Device for measuring distance between wheel and lane line and recording track, installation method, use method, storage medium and electronic equipment

Abstract

The invention discloses a wheel and lane line distance measurement and track recording device, an installation method, a use method, a storage medium and electronic equipment, the device comprises a cross beam, the cross beam is transversely arranged along a measured vehicle, and the center point of the cross beam is located on the longitudinal section of the measured vehicle; the vehicle acquisition devices are fixed at two ends of the center of the cross beam, and the center point of the image coincides with the center point of a wheel outside grounding line; the inertial navigation equipment is used for outputting position information of a reference point of the inertial navigation equipment, and the data recording and processing device is used for storing and processing the obtained image so as to obtain the distance from the outer edge of the wheel to the lane line. According to the invention, the accurate distance between the wheel and the lane line can be rapidly obtained, and the vehicle driving track and the longitude and latitude coordinates of the lane line can be obtained based on the longitude and latitude point coordinates of the reference point on the inertial navigation equipment, so that the vehicle driving track and the lane line can be rapidly drawn.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle assisted driving, and specifically relates to a wheel-to-lane line distance measurement and track recording device, an installation method, a use method, a storage medium and an electronic device. Background Art

[0002] In the development and evaluation of intelligent driving assistance technology, the distance between the vehicle's wheels and the lane line is an important technical indicator. For example, in the test and evaluation of the lane centering system of the lane departure warning system, the distance between the vehicle's wheels and the lane line is a data indicator that must be collected.

[0003] In the related art, before using equipment to measure the distance between the wheel and the lane line, it is necessary to manually mark the latitude and longitude information of the lane line to determine the position of the lane line. During the test, the position and heading angle of a certain measuring point on the vehicle are recorded, and the installation position of the wheel relative to the measuring point is obtained by manual measurement before the test, so as to calculate the distance between the wheel and the lane line. However, the above test requires a lot of manpower. Due to the use of manual marking of lane lines, for safety reasons, the test can only be carried out in a closed area, which indirectly increases the test cost. Summary of the invention

[0004] The purpose of the present invention is to provide a wheel-to-lane line distance measurement and track recording device, installation method, use method, storage medium and electronic device to solve the problems in the prior art.

[0005] To this end, the present invention provides a device for measuring the distance between a wheel and a lane line and a track recording device, an installation method, a use method, a storage medium and an electronic device, including:

[0006] A device for measuring the distance between a wheel and a lane line and recording a track, installed above a vehicle, comprises a crossbeam, the crossbeam is arranged transversely along the measured vehicle, and the center point of the crossbeam is located on the longitudinal section of the measured vehicle;

[0007] Image acquisition device;

[0008] A data recording and processing device is fixedly installed above the crossbeam, and the data recording and processing device is electrically connected to the image acquisition device;

[0009] The inertial navigation device is used to output the position information of its reference point. The inertial navigation device is fixed on the crossbeam so that the reference point on the inertial navigation device is located on the longitudinal section of the vehicle under test.

[0010] Optionally, both ends of the cross beam are fixed with fixing devices, and the fixing devices are used to fix the cross beam above the vehicle;

[0011] The image acquisition device comprises a first image acquisition device and a second image acquisition device, wherein the first image acquisition device and the second image acquisition device are respectively arranged at two ends symmetrically along the center point of the beam;

[0012] A first mounting plate and a second mounting plate are fixed to both ends of the crossbeam, respectively, the first mounting plate is used to fix the first image acquisition device, and the second mounting plate is used to fix the second image acquisition device;

[0013] A third mounting plate is fixed to the upper end of the center of the crossbeam, and the third mounting plate is used to fix the data recording and processing device. The inertial navigation device is fixed above the data recording and processing device.

[0014] Optionally, a first engraved mark is provided at the center point of the crossbeam, and the first engraved mark is used to align the center of the crossbeam with the longitudinal center line of the vehicle;

[0015] Both ends of the crossbeam are provided with second engraved marks, and the second engraved marks facilitate identification of the distance between the first image acquisition device and the second image acquisition device and the center point of the crossbeam;

[0016] The inertial navigation device is installed so that its surface reference point is located vertically above the center point of the front axle of the vehicle.

