Method and device for determining stop line for output display

Abstract

The invention discloses a stop line determination method and device for output display. The method comprises the following steps: acquiring a pavement marking sensing result; selecting a plurality of candidate lane lines meeting lane line requirements from the plurality of original lane lines; dividing the plurality of candidate lane lines into a first lane line set and a second lane line set according to the relative position of each candidate lane line and the reference object; the target distance corresponding to each candidate lane line in the first lane line set is matched with each left side reference distance range, and the target distance corresponding to each candidate lane line in the second lane line set is matched with each right side reference distance range; adding corresponding target identifiers to the successfully matched candidate lane lines to obtain a third lane line set and a fourth lane line set; and when a target stop line which forms an included angle with the target lane line in a preset angle range exists in the at least one original stop line, determining a stop line for output display based on the target stop line, the third lane line set and the fourth lane line set.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method and device for determining a stop line for output display. Background Art

[0002] In order to prevent vehicles from crossing the line or to provide navigation assistance to drivers in smart navigation, the road markings around the vehicle are usually displayed on the vehicle's instrument or large screen during driving, including lane lines, road edge lines, stop lines, etc. However, these road marking information generally comes from map information. When the map information is not updated in a timely manner or the map information is missing, the road markings will be displayed incorrectly or missing, especially at intersections. When the stop line is displayed incorrectly or missing, it is easy to cause the vehicle to stop at the wrong position or continue to drive beyond the stop line, thereby colliding with other vehicles or pedestrians. Summary of the invention

[0003] The present application provides a method and device for determining a stop line for output display, which can solve the problem of increased traffic risk caused by errors or omissions in map information relied upon for displaying the stop line.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for determining a stop line for output display, the method comprising:

[0006] Acquire a road marking perception result obtained based on a road environment image collected by the target vehicle and a road marking perception model, wherein the road marking perception result includes a plurality of original lane lines and at least one original stop line;

[0007] Selecting a plurality of candidate lane lines that meet lane line requirements from the plurality of original lane lines, wherein the lane line requirements at least include that the direction of the original lane line is the same as the driving direction of the target vehicle;

[0008] According to the relative position of each of the candidate lane lines and the reference object, the multiple candidate lane lines are divided into a first lane line set and a second lane line set, wherein when the road surface marking line perception result includes a reference lane center line, the reference object is the reference lane center line, and when the road surface marking line perception result does not include the reference lane center line, the reference object is the target vehicle, the reference lane center line is a lane center line that meets the reference center line requirements, the first lane line set is a set of candidate lane lines located on the left side of the reference object, and the second lane line set is a set of candidate lane lines located on the right side of the reference object;

[0009] Matching the target distance corresponding to each candidate lane line in the first lane line set with each left reference distance range respectively, and adding a corresponding target identifier to the successfully matched candidate lane line to obtain a third lane line set, and matching the target distance corresponding to each candidate lane line in the second lane line set with each right reference distance range respectively, and adding a corresponding target identifier to the successfully matched candidate lane line to obtain a fourth lane line set, wherein the target distance corresponding to each candidate lane line is the distance between the candidate lane line and the reference object, the left reference distance range and the right reference distance range are ranges determined based on the distance between each lane line that meets the standard and the reference object, the target identifier can indicate the relative positional relationship between the marked candidate lane line and the reference object and the positional relationship between each marked candidate lane line, the third lane line set is a set of marked candidate lane lines in the first lane line set, and the fourth lane line set is a set of marked candidate lane lines in the second lane line set;

[0010] When there is a target stop line in the at least one original stop line, the angle between the target lane line and the target lane line is within a preset angle range, the stop line for output display is determined based on the target stop line, the third lane line set and the fourth lane line set, and the target lane line is the candidate lane line selected from the third lane line set and / or the fourth lane line set.

[0011] It can be seen from the above scheme that the embodiment of the present application first senses multiple original lane lines and at least one original stop line on the road surface through the road landmark perception model, and then determines the third lane line set located on the left side of the target vehicle and the fourth lane line set located on the right side of the target vehicle from the multiple original lane lines through the lane line requirements, reference objects, left reference distance range, and right reference distance range. Finally, according to the preset angle range, the target stop line, the third lane line set, and the fourth lane line set, the stop line for output display is determined. It can be seen that when determining the stop line for output display, the embodiment of the present application only relies on the road environment image collected by the target vehicle, and no longer relies on map information. Therefore, whether the map information is wrong or missing, it does not affect the accuracy of the stop line determined by the present application, and can reduce the traffic risk caused by the error or lack of the stop line display.

[0012] In a possible implementation, the determining a stop line for output display based on the target stop line, the third lane line set, and the fourth lane line set includes:

[0013] Searching the candidate lane line closest to the first actual endpoint of the target stop line from the third lane line set as the target left lane line, and searching the candidate lane line closest to the second actual endpoint of the target stop line from the fourth lane line set as the target right lane line, wherein the target left lane line and the target right lane line are both the target lane line;

[0014] In the case where the ordinate of the first actual endpoint of the target stop line is less than the ordinate of the end point of the target left lane line, a projection point obtained by projecting the first actual endpoint of the target stop line onto the target left lane line is used as the first target endpoint of the target stop line; in the case where the ordinate of the first actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target left lane line, the end point of the target left lane line is used as the first target endpoint of the target stop line;

[0015] In the case where the ordinate of the second actual endpoint of the target stop line is less than the ordinate of the end point of the target right lane line, a projection point obtained by projecting the second actual endpoint of the target stop line onto the target right lane line is used as the second target endpoint of the target stop line; in the case where the ordinate of the second actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target right lane line, the end point of the target right lane line is used as the second target endpoint of the target stop line;

[0016] Connecting the first target endpoint and the second target endpoint to obtain a stop line straight segment;

[0017] Projecting the discrete points on the target stop line except the first actual endpoint and the second actual endpoint onto the straight line segment of the stop line respectively;

[0018] A stop line including the first target endpoint, the second target endpoint and each projection point on the stop line straight line segment is used as a stop line for output display.

