implemented.
10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the method for determining the lane in which the vehicle is located according to any one of claims 1 to 7 is implemented.
11. A vehicle, characterized in that: The method comprises the device for determining the lane in which the vehicle is located as claimed in claim 8 or the computer device as claimed in claim 9 or the computer-readable storage medium as claimed in claim 10.