[0017] Also included is a method for measuring the distance between a wheel and a lane line and installing a track recording device based on any one of the above items, comprising:

[0018] Placing a fixture at the front of the vehicle under test so that the crossbeam is placed transversely of the vehicle and the two fixtures are symmetrical along the longitudinal axis of the vehicle under test;

[0019] Adjusting the position of the crossbeam along the axial direction of the crossbeam so that the center point of the crossbeam is located on the longitudinal section of the vehicle under test, and fixing the crossbeam by a fastening device;

[0020] Adjust the positions of the first mounting plate and the second mounting plate along the axial direction of the crossbeam, observe the real-time image, make the longitudinal center line of the real-time image coincide with the grounding line on the outer side of the wheel along the driving direction of the measured vehicle, and adjust the angles of the first mounting plate and the second mounting plate along the circumferential direction of the crossbeam, observe the real-time image, make the center point of the image align with the center point of the grounding line on the outer side of the wheel, and then fix the first mounting plate and the second mounting plate;

[0021] The third mounting plate is adjusted along the axial direction of the crossbeam so that the reference point on the surface of the inertial navigation device and the center point of the crossbeam are located on the same longitudinal plane.

[0022] Also included is a method for measuring the distance between a wheel and a lane line and using a track recording device based on any one of the above items, comprising:

[0023] Calibrate the image acquisition device to obtain internal parameters and installation parameters of the image acquisition device to obtain the physical distance between specified points in the image;

[0024] Obtain a road image containing lane lines and a wheel image on the corresponding side, and save the position information of the inertial navigation device reference point;

[0025] Saving and processing the road image, identifying lane line edges, and obtaining position information of lane line edges in the image;

[0026] Determine the distance from the lane line edge to a specified point in the image based on the position information of the lane line edge in the road image;

[0027] Determine the distance from the wheel outer edge grounding line to the lane line based on the distance from the lane line edge to the designated point in the image;

[0028] Determine the position deviation between the sampling point of the lane line and the reference point of the inertial navigation device based on the position information of the reference point of the inertial navigation device;

[0029] Determine the position information of the sampling point of the lane line based on the position deviation;

[0030] The running track of the vehicle under test and the corresponding lane line position are determined based on the position information of the sampling points of the lane line.

[0031] Optionally, when calibrating the image acquisition device, a checkerboard pattern is placed below the image acquisition device to achieve calibration.

[0032] Optionally, the step of processing the road image comprises:

[0033] Convert the acquired color image into a grayscale image;

[0034] Applying Gaussian blur to the grayscale image to reduce noise of the grayscale image;

[0035] identifying edges of the grayscale image to which Gaussian blur has been applied using an edge detection algorithm;

[0036] Applying Hough transform to the edge detection result to extract line segments in the image;

[0037] Filter and merge the detected line segments, remove the line segments that do not meet the lane line characteristics, and obtain the lane line equation in the image coordinate system;

[0038] The lane line equation in the image coordinate system is converted into the lane line equation in the physical coordinate system, and the physical distance between the lane line and the specified point in the image is calculated.

[0039] Optionally, the designated point in the image coincides with the center of the outer edge of the wheel contact surface to obtain the distance from the wheel edge to the lane line.

[0040] Optionally, the specific steps of determining the running track of the tested vehicle and the position of the corresponding lane line include:

[0041] The location information of the reference point includes at least longitude and latitude coordinates;

[0042] The longitude and latitude coordinates of the reference point, the angle between the vehicle and the north direction, the position deviation between the image reference point and the lane line sampling point, and the vehicle width are input into the longitude and latitude calculation model formula to obtain the longitude and latitude coordinates of the driving trajectory of the measured vehicle and the longitude and latitude coordinates of the corresponding lane line.

[0043] It also includes a computer-readable storage medium that stores a computer program for measuring the distance between the wheel and the lane line and a method for using the trajectory recording device, wherein the computer program enables a computer to execute the method for measuring the distance between the wheel and the lane line and a method for using the trajectory recording device as described in any of the above items.