[0019] Through the above scheme, it can be known that the embodiment of the present application finds out the target left lane line and the target right lane line closest to the first actual endpoint and the second actual endpoint of the target stop line from the third lane line set and the fourth lane line set, respectively, and compares the ordinate of the first actual endpoint with the ordinate of the end point of the target left lane line, and compares the ordinate of the second actual endpoint with the ordinate of the end point of the target right lane line, respectively, to obtain the first target endpoint and the second target endpoint of the target stop line with relatively small ordinates, and after connecting the first target endpoint and the second target endpoint, the stop line straight line segment is discretely operated by projecting the target stop line onto the stop line straight line segment, and finally a stop line including multiple discrete points is obtained for output display. Compared with directly using the target stop line as the stop line for output display, which will be inconsistent with the lane line display effect, the embodiment of the present application can realize the correction of the target stop line, so that the stop line finally output and displayed is more coordinated with the lane line.

[0020] In a possible implementation, when the reference object is the center line of the reference lane, the method for calculating the target distance includes:

[0021] Determine a first discrete point set for each candidate lane line according to a ordinate range from a starting discrete point to an ending discrete point on the center line of the reference lane, wherein the first discrete point set includes all first discrete points on the candidate lane line that satisfy the ordinate range;

[0022] Searching for the second discrete point closest to each of the first discrete points in the first discrete point set of each of the candidate lane lines on the center line of the reference lane, and calculating the distance between each of the first discrete points and its corresponding second discrete point as the discrete point distance;

[0023] For each of the candidate lane lines, the target distance between the candidate lane line and the center line of the reference lane is determined according to the distances of the discrete points of the candidate lane line.

[0024] It can be seen from the above scheme that compared with directly selecting a discrete point from the candidate lane line to draw a perpendicular line from the center line of the reference lane to determine the target distance between the candidate lane line and the center line of the reference lane, the embodiment of the present application first uses the vertical coordinate range of the center line of the reference lane to intercept the first discrete point within the vertical coordinate range from the candidate lane line, thereby avoiding redundant discrete points outside the vertical coordinate range from interfering with the calculation accuracy of the target distance, and then comprehensively determines the target distance between the candidate lane line and the center line of the reference lane based on the distance between each first discrete point and the second discrete point closest to the center line of the reference lane, thereby improving the accuracy of the target distance.

[0025] In a possible implementation, the reference centerline requirement includes at least one of the following:

[0026] The length of the lane centerline is greater than or equal to a first length threshold, the number of discrete points contained in the lane centerline is greater than or equal to a first number threshold, the distance from the lane centerline to the target vehicle is less than or equal to a distance threshold, and the direction of the lane centerline is the same as the driving direction of the target vehicle.

[0027] In a possible implementation, the lane line requirement further includes at least one of the following:

[0028] Whether the length of the original lane line is greater than or equal to a second length threshold, and the number of discrete points contained in the original lane line is greater than or equal to a second number threshold.

[0029] In a second aspect, an embodiment of the present application provides a stop line determination device for output display, the device comprising:

[0030] An acquisition unit, configured to acquire a road marking perception result obtained based on a road environment image collected by a target vehicle and a road marking perception model, wherein the road marking perception result includes a plurality of original lane lines and at least one original stop line;

[0031] A selection unit, configured to select a plurality of candidate lane lines that meet lane line requirements from the plurality of original lane lines, wherein the lane line requirements at least include that a direction of the original lane line is the same as a driving direction of the target vehicle;

[0032] a dividing unit, configured to divide the plurality of candidate lane lines into a first lane line set and a second lane line set according to a relative position between each of the candidate lane lines and a reference object, wherein when the road surface marking line perception result includes a reference lane center line, the reference object is the reference lane center line, and when the road surface marking line perception result does not include the reference lane center line, the reference object is the target vehicle, the reference lane center line is a lane center line that meets the reference center line requirements, the first lane line set is a set of candidate lane lines located on the left side of the reference object, and the second lane line set is a set of candidate lane lines located on the right side of the reference object;

[0033] a matching identification unit, configured to match the target distance corresponding to each candidate lane line in the first lane line set with each left reference distance range, and add the corresponding target identification to the successfully matched candidate lane line to obtain a third lane line set, and to match the target distance corresponding to each candidate lane line in the second lane line set with each right reference distance range, and add the corresponding target identification to the successfully matched candidate lane line to obtain a fourth lane line set, wherein the target distance corresponding to each candidate lane line is the distance between the candidate lane line and the reference object, the left reference distance range and the right reference distance range are ranges determined based on the distance between each lane line that meets the standard and the reference object, the target identification can indicate the relative positional relationship between the candidate lane line with the identification and the reference object and the positional relationship between each candidate lane line with the identification, the third lane line set is the set of candidate lane lines with the identification added in the first lane line set, and the fourth lane line set is the set of candidate lane lines with the identification added in the second lane line set;

[0034] A determination unit is used to determine a stop line for output display based on the target stop line, the third lane line set and the fourth lane line set when there is a target stop line in the at least one original stop line, the angle between the target lane line and the target lane line is within a preset angle range, and the target lane line is the candidate lane line selected from the third lane line set and / or the fourth lane line set.

