Method and device for determining lane where obstacle is located, equipment and medium

Abstract

The embodiment of the invention provides a method and device for determining a lane where an obstacle is located, equipment and a medium, and relates to the technical field of positioning of the lane where the obstacle is located. The method comprises the steps of determining left and right lane lines of a lane where a vehicle is located according to acquired lane line data information; determining a core area of a lane where the vehicle is located according to the left and right lane lines and a preset deviation algorithm; and determining the lane where the obstacle is located at the current moment according to the position relationship between the obstacle and the core area. The accuracy of determining the lane where the obstacle is located is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of positioning the lane where an obstacle is located, and in particular, to a method, device, equipment and medium for determining the lane where an obstacle is located. Background Art

[0002] With the continuous development of vehicle intelligence, the applications of autonomous driving and assisted driving are becoming more and more widespread. When a vehicle performs autonomous driving or assisted driving, it is necessary to detect obstacles around the vehicle body to determine the lane where the obstacle is located, so as to determine whether to avoid the obstacle. The accuracy of judging the lane where the obstacle is located determines the safety of autonomous driving and assisted driving. However, existing methods often have technical problems of low accuracy and large error in determining the lane where the obstacle is located. Summary of the Invention

[0003] In view of this, the embodiments of the present invention provide a method, device, equipment and medium for determining the lane where an obstacle is located, aiming to improve the accuracy of determining the lane where the obstacle is located.

[0004] The first aspect of the embodiments of the present invention provides a method for determining the lane where an obstacle is located, the method including:

[0005] Determine the left and right lane lines of the lane where the host vehicle is located according to the acquired lane line data information;

[0006] Determine the core area of the lane where the host vehicle is located according to the left and right lane lines and a preset deviation algorithm;

[0007] Determine the lane where the obstacle is located at the current moment according to the positional relationship between the obstacle and the core area.

[0008] Optionally, determining the core area of the lane where the host vehicle is located according to the left and right lane lines and a preset deviation algorithm includes:

[0009] Determine the horizontal coordinate of the position where the origin of the host vehicle body coordinate system is located as the lower boundary of the core area;

[0010] Calculate through the preset deviation algorithm according to the lower boundary to obtain the core area.

[0011] Optionally, before calculating through the preset deviation algorithm according to the lower boundary to obtain the core area, the method further includes:

[0012] Determine the first parameter and the second parameter of the preset deviation algorithm according to the width between the left and right lane lines;

[0013] Substitute the first parameter and the second parameter into the structural formula of the preset deviation algorithm to obtain the preset deviation algorithm.

[0014] Optionally, the determining the lane where the obstacle is located at the current moment according to the positional relationship between the obstacle and the core area includes:

[0015] Determine the coordinate position of the obstacle in the lane coordinate system of the lane where the self-vehicle is located;

[0016] According to the coordinate position, determine whether the obstacle is located in the core area;

[0017] When the obstacle is located in the core area, determine that the lane where the obstacle is located at the current moment is the lane where the self-vehicle is located.

[0018] Optionally, the method further includes:

[0019] When the obstacle is not located in the core area, determine the lane where the obstacle is located at the current moment and the corresponding probability according to the positional relationship between the coordinate position and the boundaries of the core area and the left and right lane lines respectively.

[0020] Optionally, the determining the lane where the obstacle is located at the current moment and the corresponding probability according to the positional relationship between the coordinate position and the boundaries of the core area and the left and right lane lines respectively when the obstacle is not located in the core area includes:

[0021] When the obstacle is not located in the core area, determine the relationship between the coordinate position and the boundaries of the core area and the left and right lane lines respectively;

[0022] When the coordinate position is on the right side of the left lane line and on the left side of the left boundary of the core area, determine that the lane where the obstacle is located at the current moment is the lane where the self-vehicle is located, and determine the ratio of the lateral distance between the coordinate position and the left lane line and the left boundary of the core area respectively as the probability that the obstacle is in the lane where the self-vehicle is located;

[0023] When the coordinate position is on the left side of the right lane line and on the right side of the right boundary of the core area, determine that the lane where the obstacle is located at the current moment is the lane where the self-vehicle is located, and determine the ratio of the lateral distance between the coordinate position and the right lane line and the right boundary of the core area respectively as the probability that the obstacle is in the lane where the self-vehicle is located.

[0024] Optionally, the determining the coordinate position of the obstacle in the lane coordinate system of the lane where the self-vehicle is located includes:

[0025] Determine the first coordinate position of the obstacle relative to the vehicle body coordinate system of the host vehicle;

[0026] According to the lateral distances between the coordinate origin of the vehicle body coordinate system of the host vehicle and the left and right lane lines respectively, determine the first lateral distance between the coordinate origin of the lane coordinate system of the lane where the host vehicle is located and the coordinate origin of the vehicle body coordinate system of the host vehicle;

[0027] According to the first coordinate position and the first lateral distance, determine the coordinate position of the obstacle relative to the lane coordinate system of the lane where the host vehicle is located.