[0044] Also included is an electronic device, comprising:

[0045] one or more processors; memory; and

[0046] One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, the programs including a method for performing the measurement of the distance between the wheel and the lane line and the use of the trajectory recording device as described in any one of the above claims.

[0047] Beneficial effects:

[0048] 1. The present invention can conveniently and quickly fix the measuring device on the measured vehicle through a simple positioning method. By calibrating the parameters of the image acquisition device and the corresponding image processing and calculation, the accurate distance between the wheel and the lane line can be quickly obtained. At the same time, based on the longitude and latitude coordinates of the reference point on the inertial navigation device, the longitude and latitude coordinates of the vehicle's driving trajectory and the lane line can be obtained to quickly draw the vehicle's driving trajectory and the lane line.

[0049] 2. The present invention overcomes the problems of slow speed in the prior art of measuring the latitude and longitude coordinates of sampling points on lane lines by manual dot marking, and the need to measure in a closed place, which leads to increased indirect costs and inconvenient measurement. It can realize the measurement of wheels and lane lines and the drawing of vehicle driving trajectories and lane lines in any road environment.

[0050] 3. The inertial navigation device in the measuring device of the present invention is directly installed above the crossbeam. Compared with the prior art of installing the inertial navigation device in the vehicle, the present invention can more easily install and measure the position of the reference point of the inertial navigation device relative to the specified point on the vehicle, so as to more conveniently measure the distance between the wheel and the lane line.

[0051] 4. The present invention provides a first mounting plate and a second mounting plate at both ends of the beam, and image acquisition devices are correspondingly installed on the first mounting plate and the second mounting plate. At the same time, the first mounting plate and the second mounting plate can move relative to the beam before being fixed. After the image acquisition device is debugged to the accurate position, the mounting plate is fixed by a fastening device, which is convenient to operate and the debugging process is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] 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, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 A schematic longitudinal section diagram of a tested vehicle equipped with a wheel-lane line spacing and a trajectory recording device provided by the present invention.

[0054] Figure 2 A schematic diagram of a tested vehicle equipped with a wheel-lane line spacing and a trajectory recording device provided by the present invention.

[0055] Figure 3 A schematic diagram of calculating the longitude and latitude coordinates of a lane line based on the longitude and latitude of the center point of the front axle of the tested vehicle provided by the present invention.

[0056] In the figure: 1. vehicle under test; 2. first fixing device; 3. second fixing device; 4. fastening device; 5. crossbeam; 6. first mounting plate; 7. second mounting plate; 8. third mounting plate; 9. first image acquisition device; 10. second image acquisition device; 11. data recording and processing device; 12. inertial navigation equipment. DETAILED DESCRIPTION

[0057] The content of the present invention can be more easily understood by selecting the following detailed description of the preferred implementation method of the present invention and the embodiments included. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those of ordinary skill in the art to which the present invention belongs. When there is a conflict, the definition in this specification shall prevail.

[0058] In the description of the present invention, "vertical", "longitudinal" and "lateral" are consistent with the definitions of various directions of wheels generally recognized in the art, that is, "vertical" refers to the height direction of the vehicle, "longitudinal" refers to the length direction of the vehicle, and "lateral" refers to the width direction of the vehicle.

[0059] like Figure 1-2 As shown, a device for measuring the distance between a wheel and a lane line and recording a track is installed above a vehicle, and includes a first fixing device 2 and a second fixing device 3, which can be installed and positioned on the vehicle. In some embodiments, the first fixing device 2 and the second fixing device 3 are fixed on the front hood of the vehicle 1 under test. A crossbeam 5 is arranged on the first fixing device 2 and the second fixing device 3, and the crossbeam 5 is arranged along the lateral direction of the vehicle 1 under test, and the center point of the crossbeam 5 is located on the longitudinal section of the vehicle 1 under test. The crossbeam 5 can move relative to the first fixing device 2 and the second fixing device 3, such as axial movement along the crossbeam 5 and circumferential movement along the crossbeam 5, and the crossbeam 5 can be locked on the fixing device by a fastening device 4 to keep the crossbeam 5 at a determined relative position.