[0035] In a possible implementation manner, the determining unit includes:

[0036] A first search module is used to search the candidate lane line closest to the first actual endpoint of the target stop line from the third lane line set as the target left lane line, and to search the candidate lane line closest to the second actual endpoint of the target stop line from the fourth lane line set as the target right lane line, wherein the target left lane line and the target right lane line are both the target lane lines;

[0037] A first determination module is used for, when the ordinate of the first actual endpoint of the target stop line is less than the ordinate of the end point of the target left lane line, projecting the first actual endpoint of the target stop line onto the target left lane line to obtain a projection point as the first target endpoint of the target stop line, and when the ordinate of the first actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target left lane line, using the end point of the target left lane line as the first target endpoint of the target stop line;

[0038] a projection module, for, when the ordinate of the second actual endpoint of the target stop line is less than the ordinate of the end point of the target right lane line, projecting the second actual endpoint of the target stop line onto the target right lane line to obtain a projection point as the second target endpoint of the target stop line, and when the ordinate of the second actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target right lane line, taking the end point of the target right lane line as the second target endpoint of the target stop line;

[0039] A connection module, used for connecting the first target endpoint and the second target endpoint to obtain a stop line straight segment;

[0040] The projection module is further used to project the discrete points on the target stop line except the first actual endpoint and the second actual endpoint onto the straight line segment of the stop line respectively;

[0041] The first determination module is further configured to use the stop line including the first target endpoint, the second target endpoint and each projection point on the stop line straight line segment as the stop line for output display.

[0042] In a possible implementation manner, the device further includes:

[0043] A calculation unit, used for calculating the target distance;

[0044] The computing unit comprises:

[0045] A second determination module is used to determine, when the reference object is the center line of the reference lane, a first discrete point set for each candidate lane line according to a ordinate range from a starting discrete point to an ending discrete point on the center line of the reference lane, wherein the first discrete point set includes all first discrete points on the candidate lane line that satisfy the ordinate range;

[0046] A first search module, used for searching on the reference lane center line respectively a second discrete point closest to each of the first discrete points in the first discrete point set of each of the candidate lane lines;

[0047] A calculation module, used for calculating the distance between each of the first discrete points and its corresponding second discrete point as a discrete point distance;

[0048] The third determination module is used to determine, for each of the candidate lane lines, the target distance between the candidate lane line and the center line of the reference lane according to the distances of the discrete points of the candidate lane line.

[0049] In a possible implementation, the reference centerline requirement includes at least one of the following:

[0050] The length of the lane centerline is greater than or equal to a first length threshold, the number of discrete points contained in the lane centerline is greater than or equal to a first number threshold, the distance from the lane centerline to the target vehicle is less than or equal to a distance threshold, and the direction of the lane centerline is the same as the driving direction of the target vehicle.

[0051] In a possible implementation, the lane line requirement further includes at least one of the following:

[0052] Whether the length of the original lane line is greater than or equal to a second length threshold, and the number of discrete points contained in the original lane line is greater than or equal to a second number threshold.

[0053] It can be seen from the above scheme that the embodiment of the present application first senses multiple original lane lines and at least one original stop line on the road surface through the road landmark perception model, and then determines the third lane line set located on the left side of the target vehicle and the fourth lane line set located on the right side of the target vehicle from the multiple original lane lines through the lane line requirements, reference objects, left reference distance range, and right reference distance range. Finally, according to the preset angle range, the target stop line, the third lane line set, and the fourth lane line set, the stop line for output display is determined. It can be seen that when determining the stop line for output display, the embodiment of the present application only relies on the road environment image collected by the target vehicle, and no longer relies on map information. Therefore, whether the map information is wrong or missing, it does not affect the accuracy of the stop line determined by the present application, and can reduce the traffic risk caused by the error or lack of the stop line display.

[0054] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any possible implementation manner of the first aspect.

[0055] In a fourth aspect, an embodiment of the present application provides an electronic device, the electronic device comprising:

[0056] one or more processors;

[0057] The processor is coupled to a storage device, and the storage device is used to store one or more programs;

[0058] When one or more programs are executed by one or more processors, the electronic device implements the method described in any possible implementation manner of the first aspect.

[0059] In a fifth aspect, an embodiment of the present application provides a vehicle, wherein the vehicle includes a device as described in any possible implementation of the second aspect, or includes an electronic device as described in the fourth aspect.

[0060] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0062] Figure 1 A schematic flow chart of a method for determining a stop line for output display provided in an embodiment of the present application;

[0063] Figure 2 An example diagram of a correction stop line provided in an embodiment of the present application;

[0064] Figure 3 A block diagram of a stop line determination device for output display provided in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of the structure of an electronic device or computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0067] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The terms "including" and "having" in the embodiments of the present application and the accompanying drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0068] Figure 1The present invention is a flow chart of a method for determining a stop line for output display, which can be applied to electronic equipment or computer equipment, and can be specifically applied to a vehicle or a server. The method can include the following steps:

[0069] S110: Obtaining a road marking perception result based on a road environment image collected by the target vehicle and a road marking perception model.

[0070] The road marking perception result includes multiple original lane lines and at least one original stop line.

[0071] When the embodiment of the present application is applied to a vehicle, the target vehicle is the vehicle itself; when the embodiment of the present application is applied to a server, the target vehicle is the vehicle that applies to the server for the stop line information to be displayed.

[0072] The road marking perception model is a neural network model used to perceive road markings in road environment images. Road markings include lane lines, stop lines, lane center lines (a virtual line commonly used in the field of autonomous driving), road edge lines, etc.

[0073] In order to obtain the road surface marking perception model, multiple road environment images can be collected first, and lane line and stop line true value labels can be added to these road environment images, and lane center line true value labels can also be added to form a training sample set; the initial road surface marking perception model is then trained using the training sample set, and the lane line prediction value, stop line prediction value, and lane center line prediction value of each sample image are output. The loss value of this training is calculated through the lane line prediction value, stop line prediction value, lane center line prediction value, and the corresponding lane line true value, stop line true value, and lane center line true value. If the loss value is greater than or equal to the loss threshold, the model parameters of the initial road surface marking perception model are adjusted, and the initial road surface marking perception model is continued to be trained until the current loss value is less than the loss threshold, and the final road surface marking perception model is obtained.

[0074] When it is necessary to perceive road markings, the road environment image collected in real time by the target vehicle can be obtained, and the road environment image can be input into the road marking perception model to obtain the road marking perception result. The road marking perception result includes the line attributes of each line, which is used to distinguish different types of lines. In the following steps, the premise for processing different types of lines is that the specific type of line has been identified through the line attributes, which will not be repeated here.

