Track occupation identification method and device, equipment, storage medium and program product

Abstract

According to the embodiment of the invention, a track occupation identification method and device, equipment, a storage medium and a program product are provided. The method comprises the steps that a target road section where a vehicle runs is obtained, the target road section is determined according to movement information of the vehicle, and the movement information is used for indicating the position of the vehicle; acquiring road information of a target road section; and road occupation identification is carried out on the vehicle by using the mobile information and the road information, and the road occupation identification is to identify whether the vehicle has a road occupation driving behavior or not. Therefore, the road occupation identification of the vehicle can be realized with low cost.

Description

TECHNICAL FIELD

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and in particular, to a method, apparatus, device, storage medium and program product for identifying lane occupation. BACKGROUND

[0002] Vehicle lane occupation driving behavior is a very dangerous and illegal behavior. In the case of vehicle lane occupation behavior in traffic flow, not only will increase the risk of accidents, but also will bring trouble and danger to other road users.

[0003] Due to the driver's negligence, lack of driving experience, cognitive failure and other reasons, vehicle lane occupation behavior occurs from time to time. How to identify whether the vehicle has lane occupation behavior becomes a problem. SUMMARY

[0004] In a first aspect of the present disclosure, a method for identifying lane occupation is provided. The method comprises: obtaining a target section of a vehicle driving, the target section being determined according to movement information of the vehicle, the movement information being used to indicate a position of the vehicle; obtaining road information of the target section; and identifying lane occupation of the vehicle by using the movement information and the road information, the lane occupation identification being used to identify whether the vehicle has lane occupation driving behavior.

[0005] In a second aspect of the present disclosure, an apparatus for identifying lane occupation is provided. The apparatus comprises: a target section obtaining module configured to obtain a target section of a vehicle driving, the target section being determined according to movement information of the vehicle, the movement information being used to indicate a position of the vehicle; a road information obtaining module configured to obtain road information of the target section; and a lane occupation identifying module configured to identify lane occupation of the vehicle by using the movement information and the road information, the lane occupation identification being used to identify whether the vehicle has lane occupation driving behavior.

[0006] In a third aspect of the present disclosure, an electronic device is provided. The device comprises at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. The instructions, when executed by the at least one processing unit, cause the device to perform the method of the first aspect.

[0007] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided. The computer-readable storage medium has stored thereon a computer program, the computer program being executable by a processor to implement the method of the first aspect.

[0008] In a fifth aspect of the present disclosure, a computer program product is provided. The computer program product comprises computer executable instructions to implement the method of the first aspect when executed by a processor.

[0009] It is to be understood that the description of the background of the disclosure set forth herein is not necessarily intended to outline key or essential features of any embodiments of the disclosure nor to limit the scope of the disclosure. Other features of the disclosure will become apparent in the course of the following description and attachments thereto. BRIEF DESCRIPTION OF DRAWINGS

[0010] The above and other features, aspects and advantages of certain embodiments of the present disclosure will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings, in which like reference numbers represent like elements throughout. In the drawings:

[0011] Figure 1 a schematic diagram illustrating an example environment in which embodiments of the present disclosure can be implemented;

[0012] Figure 2 a flowchart illustrating a method of identifying an encroachment, according to some embodiments of the present disclosure;

[0013] Figure 3 a schematic diagram illustrating an example of identifying an encroachment by a motor vehicle, according to some embodiments of the present disclosure;

[0014] Figure 4 a schematic diagram illustrating an example of identifying an encroachment by a non-motor vehicle, according to some embodiments of the present disclosure;

[0015] FIG. 5(a) shows one of the schematic diagrams illustrating an example of determining a travel trajectory of a vehicle in a specified time period in the past, according to some embodiments of the present disclosure;

[0016] FIG. 5(b) shows the other of the schematic diagrams illustrating an example of determining a travel trajectory of a vehicle in a specified time period in the past, according to some embodiments of the present disclosure;

[0017] Figure 6 a block diagram illustrating an apparatus for identifying an encroachment, according to some embodiments of the present disclosure; and

[0018] Figure 7 a block diagram illustrating an electronic device capable of implementing one or more embodiments of the present disclosure. DETAILED DESCRIPTION

[0019] Embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the present disclosure are shown. Like numbers refer to like elements throughout. It will be understood that the present disclosure can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the present disclosure to those skilled in the art.