[0060] A first image acquisition device 9 and a second image acquisition device 10 are fixed at both ends of the crossbeam 5, respectively. After the image acquisition devices are fixed at relative positions on the crossbeam 5, the longitudinal center lines of the images acquired by the first image acquisition device 9 and the second image acquisition device 10 coincide with the ground contact line outside the wheel along the coordinate axis X direction, and the center point of the image coincides with the center point of the ground contact line outside the wheel, wherein the origin of the above coordinate axis is located at the center of the front axle of the vehicle, the X axis points to the forward direction of the vehicle, and the Z axis points to the opposite direction of the gravitational acceleration. The longitudinal section refers to the XZ plane, and the Y axis is perpendicular to the XZ plane, that is, the center point of the crossbeam 5 is located on the XZ plane.

[0061] A data recording and processing device 11 is installed at the upper end of the crossbeam 5. The data recording and processing device 11 is used to save and process the images taken by the first image acquisition device 9 and the second image acquisition device 10, and perform image processing, identify the lane line edge, obtain the position of the lane line edge in the image, and calculate the distance from the lane line edge to the specified point in the image, thereby obtaining the distance from the wheel outer edge grounding line to the lane line.

[0062] An inertial navigation device 12 is fixed on the data recording and processing device 11, and a reference point is set on the inertial navigation device 12. The longitude and latitude coordinates of the reference point, the angle between the vehicle and the north direction, the distance between the image reference point and the lane line sampling point, and the vehicle width are input into the longitude and latitude calculation model formula to obtain the longitude and latitude coordinates of the driving trajectory of the measured vehicle 1 and the longitude and latitude coordinates of the corresponding lane line. The positional relationship between the vehicle or wheel and the lane line at any time or position can be obtained, and the vehicle driving trajectory and lane line can be drawn.

[0063] Optionally, in some embodiments, the first image acquisition device 9 and the second image acquisition device 10 are cameras, through which the road image is acquired, and the image acquisition device is connected to the data recording and processing device 11 through a data line, so that the captured image can be transmitted to the data recording and processing device 11 for storage and subsequent image processing. In some embodiments, the data recording and processing device 11 can be an industrial computer running a related program.

[0064] Optionally, the first fixing device 2 and the second fixing device 3 are fixed at both ends of the cross beam 5, and in some embodiments, only one fixing device may be provided, which is fixed at the center of the cross beam 5, and can ensure that the cross beam 5 is stable when placed horizontally on the vehicle, and no specific limitation is made here. In some embodiments, the first fixing device 2 and the second fixing device 3 include a suction cup at the bottom and a support rod at the upper end of the suction cup, and a fastening device 4 is provided at the end of the support rod, and the cross beam 5 is in the fastening device 4. After the first image acquisition device 9 and the second image acquisition device 10 are adjusted to the specified position, the fastening device 4 can be adjusted to keep the cross beam 5 fixed. In some embodiments, the fastening device 4 can be a clamp.

[0065] Optionally, a first mounting plate 6 and a second mounting plate 7 are respectively fixed at both ends of the beam 5, the first mounting plate 6 is used to fix the first image acquisition device 9, and the second mounting plate 7 is used to fix the second image acquisition device 10. The first mounting plate 6 and the second mounting plate 7 can be fixed at both ends of the beam 5 by a fastening device 4.

[0066] Optionally, a third mounting plate 8 is fixed to the upper end at the center of the cross beam 5, a data recording and processing device 11 is fixed above the third mounting plate 8, an inertial navigation device is fixed above the data recording and processing device 11, and the inertial navigation device 12 is installed so that the reference point of its surface is located vertically above the center point of the front axle of the vehicle.