[0075] S120: Selecting a plurality of candidate lane lines that meet lane line requirements from the plurality of original lane lines.

[0076] The lane line requirement at least includes that the direction of the original lane line is the same as the driving direction of the target vehicle. The lane line requirement also includes at least one of the following: whether the length of the original lane line is greater than or equal to the second length threshold, and whether the number of discrete points contained in the original lane line is greater than or equal to the second number threshold.

[0077] The embodiment of the present application first filters out invalid original lane lines or original lane lines with poor display effects according to lane line requirements, which can improve the accuracy of subsequent determination of stop lines for output display.

[0078] S130: Divide the plurality of candidate lane lines into a first lane line set and a second lane line set according to a relative position between each candidate lane line and a reference object.

[0079] When the road marking perception result includes the reference lane centerline, the reference object is the reference lane centerline; when the road marking perception result does not include the reference lane centerline, the reference object is the target vehicle, the reference lane centerline is the lane centerline that meets the reference centerline requirements, the first lane line set is the set of candidate lane lines located on the left side of the reference object, and the second lane line set is the set of candidate lane lines located on the right side of the reference object. By judging whether each candidate lane line is located on the left side or the right side of the reference object, it is determined whether the candidate lane line is divided into the first lane line set or the second lane line set.

[0080] The reference centerline requirements include at least one of the following: the length of the lane centerline is greater than or equal to a first length threshold, the number of discrete points contained in the lane centerline is greater than or equal to a first number threshold, the distance from the lane centerline to the target vehicle is less than or equal to a distance threshold, and the direction of the lane centerline is the same as the driving direction of the target vehicle. When there are multiple lane centerlines that meet the reference centerline requirements, the lane centerline closest to the target vehicle can be selected from the multiple lane centerlines as the reference lane centerline.

[0081] The first length threshold, the second length threshold, the first quantity threshold, the second quantity threshold, and the distance threshold are all empirical values. The values ​​of the first length threshold, the second length threshold, the first quantity threshold, and the second quantity threshold are based on not affecting the accuracy of determining the stop line, and the value of the distance threshold is based on being able to exclude the center line of the lane that is irrelevant to the lane where the target vehicle is located and retain the center line of the lane that is related to the lane where the target vehicle is located. The first length threshold and the second length threshold can be the same or different, and can be determined according to actual conditions. Similarly, the first quantity threshold and the second quantity threshold may also be the same or different.

[0082] S140: Match the target distance corresponding to each candidate lane line in the first lane line set with each left reference distance range respectively, and add the corresponding target identifier to the successfully matched candidate lane line to obtain a third lane line set; and match the target distance corresponding to each candidate lane line in the second lane line set with each right reference distance range respectively, and add the corresponding target identifier to the successfully matched candidate lane line to obtain a fourth lane line set.

[0083] The target distance corresponding to each candidate lane line is the distance between the candidate lane line and the reference object. The left reference distance range and the right reference distance range are ranges determined based on the distances between each lane line that meets the standard and the reference object. For example, the distance between the left lane line 1 and the reference object satisfies the range of [0.5*lane width-a, 0.5 lane width+a], where a is a floating range determined according to actual conditions, for example, a=0.25*lane width. The target identification can indicate the relative positional relationship between the candidate lane line with the identification and the reference object and the positional relationship between each candidate lane line with the identification. The third lane line set is the set of candidate lane lines with the identification added in the first lane line set, and the fourth lane line set is the set of candidate lane lines with the identification added in the second lane line set. For example, the left lane lines (lane lines located on the left side of the reference control) from near to far from the reference object can be marked as "left 1, left 2, left 3..." in sequence, and the right lane lines (lane lines located on the right side of the reference control) from near to far from the reference object can be marked as "right 1, right 2, right 3..." in sequence.

[0084] When the reference object is the center line of a reference lane, the method for calculating the target distance includes: determining a first discrete point set for each candidate lane line according to a vertical coordinate range from a starting discrete point to an ending discrete point on the center line of the reference lane, wherein the first discrete point set includes all first discrete points on the candidate lane line that satisfy the vertical coordinate range; searching on the center line of the reference lane for the second discrete point closest to each first discrete point in the first discrete point set of each candidate lane line, and calculating the distance between each first discrete point and its corresponding second discrete point as the discrete point distance; for each candidate lane line, determining a target distance between the candidate lane line and the center line of the reference lane according to the distances of the discrete points of the candidate lane line.

[0085] The lines contained in the road marking perception results are often composed of discrete points at fixed intervals rather than continuous curves or straight lines. When calculating the target distance, the coordinate system used can be the image coordinate system of the road environment image where the lines are located, or the body coordinate system converted from the image coordinate system to the lines.

[0086] Methods for determining the target distance between a candidate lane line and the center line of a reference lane based on the distances of each discrete point of the candidate lane line include, but are not limited to, the following methods: (1) taking the average value of all the discrete point distances of each candidate lane line as the target distance between the candidate lane line and the center line of the reference lane; (2) after removing the maximum distance and the minimum distance of all the discrete point distances of each candidate lane line, taking the average value of the remaining discrete point distances as the target distance between the candidate lane line and the center line of the reference lane; (3) taking the middle value of all the discrete point distances of each candidate lane line as the target distance between the candidate lane line and the center line of the reference lane.

[0087] When the reference object is a target vehicle, the method for calculating the target distance includes: calculating the distance from a reference point on the target vehicle to each candidate lane line as the target distance corresponding to the candidate lane line. The reference point can be the center point of the rear axle or the center of gravity of the target vehicle, etc.

[0088] It can be seen from the above scheme that compared with directly selecting a discrete point from the candidate lane line to draw a perpendicular line from the center line of the reference lane to determine the target distance between the candidate lane line and the center line of the reference lane, the embodiment of the present application first uses the vertical coordinate range of the center line of the reference lane to intercept the first discrete point within the vertical coordinate range from the candidate lane line, thereby avoiding redundant discrete points outside the vertical coordinate range from interfering with the calculation accuracy of the target distance, and then comprehensively determines the target distance between the candidate lane line and the center line of the reference lane based on the distance between each first discrete point and the second discrete point closest to the center line of the reference lane, thereby improving the accuracy of the target distance.