[0028] Optionally, the method further includes:

[0029] According to the lane where the obstacle is located at the current moment and the corresponding probability and the lane where the obstacle was located at the previous moment of the current moment and the corresponding probability, determine the probability that the obstacle is in the lane where the host vehicle is located at the current moment and determine the probability that the obstacle was in the lane where the host vehicle is located at the previous moment of the current moment;

[0030] By performing filtering processing on the probability that the obstacle is in the lane where the host vehicle is located at the current moment and the probability that the obstacle was in the lane where the host vehicle is located at the previous moment of the current moment, obtain the target probability that the obstacle is in the lane where the host vehicle is located at the current moment.

[0031] The second aspect of the embodiments of the present invention provides a device for determining the lane where an obstacle is located, and the device includes:

[0032] A lane line determination module, configured to determine the left and right lane lines of the lane where the host vehicle is located according to the acquired lane line data information;

[0033] A core area determination module, configured to determine the core area of the lane where the host vehicle is located according to the left and right lane lines and a preset deviation algorithm;

[0034] A lane determination module, configured to determine the lane where the obstacle is located at the current moment according to the positional relationship between the obstacle and the core area;

[0035] The third aspect of the embodiments of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the computer program is executed by the processor, it implements a method for determining the lane where an obstacle is located as described in the first aspect of the present invention.

[0036] The fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, on which a computer program is stored, and characterized in that when the computer program is executed by a processor, it implements a method for determining the lane where an obstacle is located as described in the first aspect of the present invention.

[0037] According to the method for determining the lane where an obstacle is located provided by the embodiment of the present invention, based on the acquired lane line data information, the left and right lane lines of the lane where the host vehicle is located are determined; according to the left and right lane lines and a preset deviation algorithm, the core area of the lane where the host vehicle is located is determined; according to the positional relationship between the obstacle and the core area, the lane where the obstacle is located at the current moment is determined. In this embodiment, since as the lane lines continue to extend, there will be a deviation towards the middle at the far end of the lane lines, the present invention takes the deviation at the far end of the lane lines into consideration for determining the lane where the obstacle is located by constructing the core area, so as to improve the accuracy of determining the lane where the obstacle in front of the host vehicle is located. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 is a flowchart of a method for determining the lane where an obstacle is located shown in an embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of the core area in a method for determining the lane where an obstacle is located shown in an embodiment of the present invention;

[0041] Figure 3 is another schematic diagram of the core area in a method for determining the lane where an obstacle is located shown in an embodiment of the present invention;

[0042] Figure 4 is a structural block diagram of a device for determining the lane where an obstacle is located shown in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0044] Refer to Figure 1 , Figure 1 is a flowchart of a method for determining the lane where an obstacle is located shown in an embodiment of the present invention. As Figure 1 shown, the method for determining the lane where an obstacle is located in this embodiment may include the following steps:

[0045] Step S1: Determine the left and right lane lines of the lane where the host vehicle is located according to the acquired lane line data information.

[0046] In this embodiment, image data is collected by an image acquisition device configured in the vehicle. The lane line data information therein is determined by identifying the collected image data. By processing the lane line data information, the left and right lane lines of the lane where the host vehicle is located are determined. It should be understood that the above is only one implementation manner for determining the left and right lane lines of the lane where the host vehicle is located. In this embodiment, the left and right lane lines of the lane where the host vehicle is located can also be determined in various other implementation manners, which are not specifically limited herein.

[0047] Step S2: Determine the core area of the lane where the host vehicle is located according to the left and right lane lines and a preset deviation algorithm.

[0048] In this embodiment, since as the lane lines continue to extend, there will be a deviation towards the middle at the far end of the lane lines. Therefore, in the process of determining the lane where the obstacle is located based on the lane lines, the above deviation is also taken into account in the present invention to improve the accuracy of determining the lane where the obstacle is located. Specifically, after determining the left and right lane lines of the lane where the host vehicle is located, based on the left and right lane lines of the lane where the host vehicle is located, a calculation is performed through a preset deviation algorithm to obtain a core area in front of the lane where the host vehicle is located, as Figure 2 shown.

[0049] Step S3: Determine the lane where the obstacle is located at the current moment according to the positional relationship between the obstacle and the core area.

[0050] In this embodiment, after determining the core area of the lane where the host vehicle is located, the positional relationship between the obstacle and the core area is determined. When the obstacle is within the core area, it is determined that the lane where the obstacle is located at the current moment is the lane where the host vehicle is located. Based on the determination result of the lane where the obstacle is located, subsequent control operations on the host vehicle are performed.

[0051] Through the method for determining the lane where the obstacle is located provided by the embodiment of the present invention, the left and right lane lines of the lane where the host vehicle is located are determined according to the acquired lane line data information; the core area of the lane where the host vehicle is located is determined according to the left and right lane lines and a preset deviation algorithm; the lane where the obstacle is located at the current moment is determined according to the positional relationship between the obstacle and the core area. In this embodiment, since as the lane lines continue to extend, there will be a deviation towards the middle at the far end of the lane lines. Therefore, in the present invention, the deviation at the far end of the lane lines is taken into account in the determination of the lane where the obstacle is located by constructing a core area, so as to improve the accuracy of determining the lane where the obstacle in front of the host vehicle is located.