[0067] Among them, the inertial navigation device 12 is based on Newton's laws of motion. It mainly uses two sensors, an accelerometer and a gyroscope, to work. The accelerometer is used to measure the acceleration of an object. According to Newton's second law, the speed change of the object in all directions can be calculated by measuring the acceleration. The gyroscope is used to measure the angular velocity of the object, that is, the speed of the object's rotation. The inertial navigation device 12 establishes a three-dimensional coordinate system, usually with the initial position of the car as the origin. Through continuous measurement of acceleration and angular velocity, the position, velocity and attitude (including roll, pitch and yaw) of the car in this coordinate system are calculated using integral operations. For example, integrating the acceleration once can obtain the velocity, and integrating the velocity again can obtain the displacement. In some embodiments, the inertial navigation device 12 is integrated into the data recording and processing device 11.

[0068] Optionally, a first scale mark is provided at the center of the crossbeam 5, and the first scale mark can be provided to facilitate alignment of the center of the crossbeam 5 with the longitudinal center line of the vehicle. Second scale marks are provided at both ends of the crossbeam 5, and the distance between the image acquisition device and the center point of the crossbeam 5 can be conveniently read.

[0069] Also included is a method for installing a wheel-to-lane line distance measurement and track recording device, wherein a fixture is placed at the front of a vehicle 1 to be tested, so that a crossbeam 5 is placed transversely of the vehicle, and two fixtures are symmetrical along the longitudinal axis of the vehicle 1 to be tested;

[0070] The position of the cross beam 5 is adjusted along the axial direction of the cross beam 5 so that the center point of the cross beam 5 is located on the longitudinal section of the vehicle 1 under test, and the cross beam 5 is fixed by the fastening device 4;

[0071] Adjust the positions of the first mounting plate 6 and the second mounting plate 7 along the axial direction of the cross beam 5, observe the real-time image, make the longitudinal center line of the image coincide with the grounding line on the outer side of the wheel along the X-axis direction of the coordinate axis, and adjust the angles of the first mounting plate 6 and the second mounting plate 7 along the circumferential direction of the cross beam 5, observe the real-time image, make the center point of the image align with the center point of the grounding line on the outer side of the wheel, and then fix the first mounting plate 6 and the second mounting plate 7;

[0072] The third mounting plate 8 is adjusted along the axial direction of the cross beam 5 so that the reference point on the surface of the inertial navigation device 12 and the center point of the cross beam 5 are located on the same longitudinal plane.

[0073] Through the above-mentioned installation method, the device can be stably fixed in front of the vehicle 1 under test, so as to measure the distance between the subsequent wheels and the lane line and draw the vehicle running trajectory.

[0074] refer to Figure 3 , and also includes a method for measuring the distance between a wheel and a lane line and using a track recording device, including:

[0075] After the measuring device is installed in the accurate position, the first image acquisition device 9 and the second image acquisition device 10 are calibrated, and the internal parameters and installation parameters of the first image acquisition device 9 and the second image acquisition device 10 are obtained to obtain the physical distance between the specified points in the image; in some embodiments, the image acquisition device is calibrated using a checkerboard pattern, specifically, the checkerboard pattern is placed below the first image acquisition device 9 and the second image acquisition device 10 for calibration. Among them, the checkerboard is a pattern composed of black and white square grids. It has a regular geometric shape and obvious corner point features. Corner points are the points where black and white squares in the checkerboard intersect. The positions of these corner points in the image are relatively easy to be accurately detected, and have relatively stable characteristics under different viewing angles and image transformations. And the size of the checkerboard (such as the side length of each square) is known, which provides an important reference standard for subsequent calibration calculations. The working principle of calibration is: the camera imaging model can be regarded as a process of projecting points in three-dimensional space onto a two-dimensional image plane. In this process, due to factors such as lens distortion, the image will be deformed. Through chessboard calibration, the relationship between the real coordinates in three-dimensional space (the actual position of the chessboard corner points) and the two-dimensional image coordinates (the pixel position of the corner points in the image) is established, so as to estimate and correct the camera's internal parameters (such as focal length, principal point position) and external parameters (such as camera rotation and translation).