[0020] It should be noted that the headings provided herein are for convenience only and are not to be construed as limiting. Various embodiments are described herein, and any type of embodiment can be included under any section. Further, embodiments described in any section can be combined with any other embodiments described in the same section and / or in different sections in any manner.

[0021] In this document, unless explicitly stated otherwise, performing a step “in response to” A does not mean that the step is performed immediately after A, rather, it can include one or more intervening steps.

[0022] In the description of embodiments of the disclosure, the term “includes” and its conjugations are to be construed as open-ended, i.e., “includes but is not limited to”. The term “based on” is to be construed as “based at least in part on”. The term “one embodiment” or “an embodiment” is to be construed as “at least one embodiment”. The term “some embodiments” is to be construed as “at least some embodiments”. The following detailed description is also likely to include other explicit and implicit definitions. The terms “first”, “second”, etc. can refer to different or the same objects. The following can also include other explicit and implicit definitions.

[0023] In embodiments of the disclosure, data related to users, acquisition and / or use of data, etc. can be involved. These aspects all comply with the corresponding laws and regulations and relevant provisions. In embodiments of the disclosure, all data collection, acquisition, processing, processing, forwarding, use, etc. are carried out on the premise that the user is aware of and confirms. Accordingly, in the implementation of each embodiment of the disclosure, the type of data or information that can be involved, the scope of use, the use scenario, etc. should be notified to the user and the authorization of the user should be obtained according to the relevant laws and regulations through appropriate means. The specific notification and / or authorization method can vary according to the actual situation and application scenario, and the scope of the disclosure is not limited in this regard.

[0024] The solutions described in the specification and embodiments, if related to personal information processing, will be processed on the premise of having a legal basis (for example, obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will be processed only within the prescribed or agreed range. The user refuses to process personal information other than the necessary information required for the basic function, which does not affect the user's use of the basic function.

[0025] Current vehicle lane occupation recognition technology is mainly implemented by using image acquisition devices on the road to collect videos or images of the driving of the vehicle, and then recognizing whether the vehicle occupies the lane according to the collection results. Alternatively, image acquisition devices on the vehicle are used to collect road signs, landmark lines and other road signs around the vehicle, and then the recognition is completed according to the collection results. However, installing a large number of image acquisition devices on the road or the vehicle has the problems of high cost and difficult maintenance. At the same time, in the case of damaged or blurred road signs or poor light at night, the related technology may not be able to provide accurate lane occupation driving recognition results.

[0026] To this end, an embodiment of the present disclosure proposes a lane occupation recognition method. In an embodiment of the present disclosure, a target section where a vehicle travels is obtained; the target section is determined according to movement information of the vehicle, and the movement information is used to indicate the position of the vehicle; road information of the target section is obtained; and the vehicle is recognized for lane occupation by using the movement information and the road information. In this way, the recognition of whether the vehicle occupies the lane can be realized only by relying on the movement information of the vehicle, without image acquisition devices arranged on the road or the vehicle, thereby reducing the hardware arrangement cost of lane occupation recognition.

[0027] Some example embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0028] Example Environment

[0029] Firstly, refer to Figure 1 which schematically shows a schematic diagram of an example environment 100 in which embodiments according to the present disclosure can be implemented. As Figure 1 indicated, the environment 100 can include a vehicle 101 and a server 120.

[0030] As Figure 1 indicated, the vehicle 101 can include various types of vehicles, for example, can be a motor vehicle, including but not limited to a car, a taxi, a van, an electric bicycle, a motorcycle, etc. The vehicle 101 can also be a non-motor vehicle, for example, a bicycle, a tricycle, etc.