[0052] Combined with the above embodiments, in one implementation, the embodiments of the present invention further provide a method for determining the lane where an obstacle is located. In this method, in the above step S2, it includes steps S21 to S22:

[0053] Step S21: Determine the lateral coordinate of the position where the origin of the vehicle body coordinate system is located as the lower boundary of the core area.

[0054] In this embodiment, based on the vehicle body coordinate system, the lateral coordinate of the position where the origin of the vehicle body coordinate system is located is determined as the lower boundary of the core area of the lane where the vehicle is located. As Figure 2 shown, X represents the horizontal axis of the vehicle body coordinate system, Y represents the vertical axis of the vehicle body coordinate system. In Figure 2 determining the lateral coordinate of the position where the origin of the vehicle body coordinate system is located as the lower boundary of the core area of the lane where the vehicle is located is to determine the X-axis of the vehicle body coordinate system as the lower boundary of the core area of the lane where the vehicle is located. Figure 2 The X0 axis in

[0055] is the horizontal axis of the lane coordinate system of the lane where the vehicle is located, Y0 is the vertical axis of the lane coordinate system of the lane where the vehicle is located. The horizontal axis of the vehicle body coordinate system coincides with the horizontal axis of the lane coordinate system of the lane where the vehicle is located. The origin of the lane coordinate system of the lane where the vehicle is located is the midpoint of the two intersection points of the horizontal axis of the lane coordinate system of the lane where the vehicle is located and the left and right lane lines of the lane where the vehicle is located respectively.

[0056] Figure 2 In this embodiment, an initial core area is calculated through a preset deviation algorithm in the lane coordinate system of the lane where the vehicle is located. The area in the initial core area that is below the lower boundary on the vertical axis is deleted, and the remaining is the core area of the lane where the vehicle is located. As shown, the range area above the lower boundary in the range calculated through the preset deviation algorithm is the core area.

[0057] Combined with the above embodiments, in one implementation, the embodiments of the present invention further provide a method for determining the lane where an obstacle is located. In this method, before step S22, the method further includes steps S211 to S212:

[0058] Step S211: Determine the first parameter and the second parameter of the preset deviation algorithm according to the width between the left and right lane lines.

[0059] In this embodiment, since there are differences in the widths of lanes on different roads, and in order to adaptively determine the lane where an obstacle is located for lanes of different widths to ensure the driving safety of the host vehicle, the present invention constructs corresponding preset deviation algorithms for different lane widths. For example, for narrower lanes, corresponding preset deviation algorithms are constructed so that the longitudinal distance of the core area in the lane determined based on the corresponding preset deviation algorithm is greater. In this way, for narrower lanes, obstacles at farther distances are also monitored and the lanes where they are located are determined.

[0060] Specifically, first, the structural formula of the preset deviation algorithm is constructed. Then, a correspondence table between the lane width and the first parameter in the structural formula is pre-constructed. After determining the width between the left and right lane lines of the lane where the host vehicle is located, the first parameter corresponding to this width is obtained by referring to the correspondence table, and this first parameter is substituted into the structural formula of the preset deviation algorithm. Then, based on the width between the left and right lane lines, the intersections of the left and right lane lines with the horizontal axis of the lane coordinate system of the lane where the host vehicle is located are represented in this lane coordinate system, thereby obtaining two coordinates. These two coordinates are substituted into the structural formula of the preset deviation algorithm into which the first parameter has been substituted for calculation, and the value of the second parameter is obtained. By way of example, the structural formula of the preset deviation algorithm is y = kx 2 + b, where b is the first parameter and k is the second parameter. The lane width of the lane where the host vehicle is located is 10 meters. By referring to the pre-constructed correspondence table between the lane width and the first parameter, it is determined that when the lane width is 10 meters, the corresponding value of the first parameter is 25. Then, based on the lane width of 10 meters, the intersections of the left and right lane lines of the lane where the host vehicle is located with the horizontal axis of the lane coordinate system are represented as (-5, 0) and (5, 0) in this lane coordinate system. Then, these two coordinates and the first parameter are substituted into the structural formula of the preset deviation algorithm in the above example for calculation, and the value of the second parameter -1 is obtained.

[0061] Step S212: Substitute the first parameter and the second parameter into the structural formula of the preset deviation algorithm to obtain the preset deviation algorithm.

[0062] In this embodiment, after calculating the first parameter and the second parameter corresponding to the width between the left and right lane lines of the lane where the host vehicle is located in step S211, the first parameter and the second parameter are substituted into the structural formula of the preset deviation algorithm, and the preset deviation algorithm corresponding to the width between the left and right lane lines is obtained. By way of example, continuing with the above example, substituting the calculated first parameter 25 and second parameter -1 into the structural formula of the preset deviation algorithm, the preset deviation algorithm y = -x 2 + 25 is obtained.