[0076] Acquire a road image including a lane line and a wheel image on the corresponding side, and record the position information of a reference point of the inertial navigation device 12. In some embodiments, the position information of the reference point includes at least the latitude and longitude coordinates of the reference point;

[0077] Saving and processing the road image, identifying the lane line edge, obtaining the position information of the lane line edge in the image, determining the distance from the lane line edge to a specified point in the image based on the position information of the lane line edge in the road image, and determining the distance from the wheel outer edge grounding line to the lane line based on the distance from the lane line edge to the specified point in the image;

[0078] Determine the position deviation between the sampling point of the lane line and the reference point of the inertial navigation device 12 based on the position information of the reference point of the inertial navigation device 12. In some embodiments, the position deviation between the sampling point and the reference point of the inertial navigation device 12 may be the distance between the sampling point and the reference point.

[0079] Determine the position information of the sampling point of the lane line based on the position deviation, and in some embodiments, the position information of the sampling point includes at least the latitude and longitude coordinates of the sampling point;

[0080] The running track of the vehicle under test and the corresponding lane line position are determined based on the position information of the sampling points of the lane line, and the running track of the vehicle under test 1 and the corresponding lane line position are drawn.

[0081] Optionally, the step of processing the road image comprises:

[0082] Convert the acquired color image into a grayscale image;

[0083] Apply Gaussian blur to grayscale images to reduce the noise of grayscale images;

[0084] Using an edge detection algorithm to identify the edges of a grayscale image to which a Gaussian blur has been applied;

[0085] Apply Hough transform to the edge detection result to extract line segments in the image;

[0086] Filter and merge the detected line segments, remove the line segments that do not meet the lane line characteristics, and obtain the lane line equation in the image coordinate system;

[0087] The lane line equation in the image coordinate system is converted into the lane line equation in the physical coordinate system using the internal parameters and installation parameters of the image acquisition device obtained by image calibration, and the physical distance between the lane line and the designated point in the image is calculated. In some embodiments, the designated point in the image coincides with the center of the outer edge of the wheel contact surface, that is, the distance from the wheel edge to the lane line is obtained.

[0088] According to the installation steps of the above-mentioned measuring device, it can be known that the reference point of the inertial navigation device 12 has a certain relative position with the center point of the front axle of the vehicle. In some embodiments, the reference point of the inertial navigation device 12 is installed to coincide with the projection of the center point of the front axle of the vehicle on the road plane, that is, the reference point is directly above the front axle and is located on the longitudinal section of the measured vehicle 1.

[0089] refer to Figure 3 , based on the reference point R output by the inertial navigation device 12 V The latitude and longitude coordinates of:

[0090] (Φ 1 ,λ 1 )

[0091] And the angle between the tested vehicle 1 and the north direction:

[0092] θ

[0093] As well as the distance d between the image reference point and the corresponding point on the lane line and the width W of the vehicle, the corresponding point R on the lane line is obtained according to the following latitude and longitude calculation model formula L The latitude and longitude coordinates of:

[0094] (Φ 2 ,λ 2 )

[0095] The latitude and longitude calculation model formula is:

[0096]

[0097] Where R is the radius of the Earth.

[0098] In summary, by recording all images of the tested vehicle 1 during its driving process and the latitude and longitude coordinates and vehicle heading angle output by the inertial navigation device 12 at the same time, the latitude and longitude coordinates of the vehicle's driving trajectory and the latitude and longitude coordinates of the corresponding lane line can be obtained, thereby knowing the positional relationship between the vehicle or wheel and the lane line at any time or position of interest.

[0099] Also included is a computer-readable storage medium storing a computer program for running a method for measuring the distance between a wheel and a lane line and using a trajectory recording device, wherein the computer program enables a computer to execute the following steps:

[0100] Calibrate the first image acquisition device 9 and the second image acquisition device 10 to obtain internal parameters and installation parameters of the first image acquisition device 9 and the second image acquisition device 10 to obtain the physical distance between the specified points in the image;

[0101] Acquire a road image including lane lines and a wheel image on the corresponding side, and record the longitude and latitude coordinates of a reference point of the inertial navigation device 12;

[0102] Save and process the road image, perform image processing, identify the lane line edge, obtain the position of the lane line edge in the image, calculate the distance from the lane line edge to the specified point in the image, and obtain the distance from the wheel outer edge grounding line to the lane line;

[0103] Calculate the deviation between the longitude and latitude of the lane line and the reference point of the inertial navigation device 12, and obtain the longitude and latitude coordinates of several sampling points on the lane line;

[0104] Draw the running track of the tested vehicle 1 and the corresponding lane lines.