[0089] S150: When there is a target stop line in at least one original stop line whose angle with the target lane line is within a preset angle range, determine a stop line for output display based on the target stop line, the third lane line set, and the fourth lane line set.

[0090] The preset angle range may be determined based on actual experience, for example, may be [85 degrees, 95 degrees]. The target lane line is a candidate lane line selected from the third lane line set and / or the fourth lane line set.

[0091] When at least one original stop line includes a target stop line whose angle with the target lane line is within a preset angle range, it indicates that at least one original stop line includes a valid stop line, and the stop line for output display can be determined based on the target stop line, the third lane line set, and the fourth lane line set; when at least one original stop line includes a target stop line whose angle with the target lane line is within a preset angle range, it indicates that at least one original stop line is an invalid stop line, there is no stop line within the range of the target vehicle's front-view camera, and there is no need to output and display the stop line.

[0092] The stop line determination method for output display provided by the embodiment of the present application first senses multiple original lane lines and at least one original stop line on the road surface through a road landmark perception model, and then determines the third lane line set located on the left side of the target vehicle and the fourth lane line set located on the right side of the target vehicle from the multiple original lane lines through lane line requirements, reference objects, left reference distance range, and right reference distance range. Finally, the stop line for output display is determined according to the preset angle range, the target stop line, the third lane line set, and the fourth lane line set. It can be seen that when determining the stop line for output display, the embodiment of the present application only relies on the road environment image collected by the target vehicle, and no longer relies on map information, so that whether the map information is wrong or missing, it does not affect the accuracy of the stop line determination of the present application, and can reduce the traffic risk caused by the error or lack of the stop line display.

[0093] In a possible implementation, if the target stop line is directly used as the stop line for output display, the stop line and the lane line display effects may be inconsistent, for example, the stop line endpoint is located at the intersection of the lane line, and the stop line is relatively curved. In order to make the display effects of the stop line and the lane line more coordinated and make the stop line more beautiful, the embodiment of the present application can use the target stop line, the third lane line set and the fourth lane line set to correct the target stop line and obtain the corrected target stop line as the stop line for output display.

[0094] Combine the following Figure 2 The implementation process of the correction stop line is explained in detail with steps A1-A6:

[0095] A1. Search the candidate lane line closest to the first actual endpoint of the target stop line from the third lane line set as the target left lane line, and search the candidate lane line closest to the second actual endpoint of the target stop line from the fourth lane line set as the target right lane line.

[0096] Among them, the target left lane line and the target right lane line are both target lane lines. When searching for the candidate lane line closest to the first actual endpoint of the target stop line from the third lane line set, draw a perpendicular line from the first actual endpoint of the target stop line to each candidate lane line in the third lane line set, obtain the perpendicular distance from the first actual endpoint to each candidate lane line in the third lane line set, and select the candidate lane line with the shortest perpendicular distance as the target left lane line. Similarly, obtain the perpendicular distance from the first actual endpoint to each candidate lane line in the fourth lane line set, and select the candidate lane line with the shortest perpendicular distance as the target right lane line.

[0097] like Figure 2As shown, the target stop line includes discrete points P1-P6, the first actual endpoint is P1, the third lane line set includes left 1 and left 2 lane lines, point P1 is closest to left 2, so left 2 is the target left lane line, the second actual endpoint is P6, the fourth lane line set includes right 1 and right 2 lane lines, point P6 is closest to right 2, so right 2 is the target right lane line.

[0098] A2. When the ordinate of the first actual endpoint of the target stop line is smaller than the ordinate of the end point of the target left lane line, the projection point obtained by projecting the first actual endpoint of the target stop line onto the target left lane line is used as the first target endpoint of the target stop line; when the ordinate of the first actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target left lane line, the end point of the target left lane line is used as the first target endpoint of the target stop line.

[0099] like Figure 2 As shown, the ordinate of the first actual endpoint P1 of the target stop line is smaller than the ordinate of the end point of Lane Line Left 2, thus, P1 can be projected onto Lane Line Left 2 to obtain the projection point Q1 as the first target endpoint of the target stop line.

[0100] A3. When the ordinate of the second actual endpoint of the target stop line is smaller than the ordinate of the end point of the target right lane line, the projection point obtained by projecting the second actual endpoint of the target stop line onto the target right lane line is used as the second target endpoint of the target stop line. When the ordinate of the second actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target right lane line, the end point of the target right lane line is used as the second target endpoint of the target stop line.

[0101] like Figure 2 As shown, the ordinate of the second actual endpoint P6 of the target stop line is greater than the ordinate of the end point Q6 of the lane line right 2, thus, Q6 can be used as the second target endpoint of the target stop line.

[0102] A4. Connect the first target endpoint and the second target endpoint to obtain a stop line straight segment.

[0103] A5. Project the discrete points on the target stop line except the first actual endpoint and the second actual endpoint onto the straight line segment of the stop line.

[0104] The stop line in the road marking perception result obtained by the road marking perception model is usually composed of multiple equally spaced discrete points. Therefore, after connecting the first target endpoint and the second target endpoint to obtain a continuous stop line straight line segment, the discrete points on the target stop line except the first actual endpoint and the second actual endpoint are projected onto the stop line straight line segment respectively, so that the stop line straight line segment is discretized.

[0105] like Figure 2 As shown, points P2-P5 on the target stop line are projected onto the straight line segment of the stop line to obtain projection points Q2-Q5.

[0106] A6. Use the stop line including the first target endpoint, the second target endpoint and each projection point on the stop line straight line segment as the stop line for output display.

[0107] like Figure 2 As shown, the stop line formed by discrete points Q1-Q6 can be used as the stop line for output display.