[0063] Combined with the above embodiments, in one implementation manner, the embodiments of the present invention further provide a method for determining the lane where an obstacle is located. In this method, step S3 includes steps S31 to S33:

[0064] Step S31: Determine the coordinate position of the obstacle relative to the lane coordinate system of the lane where the self-vehicle is located.

[0065] In this embodiment, since the core area is determined based on the lane coordinate system of the lane where the self-vehicle is located during the determination process, one implementation manner of step S3 of the present invention is steps S31 to S33. Specifically: First, determine the coordinate position of the obstacle in the lane coordinate system of the lane where the self-vehicle is located.

[0066] Step S32: Determine whether the obstacle is located in the core area according to the coordinate position.

[0067] In this embodiment, based on the determined coordinate position of the obstacle in the lane coordinate system of the lane where the self-vehicle is located at the current moment, determine whether the obstacle is located in the core area of the lane where the self-vehicle is located at the current moment.

[0068] Step S33: When the obstacle is located in the core area, determine that the lane where the obstacle is located at the current moment is the lane where the self-vehicle is located.

[0069] In this embodiment, when it is determined that the obstacle is located in the core area of the lane where the self-vehicle is located at the current moment, determine that the obstacle is in the lane where the self-vehicle is located at the current moment.

[0070] Combined with the above embodiments, in one implementation manner, the embodiments of the present invention further provide a method for determining the lane where an obstacle is located. In this method, the method further includes step S33: When the obstacle is not located in the core area, determine the lane where the obstacle is located at the current moment and the corresponding probability according to the position relationship between the coordinate position and the boundaries of the core area and the left and right lane lines.

[0071] In this embodiment, as Figure 2 shown, when it is determined that the obstacle is not located in the core area of the lane where the self-vehicle is located at the current moment, determine the lane where the obstacle is located at the current moment and the corresponding probability according to the position relationship between the coordinate position of the obstacle at the current moment and the boundaries of the core area (including the left boundary and the right boundary of the core area) and the left and right lane lines. When the coordinate position of the obstacle at the current moment is closer to the boundary of the core area, the probability that the obstacle is in the lane where the self-vehicle is located at the current moment is higher; when the coordinate position of the obstacle at the current moment is farther from the boundary of the core area and is inside the left and right lane lines of the lane where the self-vehicle is located, the probability that the obstacle is in the lane where the self-vehicle is located at the current moment is lower.

[0072] Combined with the above embodiments, in one implementation, the embodiments of the present invention further provide a method for determining the lane where an obstacle is located. In this method, step S33 includes steps S331 to S333:

[0073] Step S331: When the obstacle is not located in the core area, determine the relationship between the coordinate position and the boundaries of the core area and the left and right lane lines respectively.

[0074] In this embodiment, when the obstacle is not located in the core area at the current moment, further determine the positional relationship between the coordinate position of the obstacle at the current moment and the boundaries of the core area of the lane where the vehicle is located and the left and right lane lines of the lane where the vehicle is located.

[0075] Step S332: When the coordinate position is on the right side of the left lane line and on the left side of the left boundary of the core area, determine that the lane where the obstacle is located at the current moment is the lane where the vehicle is located, and determine the ratio of the lateral distances between the coordinate position and the left lane line and the left boundary of the core area respectively as the probability that the obstacle is in the lane where the vehicle is located.

[0076] In this embodiment, when it is determined that the coordinate position of the obstacle at the current moment is on the right side of the left lane line of the lane where the vehicle is located and on the left side of the left boundary of the core area of the lane where the vehicle is located, determine that the lane where the obstacle is located at the current moment is the lane where the vehicle is located. At this time, further determine the first lateral distance between the coordinate position of the obstacle at the current moment and the left lane line of the lane where the vehicle is located in the lateral direction, and determine the second lateral distance between the coordinate position of the obstacle at the current moment and the left boundary of the core area of the lane where the vehicle is located in the lateral direction. Then, the result obtained by dividing the first lateral distance by the second lateral distance is determined as the probability that the obstacle is in the lane where the vehicle is located at the current moment. For example, as Figure 2 shown, Figure 2 Point B in is the coordinate position of the obstacle at the current moment in the lane coordinate system of the lane where the vehicle is located. It is determined that the first lateral distance between the coordinate position of the obstacle at the current moment and the left lane line of the lane where the vehicle is located in the lateral direction is AB, and at the same time, it is determined that the second lateral distance between the coordinate position of the obstacle at the current moment and the left boundary of the core area of the lane where the vehicle is located in the lateral direction is CB. The result of AB / CB is determined as the probability that the obstacle is in the lane where the vehicle is located at the current moment.