[0031] The vehicle 101 or the driver of the vehicle 101 can be provided with an on-board device 110, which is an electronic device associated with the vehicle. In some embodiments, the on-board device 110 can be an electronic device installed in the vehicle 101 and capable of controlling the vehicle, which can be a car machine or a part thereof, for example. For non-motor vehicles, the functions of the on-board device can be completed by a smart device of the driver, which can be a smart phone, a smart watch, etc.

[0032] In some embodiments, the vehicle device 110 can include a positioning unit 111, a communication unit 112, a control unit 113, an execution unit 115, and a bus 114. The positioning unit 111 can be configured to provide the real-time latitude and longitude information and the heading information of the vehicle 101. The positioning unit 111 can use a real-time kinematic (RTK) carrier phase differential algorithm or a combined navigation algorithm to improve the position recognition accuracy of the vehicle 101, thereby providing more accurate position information.

[0033] The communication unit 112 can be configured to communicate with the server 120. Specifically, the communication unit 112 can be configured to transmit data of the positioning unit 111 and the control unit 113 to the server 120, and receive data transmitted by the server 120.

[0034] The control unit 113 can be configured to control the data processing between the positioning unit 111 and the communication unit 112, for example, to identify whether the vehicle 101 occupies the lane. In addition, the control unit 113 can also be configured to control the data processing of other units in the vehicle device 110.

[0035] The execution unit 115 can be configured to perform a related lane occupation warning operation when the control unit 113 identifies that the vehicle 101 occupies the lane. For example, the lane occupation warning operation can be to issue a voice warning reminder.

[0036] The bus 114 can be configured to control the data of the positioning unit 111, the communication unit 112, the control unit 113, and the execution unit 115, respectively, and can also be configured to enable data transmission and information interaction between the positioning unit 111, the communication unit 112, the control unit 113, and the execution unit 115. The communication mode of the bus 114 includes but is not limited to serial communication, serial peripheral interface (SPI) communication, controller area network bus (CAN) communication, Bluetooth communication, etc.

[0037] In some embodiments, the vehicle device 110 can be installed with a traffic travel application, such as a ride-hailing application, a navigation application, etc. For example, the vehicle device 110 of an autonomous vehicle is installed with a ride-hailing application, and at this time, the vehicle device 110 can be regarded as a driver client of the ride-hailing application. In some embodiments, the vehicle device 110 can also include an information presentation component, such as a display device (e.g., a display screen) and an audio device (e.g., a loudspeaker), etc. The vehicle device 110 can include any computing system with computing capability, such as various computing devices / systems, terminal devices, server devices, etc.

[0038] In some embodiments, the in-vehicle device 110 can communicate with the server 120 to implement the provision of services of the traffic travel application. The server 120 can be a standalone physical server, a server cluster composed of multiple physical servers or a distributed system, or a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content distribution network, and big data and artificial intelligence platform. The server 120 may, for example, include a computing system / server, such as a mainframe, an edge computing node, a computing device in a cloud environment, and the like. The server 120 can provide background services for the traffic travel application.

[0039] It should be understood that the structure and function of the environment 100 are described for illustrative purposes only, without implying any limitation on the scope of the present disclosure. The example embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0040] Example Process

[0041] Figure 2 A flowchart of the identification process 200 of the lane occupation is shown according to some embodiments of the present disclosure. For ease of discussion, these embodiments will be described with reference to the environment 100 of Figure 1 In some examples, these embodiments can be implemented in the in-vehicle device 110 of Figure 1 In other examples, these embodiments can also be completed through the cooperation of the in-vehicle device 110 and the server 120. At this time, the communication unit 112 can be used to report the movement information detected by the positioning unit 111 to the server 120 in real time, and the server 120 determines the target road segment traveled by the vehicle 101 according to the reported movement information. Thereafter, the communication unit 112 forwards the target road segment determined by the server 120 to the control unit 113, and the control unit 113 completes the identification of the lane occupation. Alternatively, the server 120 can also complete the identification of the lane occupation based on the determined target road segment, and transmit the identification result to the communication unit 112.