[0108] Corresponding to the above method embodiment, another embodiment of the present application provides a stop line determination device for output display, such as Figure 3 As shown, the device comprises:

[0109] An acquisition unit 210 is used to acquire a road marking perception result obtained based on a road environment image collected by a target vehicle and a road marking perception model, wherein the road marking perception result includes a plurality of original lane lines and at least one original stop line;

[0110] A selection unit 220, configured to select a plurality of candidate lane lines that meet lane line requirements from the plurality of original lane lines, wherein the lane line requirements at least include that a direction of the original lane line is the same as a driving direction of the target vehicle;

[0111] a dividing unit 230, configured to divide the plurality of candidate lane lines into a first lane line set and a second lane line set according to a relative position between each of the candidate lane lines and a reference object, wherein when the road surface marking line perception result includes a reference lane center line, the reference object is the reference lane center line, and when the road surface marking line perception result does not include the reference lane center line, the reference object is the target vehicle, the reference lane center line is a lane center line that meets the reference center line requirement, the first lane line set is a set of candidate lane lines located on the left side of the reference object, and the second lane line set is a set of candidate lane lines located on the right side of the reference object;

[0112] a matching identification unit 240, for matching the target distance corresponding to each candidate lane line in the first lane line set with each left reference distance range, and adding the corresponding target identification to the successfully matched candidate lane line to obtain a third lane line set, and matching the target distance corresponding to each candidate lane line in the second lane line set with each right reference distance range, and adding the corresponding target identification to the successfully matched candidate lane line to obtain a fourth lane line set, wherein the target distance corresponding to each candidate lane line is the distance between the candidate lane line and the reference object, the left reference distance range and the right reference distance range are ranges determined based on the distances between each lane line that meets the standard and the reference object, the target identification can indicate the relative positional relationship between the candidate lane line with the identification and the reference object and the positional relationship between each candidate lane line with the identification, the third lane line set is the set of candidate lane lines with the identification added in the first lane line set, and the fourth lane line set is the set of candidate lane lines with the identification added in the second lane line set;

[0113] A determination unit 250 is used to determine a stop line for output display based on the target stop line, the third lane line set and the fourth lane line set when there is a target stop line in the at least one original stop line, the angle between which and the target lane line is within a preset angle range, wherein the target lane line is the candidate lane line selected from the third lane line set and / or the fourth lane line set.

[0114] In a possible implementation, the determining unit 250 includes:

[0115] A first search module is used to search the candidate lane line closest to the first actual endpoint of the target stop line from the third lane line set as the target left lane line, and to search the candidate lane line closest to the second actual endpoint of the target stop line from the fourth lane line set as the target right lane line, wherein the target left lane line and the target right lane line are both the target lane lines;

[0116] A first determination module is used for, when the ordinate of the first actual endpoint of the target stop line is less than the ordinate of the end point of the target left lane line, projecting the first actual endpoint of the target stop line onto the target left lane line to obtain a projection point as the first target endpoint of the target stop line, and when the ordinate of the first actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target left lane line, using the end point of the target left lane line as the first target endpoint of the target stop line;

[0117] a projection module, for, when the ordinate of the second actual endpoint of the target stop line is less than the ordinate of the end point of the target right lane line, projecting the second actual endpoint of the target stop line onto the target right lane line to obtain a projection point as the second target endpoint of the target stop line, and when the ordinate of the second actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target right lane line, taking the end point of the target right lane line as the second target endpoint of the target stop line;

[0118] A connection module, used for connecting the first target endpoint and the second target endpoint to obtain a stop line straight segment;

[0119] The projection module is further used to project the discrete points on the target stop line except the first actual endpoint and the second actual endpoint onto the straight line segment of the stop line respectively;

[0120] The first determination module is further configured to use the stop line including the first target endpoint, the second target endpoint and each projection point on the stop line straight line segment as the stop line for output display.

[0121] In a possible implementation manner, the device further includes:

[0122] A calculation unit, used for calculating the target distance;

[0123] The computing unit comprises:

[0124] A second determination module is used to determine, when the reference object is the center line of the reference lane, a first discrete point set for each candidate lane line according to a ordinate range from a starting discrete point to an ending discrete point on the center line of the reference lane, wherein the first discrete point set includes all first discrete points on the candidate lane line that satisfy the ordinate range;

[0125] A first search module, used for searching on the reference lane center line respectively a second discrete point closest to each of the first discrete points in the first discrete point set of each of the candidate lane lines;

[0126] A calculation module, used for calculating the distance between each of the first discrete points and its corresponding second discrete point as a discrete point distance;

[0127] The third determination module is used to determine, for each of the candidate lane lines, the target distance between the candidate lane line and the center line of the reference lane according to the distances of the discrete points of the candidate lane line.

[0128] In a possible implementation, the reference centerline requirement includes at least one of the following:

[0129] The length of the lane centerline is greater than or equal to a first length threshold, the number of discrete points contained in the lane centerline is greater than or equal to a first number threshold, the distance from the lane centerline to the target vehicle is less than or equal to a distance threshold, and the direction of the lane centerline is the same as the driving direction of the target vehicle.

[0130] In a possible implementation, the lane line requirement further includes at least one of the following:

[0131] Whether the length of the original lane line is greater than or equal to a second length threshold, and the number of discrete points contained in the original lane line is greater than or equal to a second number threshold.

[0132] The stop line determination device for output display provided by the embodiment of the present application first senses multiple original lane lines and at least one original stop line on the road surface through a road landmark perception model, and then determines the third lane line set located on the left side of the target vehicle and the fourth lane line set located on the right side of the target vehicle from the multiple original lane lines through lane line requirements, reference objects, left reference distance range, and right reference distance range. Finally, the stop line for output display is determined according to the preset angle range, the target stop line, the third lane line set, and the fourth lane line set. It can be seen that when determining the stop line for output display, the embodiment of the present application only relies on the road environment image collected by the target vehicle, and no longer relies on map information, so that whether the map information is wrong or missing, it does not affect the accuracy of the stop line determination of the present application, and can reduce the traffic risk caused by the error or lack of the stop line display.