[0077] Step S333: When the coordinate position is to the left of the right lane line and to the right of the right boundary of the core area, determine that the lane where the obstacle is located at the current moment is the lane where the host vehicle is located, and determine the ratio of the lateral distances between the coordinate position and the right lane line and the right boundary of the core area respectively as the probability that the obstacle is in the lane where the host vehicle is located.

[0078] In this embodiment, when it is determined that the coordinate position of the obstacle at the current moment is to the left of the right lane line of the lane where the host vehicle is located and to the right of the right boundary of the core area of the lane where the host vehicle is located, it is determined that the lane where the obstacle is located at the current moment is the lane where the host vehicle is located. At this time, further determine the first lateral distance between the coordinate position of the obstacle at the current moment and the right lane line of the lane where the host vehicle is located in the lateral direction, and determine the second lateral distance between the coordinate position of the obstacle at the current moment and the right boundary of the core area of the lane where the host vehicle is located in the lateral direction. Then, the result obtained by dividing the first lateral distance by the second lateral distance is determined as the probability that the obstacle is in the lane where the host vehicle is located at the current moment. Exemplarily, as Figure 2 shown, Figure 2 In b point in is the coordinate position of the obstacle in the lane coordinate system of the lane where the host vehicle is located at the current moment. It is determined that the first lateral distance between the coordinate position of the obstacle at the current moment and the right lane line of the lane where the host vehicle is located in the lateral direction is ab, and at the same time, it is determined that the second lateral distance between the coordinate position of the obstacle at the current moment and the right boundary of the core area of the lane where the host vehicle is located in the lateral direction is cb. The result of ab / cb is determined as the probability that the obstacle is in the lane where the host vehicle is located at the current moment.

[0079] Combined with the above embodiments, in one implementation, the embodiments of the present invention further provide a method for determining the lane where an obstacle is located. In this method, step S31 includes steps S311 to S313:

[0080] Step S311: Determine the first coordinate position of the obstacle relative to the body coordinate system of the host vehicle.

[0081] In this embodiment, when the host vehicle locates the obstacle, it will be located based on the body coordinate system of the host vehicle, and the core area is determined based on the lane coordinate system of the lane where the host vehicle is located during the determination process. Therefore, when determining the positional relationship between the obstacle and the core area, it is necessary to convert the obstacle and the core area to the same coordinate system for determination. Therefore, one implementation of the present invention is to convert the spatial position of the obstacle determined by the host vehicle into a representation in the lane coordinate system of the lane where the host vehicle is located. Therefore, one implementation of step S31 of the present invention is steps S311 to S313. Specifically: Locate the obstacle through the host vehicle to determine the first coordinate position of the obstacle relative to the body coordinate system of the host vehicle.

[0082] Step S312: Determine a first lateral distance between the coordinate origin of the vehicle body coordinate system of the host vehicle and the coordinate origin of the lane coordinate system of the lane where the host vehicle is located according to the lateral distances between the coordinate origin of the vehicle body coordinate system of the host vehicle and the left and right lane lines respectively.

[0083] In this embodiment, by determining the lateral distances between the coordinate origin of the vehicle body coordinate system of the host vehicle and the left and right lane lines of the lane where the host vehicle is located respectively, the distance by which the host vehicle deviates from the middle of the lane where it is located can be determined. Based on this distance of deviation from the middle of the lane, the first lateral distance between the coordinate origin of the lane coordinate system of the lane where the host vehicle is located and the coordinate origin of the vehicle body coordinate system of the host vehicle can be determined. For example, if it is determined that the lateral distance between the coordinate origin of the vehicle body coordinate system of the host vehicle and the left lane line of the lane where the host vehicle is located is 3 meters, and the lateral distance between the coordinate origin of the vehicle body coordinate system of the host vehicle and the right lane line of the lane where the host vehicle is located is 7 meters, then it can be determined that the first lateral distance between the coordinate origin of the vehicle body coordinate system of the host vehicle and the coordinate origin of the lane coordinate system of the lane where the host vehicle is located is 2 meters to the left.

[0084] Step S313: Determine the coordinate position of the obstacle relative to the lane coordinate system of the lane where the host vehicle is located according to the first coordinate position and the first lateral distance.

[0085] In this embodiment, after determining the first coordinate position of the obstacle in the vehicle body coordinate system of the host vehicle and the first lateral distance between the coordinate origin of the vehicle body coordinate system of the host vehicle and the coordinate origin of the lane coordinate system of the lane where the host vehicle is located through the above steps S311 and S312, since the horizontal axes of the vehicle body coordinate system of the host vehicle and the lane coordinate system of the lane where the host vehicle is located coincide, based on this first coordinate position and the first lateral distance for calculation, the coordinate position of the obstacle relative to the lane coordinate system of the lane where the host vehicle is located at the current moment can be determined. For example, if it is determined that the first coordinate position of the obstacle in the vehicle body coordinate system of the host vehicle is (-1, 10), and the first lateral distance between the coordinate origin of the vehicle body coordinate system of the host vehicle and the coordinate origin of the lane coordinate system of the lane where the host vehicle is located is 2 meters to the left, since the horizontal axes of the vehicle body coordinate system of the host vehicle and the lane coordinate system of the lane where the host vehicle is located coincide, based on the first coordinate position (-1, 10) and the first lateral distance of 2 meters to the left, it can be determined that the coordinate position of the obstacle relative to the lane coordinate system of the lane where the host vehicle is located is (-3, 10).