[0042] Thus, the entire lane occupation identification method can be divided into two parts. The first part is to determine the target road segment traveled by the vehicle 101 according to the movement information of the vehicle 101 by the server 120. The first part needs the server 120 to complete with the data of the road network information platform. The second part is to obtain the road information of the target road segment, and to identify the lane occupation of the vehicle 101 based on the movement information and the road information. The second part can be completed in the server 120, or in the in-vehicle device 110. The above two parts constitute the lane occupation identification system.

[0043] The following specific embodiments take the process of lane recognition as an example, which is implemented in the vehicle-mounted device 110, but this is only exemplary and is not intended to be limiting in any way.

[0044] In block 210, the communication unit 112 acquires the target section of the vehicle 101, which is determined according to the movement information of the vehicle 101, which is used to indicate the position of the vehicle 101.

[0045] In some embodiments, the movement information of the vehicle 101 can include real-time positioning latitude and longitude coordinate information. In combination Figure 1 The movement information of the vehicle 101 can be determined by the positioning unit 111. In the positioning unit 111, RTK algorithm or integrated navigation algorithm can be used to determine more accurate position. In addition, the positioning algorithm used in the positioning unit 111 can also be set according to actual needs, for example, the positioning accuracy requirements in different scenarios can be specified.

[0046] In some embodiments, the movement information of the vehicle 101 can be used locally by the control unit 113 in the vehicle-mounted device 110. In another example, the movement information can also be reported to the server 120 through the communication unit 112, and the server 120 can determine the target section of the vehicle 101 according to the movement information of the vehicle.

[0047] For the determination of the target section, the server 120 can learn the position of the vehicle 101 in real time according to the movement information of the vehicle 101. Using the position of the vehicle 101, the road network information platform is searched, so that the target section of the vehicle 101 can be matched.

[0048] In block 220, the communication unit 112 acquires the road information of the target section.

[0049] The road network information platform can prestore road network data, which includes the road information corresponding to different sections. The road network information platform can be accessed by the server 120, so that the server 120 can match the target section of the vehicle 101 according to the movement information of the vehicle 101. Alternatively, the road network information platform can be integrated into the server 120.

[0050] Exemplarily, the road information of the section can include the name of the section, the road category of the section, the position of the section, the position of the lane line in the section, the driving direction of the vehicle corresponding to the section, and the like.

[0051] The category of the road can be national road, provincial road, county road, etc. according to administrative level; or expressway, first-class highway, second-class highway, third-class highway, etc. according to technical level.

[0052] The position of a road segment can be represented by the coordinates of the vertices of the road segment. Figure 3 A schematic diagram of an example 300 of identifying lane occupation of a vehicle 101 belonging to a motor vehicle using mobile information and road information according to some embodiments of the present disclosure is shown. In the example 300, the vehicle 101 is shown to be driving on a road segment GHEF. Figure 3 In the shown road segment, the position of the road segment can be represented by the coordinates of the four vertices of the GHEF. Alternatively, the position of the road segment can also be represented by the four boundary lines of GH, HE, FE, and GF.

[0053] The lane lines in a road segment can include white dashed lines, white solid lines, yellow solid lines, double yellow lines, yellow dashed lines, etc. The function of a lane line can be annotated by the position of the lane line on the lane. For example, the white solid lines on the edges of a lane can be annotated as the outer boundary of the lane. The white dashed lines can be annotated as the same-direction lane boundary lines for dividing different lanes for same-direction driving. The yellow solid lines, double yellow lines, and yellow dashed lines can be annotated as the opposite-direction lane boundary lines for distinguishing different directions.

[0054] The control unit 113 can determine the width of a lane in the target road segment based on the road information of the target road segment. Alternatively, for the case that the road information stored in the road network information platform is rich, the width of each lane in a road segment can be directly included in the road information.

[0055] At block 230, the control unit 113 identifies lane occupation of the vehicle 101 using the mobile information and the road information, where the lane occupation identification is to identify whether the vehicle 101 has lane occupation driving behavior.