[0133] Based on the above method embodiments, another embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any of the above embodiments is implemented.

[0134] Based on the above method embodiment, another embodiment of the present application provides an electronic device or a computer device, such as Figure 4 As shown, including:

[0135] One or more processors 310;

[0136] The processor 310 is coupled to a storage device 320, and the storage device 320 is used to store one or more programs;

[0137] When the one or more programs are executed by the one or more processors 310, the electronic device or computer device implements the method described in any of the above embodiments.

[0138] An embodiment of the present application provides a vehicle, which includes the device described in any of the above embodiments, or includes the electronic device described in the above embodiments.

[0139] The vehicle includes a CPU (Central Processing Unit), a T-Box (Telematics Box), and an image sensor, etc. Among them, the image sensor is used to collect the road environment image in front of the vehicle. After the CPU obtains the road environment image collected by the image sensor, it can determine the stop line for output display by executing the stop line determination method for output display provided in any of the above embodiments. The CPU can also upload the road environment images collected by these image sensors to the server through the T-Box, and the server can determine the stop line for output display by executing the stop line determination method for output display provided in any of the above embodiments, and send the determined stop line to the T-Box, so that the T-Box transmits the stop line to the vehicle computer for display.

[0140] Based on the above embodiments, another embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any of the above embodiments.

[0141] The above device embodiment corresponds to the method embodiment and has the same technical effect as the method embodiment. For specific description, please refer to the method embodiment. The device embodiment is obtained based on the method embodiment. For specific description, please refer to the method embodiment part, which will not be repeated here. It can be understood by those skilled in the art that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0142] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining a stop line for output display, characterized in that, the method includes: Obtaining a road surface marking perception result based on a road environment image collected by a target vehicle and a road surface marking perception model, wherein the road surface marking perception result includes multiple original lane lines and at least one original stop line; Selecting multiple candidate lane lines that meet the lane line requirements from the multiple original lane lines, and the lane line requirements at least include that the direction of the original lane line is the same as the driving direction of the target vehicle; Dividing the multiple candidate lane lines into a first lane line set and a second lane line set according to the relative positions of each candidate lane line and a reference object, wherein when the road surface marking perception result includes a reference lane center line, the reference object is the reference lane center line, and when the road surface marking perception result does not include the reference lane center line, the reference object is the target vehicle, the reference lane center line is a lane center line that meets the reference center line requirements, the first lane line set is a set of candidate lane lines located on the left side of the reference object, and the second lane line set is a set of candidate lane lines located on the right side of the reference object; Matching the target distances corresponding to each candidate lane line in the first lane line set with each left reference distance range respectively, and adding corresponding target identifiers to the candidate lane lines that match successfully to obtain a third lane line set, and matching the target distances corresponding to each candidate lane line in the second lane line set with each right reference distance range respectively, and adding corresponding target identifiers to the candidate lane lines that match successfully to obtain a fourth lane line set, wherein the target distance corresponding to each candidate lane line is the distance between the candidate lane line and the reference object, the left reference distance range and the right reference distance range are ranges determined based on the distances between each lane line that meets the standard and the reference object, the target identifier can represent the relative position relationship between the candidate lane line with the identifier added and the reference object and the position relationship between the candidate lane lines with the identifiers added, the third lane line set is a set of candidate lane lines with identifiers added in the first lane line set, and the fourth lane line set is a set of candidate lane lines with identifiers added in the second lane line set; When there is a target stop line in the at least one original stop line whose included angle with a target lane line is within a preset angle range, determining a stop line for output display based on the target stop line, the third lane line set and the fourth lane line set, and the target lane line is the candidate lane line selected from the third lane line set and / or the fourth lane line set.

2. The method according to claim 1, characterized in that, the determining a stop line for output display based on the target stop line, the third lane line set and the fourth lane line set includes: Find the candidate lane line closest to the first actual endpoint of the target stop line from the set of the third lane lines as the target left lane line, and find the candidate lane line closest to the second actual endpoint of the target stop line from the set of the fourth lane lines as the target right lane line, where both the target left lane line and the target right lane line are the target lane lines; When the ordinate of the first actual endpoint of the target stop line is less than the ordinate of the end point of the target left lane line, use the projection point obtained by projecting the first actual endpoint of the target stop line onto the target left lane line as the first target endpoint of the target stop line. When the ordinate of the first actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target left lane line, use the end point of the target left lane line as the first target endpoint of the target stop line; When the ordinate of the second actual endpoint of the target stop line is less than the ordinate of the end point of the target right lane line, use the projection point obtained by projecting the second actual endpoint of the target stop line onto the target right lane line as the second target endpoint of the target stop line. When the ordinate of the second actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target right lane line, use the end point of the target right lane line as the second target endpoint of the target stop line; Connect the first target endpoint and the second target endpoint to obtain a stop line straight segment; Project the discrete points on the target stop line except the first actual endpoint and the second actual endpoint onto the stop line straight segment respectively; Use the stop line including the first target endpoint, the second target endpoint and each projection point on the stop line straight segment as the stop line for output display.

3. The method according to claim 1, characterized in that, when the reference object is the reference lane center line, the method for calculating the target distance includes: According to the ordinate range from the starting discrete point to the ending discrete point on the reference lane center line, determine the first discrete point set of each candidate lane line, where the first discrete point set includes all the first discrete points on the candidate lane line that satisfy the ordinate range; Find the second discrete point closest to each first discrete point in the first discrete point set of each candidate lane line on the reference lane center line respectively, and calculate the distance between each first discrete point and its corresponding second discrete point as the discrete point distance; For each candidate lane line, determine the target distance between the candidate lane line and the reference lane center line according to the discrete point distances of the candidate lane line.