[0086] In another embodiment of the present invention, as Figure 3As shown, the adjacent lanes of the lane where the host vehicle is located can also determine their corresponding core areas based on the same implementation manner as above. According to whether the obstacle is in each core area, it is determined whether the obstacle is in the lane where the host vehicle is located or in the left and right adjacent lanes of the lane where the host vehicle is located. When the obstacle is not in each core area, the lane where the obstacle is located and the corresponding probability are determined according to the relationship between the coordinate position of the obstacle and the lane lines and the boundaries of each core area. Specifically: Determine the width between the lane lines of the adjacent lane of the lane where the host vehicle is located, and based on this lane line width, construct a preset deviation algorithm corresponding to this lane line width through the same implementation manner as above. Then, the horizontal axis of the body coordinate system of the host vehicle is determined as the horizontal axis of the lane line coordinate system of this adjacent lane, and the midpoint of the intersection of the horizontal axis of the lane line coordinate system of this adjacent lane and the two lane lines of this adjacent lane is determined as the coordinate origin of the lane line coordinate system of this adjacent lane, and the positive direction of the vertical axis of the lane line coordinate system of this adjacent lane is determined to be the same as the positive direction of the vertical axis of the body coordinate system of the host vehicle. In the lane line coordinate system of this adjacent lane, the core area of this adjacent lane is calculated through the constructed preset deviation algorithm corresponding to this lane line width, and then the positional relationship between the obstacle and this core area is determined. When the obstacle is within the range of this core area, it is determined that the obstacle is in this adjacent lane; when the obstacle is not within the range of this core area, the relationship between the obstacle and the boundary of this core area and the lane lines of this adjacent lane is further determined. When the coordinate position of the obstacle is on the right side of the left lane line of this adjacent lane and on the left side of the left boundary of this core area, it is determined that the lane where the obstacle is located at the current moment is this adjacent lane, and the ratio of the horizontal distances between the coordinate position and the left lane line and the left boundary of this core area of this adjacent lane is determined as the probability that the obstacle is in this adjacent lane; when the coordinate position of the obstacle is on the left side of the right lane line of this adjacent lane and on the right side of the right boundary of this core area, it is determined that the lane where the obstacle is located at the current moment is this adjacent lane, and the ratio of the horizontal distances between the coordinate position of the obstacle and the right lane line and the right boundary of this core area of this adjacent lane is determined as the probability that the obstacle is in this adjacent lane. Among them, the adjacent lane can be the adjacent left lane of the lane where the host vehicle is located or the adjacent right lane of the lane where the host vehicle is located.

[0087] It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequence, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0088] Combined with the above embodiments, in one implementation manner, the embodiments of the present invention further provide a method for determining the lane where an obstacle is located. In this method, the method further includes steps S34 and S35:

[0089] Step S34: Determine the probability that the obstacle is in the lane where the host vehicle is located at the current moment and the probability that the obstacle was in the lane where the host vehicle was located at the previous moment of the current moment according to the lane where the obstacle is located at the current moment and the corresponding probability and the lane where the obstacle was located at the previous moment of the current moment and the corresponding probability.

[0090] In this embodiment, after calculating the lane where the obstacle is located at the current moment and the probability in that lane, the probability that the obstacle is in the lane where the host vehicle is located at the current moment is determined based on the lane where the obstacle is located at the current moment and the probability in that lane. For example, if it is calculated that the lane where the obstacle is located at the current moment is the adjacent lane on the left (or right) of the lane where the host vehicle is located, and the corresponding probability is 80%, then the probability that the obstacle is in the lane where the host vehicle is located at the current moment is determined to be 20%. Obtain the stored lane where the obstacle was located at the previous moment of the current moment and the probability in that lane, and determine the probability that the obstacle was in the lane where the host vehicle was located at the previous moment of the current moment based on the lane where the obstacle was located at the previous moment of the current moment and the probability in that lane. For example, if it is obtained that the lane where the obstacle was located at the previous moment of the current moment is the adjacent lane on the left (or right) of the lane where the host vehicle is located, and the corresponding probability is 60%, then the probability that the obstacle is in the lane where the host vehicle is located at the current moment is determined to be 40%.

[0091] Step S35: Obtain the target probability that the obstacle is in the lane where the host vehicle is located at the current moment by performing filtering processing on the probability that the obstacle is in the lane where the host vehicle is located at the current moment and the probability that the obstacle was in the lane where the host vehicle was located at the previous moment of the current moment.