[0056] In combination with Figure 3 As shown, the control unit 113 can locate the vehicle 101 using the mobile information, so as to place the vehicle 101 and the target road segment in the same coordinate system. For example, Figure 3 The road segment composed of GHEF is the target road segment on which the vehicle 101 is driving. According to the position of the lane lines in the target road segment and the mobile information of the vehicle 101, the control unit 113 can further locate the vehicle 101 in the target lane surrounded by MNEF. The lane line MN as a marking line for distinguishing different lanes can also serve as one of the boundary lines of the target lane. FE serves as another boundary line of the target lane. According to the positions of the two boundary lines in the world coordinate system, the control unit 113 can obtain the width S0 of the target lane.

[0057] The control unit 113 can calculate the distance S1 (S1') between the vehicle 101 and the specified reference lane line according to the positioning result of the positioning unit 111. In an example, the control unit 113 can determine the center line of the target section as the specified reference lane line, and the direction of the center line is the same or approximate to the direction of the boundary line of the vehicle 101. For example, the center line of the target section can be determined according to two boundaries of the target section. Alternatively, in an ideal case where the lane information is complete, the control unit 113 can compare the distances between the vehicle 101 and the two boundary lines of the target lane, and select the boundary line that is relatively far from the vehicle 101 as the specified reference lane line.

[0058] If the control unit 113 obtains the distance S1 between the vehicle 101 and the specified reference lane line, and the distance S1 is not greater than the width S0 of the target section, it can be indicated that the vehicle 101 is normally driving in the target lane without lane occupation. Conversely, if the control unit 113 obtains the distance S1' between the vehicle 101 and the specified reference lane line, and the distance S1' is greater than the width S0 of the target lane, it can be indicated that the driving of the vehicle 101 has deviated from the target lane, and the identification result is that there is lane occupation behavior to other lanes.

[0059] In addition, the control unit 113 can also use the change of the relative position relationship between the position of the vehicle 101 and any boundary line of the target section to complete the identification of the lane occupation of the vehicle 101. For example, at the first time, the position of the vehicle 101 is located on the left side of the first boundary line of the target section, and the distance between the two is less than a specified distance threshold. At the second time, the position of the vehicle 101 coincides with the first boundary line of the target section, at the third time, the position of the vehicle 101 is located on the right side of the first boundary line of the target section, and the distance between the two is less than a specified distance threshold. At the fourth time, the position of the vehicle 101 is the same as that at the third time. Thus, based on the preset lane occupation identification logic, it can be determined that the vehicle 101 has lane occupation.

[0060] Through the above examples, in the lane occupation identification process, the detection result of the image acquisition device is not needed, and the lane occupation identification can be completed only according to the movement information representing the position of the vehicle. Thus, on the one hand, the hardware cost required for lane occupation identification is reduced, and on the other hand, since the determination of the movement information does not depend on the result of visual detection, the lane occupation identification can also be completed in the case of damaged or blurred road markings or poor light at night.

[0061] In some embodiments, the control unit 113 performs the lane occupation identification of the vehicle 101 by using the movement information and the road information, which can specifically include: determining the width of a target lane in a target section according to the road information, the target lane being the lane to which the vehicle 101 is bound; determining the distance between the vehicle 101 and a specified reference lane line in the target lane according to the movement information and the road information; and performing the lane occupation identification of the vehicle 101 by using the difference between the distance and the width.

[0062] The control unit 113 can bind the vehicle 101 to a target lane in a target section according to the movement information of the vehicle 101 and the road information of the target section. The target lane can represent the lane in which the control unit 113 identifies that the vehicle 101 is currently driving.

[0063] For the case where the road information stored in the server 120 is relatively rich, the width of each lane in the section can be directly included in the road information. Thus, the control unit 113 can directly determine the width of the target lane from the road information. Conversely, for the case where the road information stored in the server 120 is relatively simple, the control unit 113 can calculate the width of the target lane according to the position of each lane line in the target section. For example, Figure 3 For example, the control unit 113 determines the lane surrounded by the MNEF as the target lane, and determines that the width of the target lane is S0.