[0105] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0106] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0107] Also included is an electronic device, comprising:

[0108] one or more processors; memory; and

[0109] One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by one or more processors, the programs comprising steps for performing the following steps:

[0110] Calibrate the first image acquisition device 9 and the second image acquisition device 10 to obtain internal parameters and installation parameters of the first image acquisition device 9 and the second image acquisition device 10 to obtain the physical distance between the specified points in the image;

[0111] Acquire a road image including lane lines and a wheel image on the corresponding side, and record the longitude and latitude coordinates of a reference point of the inertial navigation device 12;

[0112] Save and process the road image, perform image processing, identify the lane line edge, obtain the position of the lane line edge in the image, calculate the distance from the lane line edge to the specified point in the image, and obtain the distance from the wheel outer edge grounding line to the lane line;

[0113] Calculate the deviation between the longitude and latitude of the lane line and the reference point of the inertial navigation device 12, and obtain the longitude and latitude coordinates of several sampling points on the lane line;

[0114] Draw the running track of the tested vehicle 1 and the corresponding lane lines.

[0115] Memory is used to store computer programs. The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk.

[0116] A processor is used to execute a computer program stored in a memory to implement the scheduling method in the above embodiment. The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or the processor can be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0117] Optionally, the memory can be independent or integrated with the processor.

[0118] When the memory is a device independent of the processor, the electronic device may further include a bus. The bus is used to connect the memory and the processor. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. It should be noted that, through the description of the above implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of various embodiments or certain parts of the embodiments. In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0119] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A device for measuring the distance between a wheel and a lane line and recording a track, installed above a vehicle, characterized in that: The crossbeam comprises a crossbeam, which is arranged transversely along the vehicle under test, and the center point of the crossbeam is located on the longitudinal section of the vehicle under test; Image acquisition device; A data recording and processing device is fixedly installed above the crossbeam, and the data recording and processing device is electrically connected to the image acquisition device; The inertial navigation device is used to output the position information of its reference point. The inertial navigation device is fixed on the crossbeam so that the reference point on the inertial navigation device is located on the longitudinal section of the vehicle under test.

2. The device for measuring the distance between a wheel and a lane line and recording a track according to claim 1, characterized in that: Both ends of the cross beam are fixed with fixing devices, and the fixing devices are used to fix the cross beam above the vehicle; The image acquisition device comprises a first image acquisition device and a second image acquisition device, wherein the first image acquisition device and the second image acquisition device are respectively arranged at two ends symmetrically along the center point of the beam; A first mounting plate and a second mounting plate are fixed to both ends of the crossbeam, respectively, the first mounting plate is used to fix the first image acquisition device, and the second mounting plate is used to fix the second image acquisition device; A third mounting plate is fixed to the upper end of the center of the crossbeam, and the third mounting plate is used to fix the data recording and processing device. The inertial navigation device is fixed above the data recording and processing device.

3. The device for measuring the distance between a wheel and a lane line and recording a track according to claim 2, characterized in that: A first engraved mark is provided at the center point of the cross beam, and the first engraved mark is used to align the center of the cross beam with the longitudinal center line of the vehicle; Both ends of the crossbeam are provided with second engraved marks, and the second engraved marks facilitate identification of the distance between the first image acquisition device and the second image acquisition device and the center point of the crossbeam; The inertial navigation device is installed so that its surface reference point is located vertically above the center point of the front axle of the vehicle.