[0092] In this embodiment, after obtaining the probability that the obstacle is in the lane where the host vehicle is located at the current moment and the probability that the obstacle was in the lane where the host vehicle was located at the previous moment of the current moment, substitute these two probabilities into the following formula 1 for filtering calculation to obtain the target probability that the obstacle is in the lane where the host vehicle is located at the current moment, and this target probability is the final probability for predicting that the obstacle is in the lane where the host vehicle is located at the current moment.

[0093] In this embodiment, formula 1 is: ProbFilt = Ceof * Prob + (1 - Ceof) * ProbK1.

[0094] Among them, ProbFilt represents the target probability that the obstacle is in the lane where the host vehicle is located at the current moment; ProbK1 represents the probability that the obstacle was in the lane where the host vehicle is located at the previous moment of the current moment; Prob represents the probability that the obstacle is in the lane where the host vehicle is located at the current moment; Ceof is a set filtering coefficient, which can be set according to the actual application scenario, such as set to 0.1.

[0095] Based on the same inventive concept, an embodiment of the present invention provides a device 400 for determining the lane where an obstacle is located. Refer to Figure 4 , Figure 4 which is a structural block diagram of a device for determining the lane where an obstacle is located shown in an embodiment of the present invention. As Figure 4 shown, the device 400 includes:

[0096] A lane line determination module 401, configured to determine the left and right lane lines of the lane where the host vehicle is located according to the acquired lane line data information;

[0097] A core area determination module 402, configured to determine the core area of the lane where the host vehicle is located according to the left and right lane lines and a preset deviation algorithm;

[0098] A lane determination module 403, configured to determine the lane where the obstacle is located at the current moment according to the positional relationship between the obstacle and the core area;

[0099] Optionally, the core area determination module 402 includes:

[0100] A lower boundary determination module, configured to determine the lateral coordinate of the position where the origin of the host vehicle body coordinate system is located as the lower boundary of the core area;

[0101] A core area determination sub-module, configured to calculate the core area through the preset deviation algorithm according to the lower boundary;

[0102] Optionally, the device 400 further includes:

[0103] A parameter determination module, configured to determine the first parameter and the second parameter of the preset deviation algorithm according to the width between the left and right lane lines;

[0104] A preset deviation algorithm determination module, configured to substitute the first parameter and the second parameter into the structural formula of the preset deviation algorithm to obtain the preset deviation algorithm;

[0105] Optionally, the lane determination module 403 includes:

[0106] A coordinate position determination module, configured to determine the coordinate position of the obstacle relative to the lane coordinate system of the lane where the host vehicle is located;

[0107] A position determination module, configured to determine whether the obstacle is located in the core area according to the coordinate position;

[0108] A lane determination sub-module, configured to determine that the lane where the obstacle is located at the current moment is the lane where the host vehicle is located when the obstacle is located in the core area.

[0109] Optionally, the apparatus 400 further includes:

[0110] A lane probability determination module, configured to determine the lane where the obstacle is located at the current moment and the corresponding probability according to the positional relationship between the coordinate position and the boundaries of the core area and the left and right lane lines when the obstacle is not located in the core area.

[0111] Optionally, the lane probability determination module includes:

[0112] A positional relationship determination module, configured to determine the relationships between the coordinate position and the boundaries of the core area and the left and right lane lines respectively when the obstacle is not located in the core area;

[0113] A first lane probability determination module, configured to determine that the lane where the obstacle is located at the current moment is the lane where the host vehicle is located and determine the ratio of the lateral distances between the coordinate position and the left lane line and the left boundary of the core area respectively as the probability that the obstacle is in the lane where the host vehicle is located when the coordinate position is on the right side of the left lane line and on the left side of the left boundary of the core area;

[0114] A second lane probability determination module, configured to determine that the lane where the obstacle is located at the current moment is the lane where the host vehicle is located and determine the ratio of the lateral distances between the coordinate position and the right lane line and the right boundary of the core area respectively as the probability that the obstacle is in the lane where the host vehicle is located when the coordinate position is on the left side of the right lane line and on the right side of the right boundary of the core area.

[0115] Optionally, the coordinate position determination module includes:

[0116] A first coordinate position determination module, configured to determine the first coordinate position of the obstacle relative to the body coordinate system of the host vehicle;

[0117] A lateral distance determination module, configured to determine the first lateral distance between the coordinate origin of the lane coordinate system of the lane where the host vehicle is located and the coordinate origin of the body coordinate system of the host vehicle according to the lateral distances between the coordinate origin of the body coordinate system of the host vehicle and the left and right lane lines respectively;

[0118] A coordinate position determination sub-module, configured to determine the coordinate position of the obstacle with respect to the lane coordinate system of the lane where the host vehicle is located according to the first coordinate position and the first lateral distance.

[0119] Based on the same inventive concept, another embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it implements a method for determining the lane where an obstacle is located as described in the first aspect of the present invention.

[0120] Based on the same inventive concept, another embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. The computer program, when executed by a processor, implements a method for determining the lane where an obstacle is located as described in the first aspect of the present invention.