4. The method according to claim 1, characterized in that, the reference center line requirements include at least one of the following: The length of the lane center line is greater than or equal to a first length threshold, the number of discrete points included in the lane center line is greater than or equal to a first quantity threshold, the distance from the lane center line to the target vehicle is less than or equal to a distance threshold, and the direction of the lane center line is the same as the driving direction of the target vehicle.

5. The method according to any one of claims 1-4, wherein, the lane line requirements further include at least one of the following: whether the length of the original lane line is greater than or equal to a second length threshold, and the number of discrete points included in the original lane line is greater than or equal to a second quantity threshold.

6. A stop line determination device for output display, wherein, the device includes: an acquisition unit configured to acquire a road surface marking perception result obtained based on a road environment image collected by a target vehicle and a road surface marking perception model, wherein the road surface marking perception result includes a plurality of original lane lines and at least one original stop line; a selection unit configured to select a plurality of candidate lane lines that meet the lane line requirements from the plurality of original lane lines, and the lane line requirements at least include that the direction of the original lane line is the same as the driving direction of the target vehicle; a division unit configured to divide the plurality of candidate lane lines into a first lane line set and a second lane line set according to the relative positions of each candidate lane line and a reference object, wherein when the road surface marking perception result includes a reference lane center line, the reference object is the reference lane center line, and when the road surface marking perception result does not include the reference lane center line, the reference object is the target vehicle, the reference lane center line is a lane center line that meets the reference center line requirements, the first lane line set is a set of candidate lane lines located on the left side of the reference object, and the second lane line set is a set of candidate lane lines located on the right side of the reference object; A matching identification unit, configured to respectively match the target distance corresponding to each candidate lane line in the first lane line set with each left reference distance range, and add a corresponding target identification to the candidate lane lines with successful matches to obtain a third lane line set, and respectively match the target distance corresponding to each candidate lane line in the second lane line set with each right reference distance range, and add a corresponding target identification to the candidate lane lines with successful matches to obtain a fourth lane line set, where the target distance corresponding to each candidate lane line is the distance between the candidate lane line and the reference object, the left reference distance range and the right reference distance range are ranges determined based on the distances between each lane line meeting the standard and the reference object, the target identification can represent the relative position relationship between the candidate lane line with the added identification and the reference object and the position relationship between the candidate lane lines with the added identification, the third lane line set is the set of candidate lane lines with added identification in the first lane line set, and the fourth lane line set is the set of candidate lane lines with added identification in the second lane line set; A determination unit, configured to, when there is a target stop line among the at least one original stop line whose included angle with the target lane line is within a preset angle range, determine a stop line for output display based on the target stop line, the third lane line set, and the fourth lane line set, where the target lane line is the candidate lane line selected from the third lane line set and / or the fourth lane line set.

7. The apparatus according to claim 6, wherein, the determination unit includes: a first search module, configured to search for the candidate lane line closest to the first actual end point of the target stop line from the third lane line set as the target left lane line, and search for the candidate lane line closest to the second actual end point of the target stop line from the fourth lane line set as the target right lane line, where the target left lane line and the target right lane line are both the target lane lines; a first determination module, configured to, when the ordinate of the first actual end point of the target stop line is less than the ordinate of the end point of the target left lane line, use the projection point obtained by projecting the first actual end point of the target stop line onto the target left lane line as the first target end point of the target stop line, and when the ordinate of the first actual end point of the target stop line is greater than or equal to the ordinate of the end point of the target left lane line, use the end point of the target left lane line as the first target end point of the target stop line; A projection module, configured to, when the ordinate of the second actual endpoint of the target stop line is less than the ordinate of the end point of the target right lane line, use the projection point obtained by projecting the second actual endpoint of the target stop line onto the target right lane line as the second target endpoint of the target stop line; and when the ordinate of the second actual endpoint of the target stop line is greater than or equal to the ordinate of the end point of the target right lane line, use the end point of the target right lane line as the second target endpoint of the target stop line; A connection module, configured to connect the first target endpoint and the second target endpoint to obtain a stop line straight segment; The projection module is further configured to project discrete points on the target stop line other than the first actual endpoint and the second actual endpoint onto the stop line straight segment respectively; The first determination module is further configured to use the stop line including the first target endpoint, the second target endpoint, and each projection point on the stop line straight segment as the stop line for output display.

8. The apparatus according to claim 6, wherein, The apparatus further includes: A calculation unit, configured to calculate the target distance; The calculation unit includes: A second determination module, configured to, when the reference object is the reference lane center line, determine a first discrete point set of each candidate lane line according to the ordinate range from the starting discrete point to the ending discrete point on the reference lane center line, where the first discrete point set includes all first discrete points on the candidate lane line that satisfy the ordinate range; A first search module, configured to respectively search for a second discrete point closest to each first discrete point in the first discrete point set of each candidate lane line on the reference lane center line; A calculation module, configured to calculate the distance between each first discrete point and its corresponding second discrete point as the discrete point distance; A third determination module, configured to, for each candidate lane line, determine the target distance between the candidate lane line and the reference lane center line according to the discrete point distances of the candidate lane line.

9. The apparatus according to claim 6, wherein, The reference center line requirements include at least one of the following: The length of the lane center line is greater than or equal to a first length threshold, the number of discrete points included on the lane center line is greater than or equal to a first number threshold, the distance from the lane center line to the target vehicle is less than or equal to a distance threshold, and the direction of the lane center line is the same as the driving direction of the target vehicle.

10. The apparatus according to any one of claims 6-9, wherein, The lane line requirements further include at least one of the following: Whether the length of the original lane line is greater than or equal to a second length threshold, and the number of discrete points included on the original lane line is greater than or equal to a second number threshold.

11. A computer-readable storage medium, on which a computer program is stored, wherein, When the program is executed by a processor, the method described in any one of claims 1-5 is implemented.

12. An electronic device, Characterized in that, The electronic device includes: One or more processors; The processor is coupled to a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the electronic device implements the method according to any one of claims 1-5.

13. A vehicle, Characterized in that, The vehicle includes the device according to any one of claims 6-10, or includes the electronic device according to claim 12.

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