[0064] For the target lane surrounded by the MNEF, the control unit 113 can determine the lane line MN as the reference lane line, or can determine the FE as the reference lane line. Generally, the control unit 113 can compare the distance between the vehicle 101 and the two boundary lines of the target lane, and thus select the lane line that is relatively far away as the specified reference lane line. Figure 3 In the illustrated example, the lane line MN is selected as the specified reference lane line. The distance S1 and the distance S1’ can both be used to represent the distance between the vehicle 101 and the specified reference lane line in the target lane.

[0065] The control unit 113 calculates the difference between the distance (S1 or S1’) and the width (S0) of the target lane. It is not difficult to understand that the distance refers to the distance between the vehicle 101 and the specified reference lane line in the target lane. If the difference is a positive number (S1’-S0>0), it can be determined that the vehicle 101 is occupying the lane. Conversely, it can be determined that the vehicle 101 is driving normally and there is no lane occupation behavior.

[0066] Thus, in the current embodiment, the determination of the target section and the target lane can be completed by using the movement information. Thus, the lane occupation identification of the vehicle 101 can be completed by combining the movement information and the road information of the target lane.

[0067] In some embodiments, the control unit 113 can determine whether the vehicle 101 occupies the lane by using the difference between the width and the distance, which can specifically include: obtaining the category of the vehicle 101, the category including a motor vehicle or a non-motor vehicle; and in the case that the category of the vehicle matches the passing category of the target lane, identifying the case that the difference is greater than a specified difference threshold as the case that the vehicle 101 occupies the lane.

[0068] Taking the example that the control unit 113 belongs to the infotainment system of a motor vehicle, the vehicle model of the vehicle 101 is usually pre-stored in the control unit 113, so that the control unit can directly determine the category of the vehicle 101 as a motor vehicle.

[0069] The passing category of the target lane can include a lane for motor vehicles (motor vehicle lane), a lane for non-motor vehicles (non-motor vehicle lane), and a lane for pedestrians (pedestrian lane). Still referring to Figure 3 For a motor vehicle, if the determined passing category of the target lane is a lane for motor vehicles, it means that the category of the vehicle matches the passing category of the target lane. Similarly, for a non-motor vehicle, if the determined passing category of the target lane is a non-motor vehicle lane for non-motor vehicles, it also means that the category of the vehicle matches the passing category of the target lane. In this case, the control unit 113 calculates the difference between the distance (S1 or S1') and the width (S0) of the target lane (S1'-S0>S2, S2 can be used to represent the first specified difference threshold), or the difference is positive (S1'-S0>0, a special case where the first specified difference threshold is set to 0), then it can be determined that the vehicle 101 occupies the lane. On the contrary, if the difference between the distance (S1 or S1') and the width (S0) of the target lane is not greater than the first specified difference threshold (S1-S0≤S2), or the difference is 0 or negative (S1-S0≤0, a special case where the first specified difference threshold is set to 0), then it can be determined that the vehicle 101 does not occupy the lane.

[0070] In some embodiments, the control unit 113 can determine whether the vehicle 101 occupies the lane by using the difference between the width and the distance, which can specifically include: obtaining the category of the vehicle 101, the category including a motor vehicle or a non-motor vehicle; and in the case that the category of the vehicle does not match the passing category of the target lane, identifying the case that the difference is less than a specified difference threshold as the case that the vehicle 101 occupies the lane.

[0071] Taking the example that the control unit 113 belongs to a smart device, as mentioned above, for a non-motor vehicle, the functions of the on-board device can be completed by the user's smart device. Therefore, the control unit 113 can obtain the category of the vehicle 101 through user settings, or through the movement information of multiple time points, and other ways.