[0121] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, refer to the partial description of the method embodiments.

[0122] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0123] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention can take the form of completely hardware embodiments, completely software embodiments, or embodiments combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0124] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0125] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one process or multiple processes and / or one block or multiple blocks in the process Figure 1 one process or multiple processes and / or Figure 1 one block or multiple blocks.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, such that a series of operational steps are performed on the computer or other programmable terminal device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable terminal device provide steps for implementing the functions specified in one process or multiple processes and / or one block or multiple blocks in the process Figure 1 one process or multiple processes and / or Figure 1 one block or multiple blocks.

[0127] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0128] Finally, it should also be noted that in this text, 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 term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the element.

[0129] The above has introduced in detail a method, apparatus, device and medium for determining the lane where an obstacle is located provided by the present invention. Specific examples are used in this text to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A method for determining the lane where an obstacle is located, characterized in that: The method comprises: According to the acquired lane line data information, determine the left and right lane lines of the lane where the vehicle is located; Determine the core area of ​​the lane where the vehicle is located according to the left and right lane lines and the preset deviation algorithm; The lane where the obstacle is currently located is determined according to the positional relationship between the obstacle and the core area.

2. A method for determining the lane where an obstacle is located according to claim 1, characterized in that: According to the left and right lane lines and the preset deviation algorithm, the core area of ​​the lane where the vehicle is located is determined, including: Determine the lateral coordinate of the origin of the vehicle body coordinate system as the lower boundary of the core area; The core area is obtained by calculating according to the lower boundary through the preset deviation algorithm.

3. A method for determining the lane where an obstacle is located according to claim 2, characterized in that: Before obtaining the core area by calculating according to the lower boundary through the preset deviation algorithm, the method further includes: Determining a first parameter and a second parameter of the preset deviation algorithm according to the width between the left and right lane lines; Substituting the first parameter and the second parameter into the structural formula of the preset deviation algorithm, the preset deviation algorithm is obtained.

4. The method for determining the lane where an obstacle is located according to claim 1, characterized in that: The determining, based on the positional relationship between the obstacle and the core area, the lane in which the obstacle is currently located, includes: Determine the coordinate position of the obstacle relative to the lane coordinate system of the lane where the vehicle is located; Determining whether the obstacle is located in the core area according to the coordinate position; When the obstacle is located in the core area, the lane where the obstacle is currently located is determined to be the lane where the vehicle is located.

5. The method for determining the lane where an obstacle is located according to claim 4, characterized in that: The method further comprises: When the obstacle is not located in the core area, the lane where the obstacle is currently located and the corresponding probability are determined according to the positional relationship between the coordinate position and the boundary of the core area and the left and right lane lines.

6. The method for determining the lane where an obstacle is located according to claim 5, characterized in that: When the obstacle is not located in the core area, determining the lane where the obstacle is currently located and the corresponding probability according to the positional relationship between the coordinate position and the boundary of the core area and the left and right lane lines, respectively, includes: In the case where the obstacle is not located in the core area, determining the relationship between the coordinate position and the boundary of the core area and the left and right lane lines respectively; When the coordinate position is located on the right side of the left lane line and on the left side of the left boundary of the core area, the lane where the obstacle is currently located is determined to be the lane where the vehicle is located, and the ratio of the coordinate position to the lateral distance between the left lane line and the left boundary of the core area is determined as the probability that the obstacle is in the lane where the vehicle is located; When the coordinate position is located on the left side of the right lane line and on the right side of the right boundary of the core area, it is determined that the lane where the obstacle is currently located is the lane where the own vehicle is located, and the ratio of the coordinate position to the lateral distance between the right lane line and the right boundary of the core area is determined as the probability that the obstacle is in the lane where the own vehicle is located.

7. The method for determining the lane where an obstacle is located according to claim 4, characterized in that: Determining the coordinate position of the obstacle relative to the lane coordinate system of the lane where the vehicle is located includes: Determine a first coordinate position of the obstacle relative to the vehicle's body coordinate system; Determine a first lateral distance between the coordinate origin of the lane coordinate system of the lane where the vehicle is located and the coordinate origin of the body coordinate system of the vehicle according to the lateral distances between the coordinate origin of the body coordinate system of the vehicle and the left and right lane lines respectively; The coordinate position of the obstacle relative to the lane coordinate system of the lane where the vehicle is located is determined according to the first coordinate position and the first lateral distance.

8. A device for determining the lane where an obstacle is located, characterized in that: The device comprises: A lane line determination module is used to determine the left and right lane lines of the lane where the vehicle is located based on the acquired lane line data information; A core area determination module, used to determine the core area of ​​the lane where the vehicle is located according to the left and right lane lines and a preset deviation algorithm; The lane determination module is used to determine the lane in which the obstacle is currently located based on the positional relationship between the obstacle and the core area.

9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, a method for determining a lane where an obstacle is located is implemented as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a method for determining a lane where an obstacle is located is implemented as described in any one of claims 1 to 7.

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