4. A method for installing a wheel-to-lane line distance measurement and track recording device based on any one of claims 2-3, characterized in that: include: Placing a fixture at the front of the vehicle under test so that the crossbeam is placed transversely of the vehicle and the two fixtures are symmetrical along the longitudinal axis of the vehicle under test; Adjusting the position of the crossbeam along the axial direction of the crossbeam so that the center point of the crossbeam is located on the longitudinal section of the vehicle under test, and fixing the crossbeam by a fastening device; Adjust the positions of the first mounting plate and the second mounting plate along the axial direction of the crossbeam, observe the real-time image, make the longitudinal center line of the real-time image coincide with the grounding line on the outer side of the wheel along the driving direction of the measured vehicle, and adjust the angles of the first mounting plate and the second mounting plate along the circumferential direction of the crossbeam, observe the real-time image, make the center point of the image align with the center point of the grounding line on the outer side of the wheel, and then fix the first mounting plate and the second mounting plate; The third mounting plate is adjusted along the axial direction of the crossbeam so that the reference point on the surface of the inertial navigation device and the center point of the crossbeam are located on the same longitudinal plane.

5. A method for using the wheel-to-lane line distance measurement and track recording device according to any one of claims 1 to 3, characterized in that: include: Calibrate the image acquisition device to obtain internal parameters and installation parameters of the image acquisition device to obtain the physical distance between specified points in the image; Obtain a road image containing lane lines and a wheel image on the corresponding side, and save the position information of the inertial navigation device reference point; Saving and processing the road image, identifying lane line edges, and obtaining position information of lane line edges in the image; Determine the distance from the lane line edge to a specified point in the image based on the position information of the lane line edge in the road image; Determine the distance from the wheel outer edge grounding line to the lane line based on the distance from the lane line edge to the designated point in the image; Determine the position deviation between the sampling point of the lane line and the reference point of the inertial navigation device based on the position information of the reference point of the inertial navigation device; Determine the position information of the sampling point of the lane line based on the position deviation; The running track of the vehicle under test and the corresponding lane line position are determined based on the position information of the sampling points of the lane line.

6. The method for using the device for measuring the distance between a wheel and a lane line and recording a track according to claim 5, characterized in that: When calibrating the image acquisition device, a checkerboard pattern is placed below the image acquisition device to achieve calibration.

7. The method for using the device for measuring the distance between a wheel and a lane line and recording a track according to claim 5, characterized in that: The step of processing the road image comprises: Convert the acquired color image into a grayscale image; Applying Gaussian blur to the grayscale image to reduce noise of the grayscale image; identifying edges of the grayscale image to which Gaussian blur has been applied using an edge detection algorithm; Applying Hough transform to the edge detection result to extract line segments in the image; Filter and merge the detected line segments, remove the line segments that do not meet the lane line characteristics, and obtain the lane line equation in the image coordinate system; The lane line equation in the image coordinate system is converted into the lane line equation in the physical coordinate system, and the physical distance between the lane line and the specified point in the image is calculated.

8. The method for using the device for measuring the distance between a wheel and a lane line and recording a track according to claim 7, characterized in that: The designated point in the image coincides with the center of the outer edge of the wheel contact surface to obtain the distance from the wheel edge to the lane line.

9. The method for using the device for measuring the distance between a wheel and a lane line and recording a track according to claim 7, characterized in that: The specific steps of determining the running track of the tested vehicle and the position of the corresponding lane line include: The location information of the reference point includes at least longitude and latitude coordinates; The longitude and latitude coordinates of the reference point, the angle between the vehicle and the north direction, the position deviation between the image reference point and the lane line sampling point, and the vehicle width are input into the longitude and latitude calculation model formula to obtain the longitude and latitude coordinates of the driving trajectory of the measured vehicle and the longitude and latitude coordinates of the corresponding lane line.

10. A computer-readable storage medium, characterized in that: It stores a computer program for measuring the distance between a wheel and a lane line and a method for using a trajectory recording device, wherein the computer program enables a computer to execute the method for measuring the distance between a wheel and a lane line and a method for using a trajectory recording device as described in any one of claims 4-9.

11. An electronic device, characterized in that: include: one or more processors; Memory; as well as One or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, the programs including a method for performing the measurement of the wheel-lane line distance and the use of the trajectory recording device as described in any one of claims 4-9.

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