[0072] For a motor vehicle, if the determined target lane is for non-motor vehicle traffic, i.e., the determined target lane is a non-motor vehicle lane, it means that the category of the vehicle does not match the category of the target lane. Similarly, for a non-motor vehicle, if the determined target lane is for motor vehicle traffic, i.e., the determined target lane is a motor vehicle lane, it means that the category of the vehicle does not match the category of the target lane. Figure 4 An example 400 of lane occupation identification of the vehicle 101 using the movement information and the road information is shown in a schematic diagram according to some embodiments of the present disclosure. The example 400 is described in combination with the example 300. Figure 4 As shown, the road network data in the road network information platform is usually constructed around the motor vehicle lane, i.e., around the motor vehicle lane FEKJ. Figure 4 For the non-motor vehicle lane corresponding to the FEKJ, there is a lack of data in the road network information platform. Thus, for a non-motor vehicle, it may occur that the non-motor vehicle is also bound to the motor vehicle lane, i.e., the category of the vehicle does not match the category of the target lane. Corresponding to the example 300, the target lane of the non-motor vehicle is determined as the motor vehicle lane MNEF. Figure 4 Taking a bicycle as an example of a non-motor vehicle, even if the actual position of the non-motor vehicle is within the lane surrounded by the FEKJ, the control unit 113 will still determine the target lane of the non-motor vehicle as the motor vehicle lane corresponding to the MNEF.

[0073] For the width of the target lane corresponding to the MNEF, in combination with the foregoing embodiments, the control unit 113 can determine the width of the target lane as S0. The lane line MN is determined as the specified reference lane line. According to the positioning result of the positioning unit 111, the control unit 113 can obtain the distance S1 (S1’) between the vehicle 101 and the specified reference lane line.

[0074] If the difference between the distance and the width of the target lane is less than a second specified difference threshold (S1’-S0<S3, S3 is used to represent the second specified difference threshold); or if the difference between the distance and the width of the target lane is negative (S1’-S0<0, a special case where the second specified difference threshold is set to 0), it means that the vehicle 101 is occupying the lane. On the contrary, if the difference between the distance and the width of the target lane is not less than the second specified difference threshold (S1-S0≥S3); or the difference between the distance and the width of the target lane is 0 or positive (S1-S0≥0, a special case where the second specified difference threshold is set to 0), it means that the vehicle 101 is normally driving and there is no lane occupation behavior.

[0075] In some embodiments, in the case that the movement information is also used to indicate the driving direction of the vehicle 101, the control unit 113 performs the lane occupation identification on the vehicle 101 by using the difference between the width and the distance, which can include: determining the driving trajectory of the vehicle 101 in the specified time period according to the driving direction, the driving trajectory including driving into the target lane or driving out of the target lane; and performing the lane occupation identification on the vehicle 101 according to the driving trajectory and the difference.

[0076] FIG. 5 shows a schematic diagram of an example 500 of determining the driving trajectory of the vehicle 101 in the specified time period according to the driving direction, according to some embodiments of the present disclosure. As shown in FIG. 5, the control unit 113 can determine the driving direction of the vehicle 101 according to the position information at multiple sampling time points. Alternatively, the control unit 113 can also directly obtain the driving direction through the data detected by the sensor. The positions of the vehicle 101 at three sampling time points are shown in FIG. 5(a). The control unit 113 connects the positions at the three sampling time points with a smooth curve. The tangent line of the curve at each sampling time point can be used to represent the driving direction of the vehicle 101. According to the driving directions at the three sampling time points, the control unit 113 can determine that the driving trajectory of the vehicle 101 is driving out of the target lane. That is, when the driving direction of the vehicle 101 at the first sampling time point is the same as or parallel to the direction of the target lane, and then the deviation between the driving direction at the second sampling time point and the direction of the target lane exceeds a preset deviation threshold, and then the driving direction at the third sampling time point is the same as or parallel to the direction of the target lane, it can be determined that the driving trajectory of the vehicle 101 is driving out of the target lane. It is not difficult to understand that the sampling time points are determined according to the actual scene.

[0077] Similarly, the positions of the vehicle 101 at three sampling time points are also shown in FIG. 5(b), and the control unit 113 connects the positions at the three sampling time points with a smooth curve. The tangent line of the curve at each sampling time point can be used to represent the driving direction of the vehicle 101. According to the driving directions at the three sampling time points, the control unit 113 can determine that the driving trajectory of the vehicle 101 is driving into the target lane.

[0078] In the case of determining the driving trajectory of the vehicle 101, the difference between the distance and the width of the target lane can be combined with the driving trajectory to identify the lane occupation of the vehicle 101. It is not difficult to understand that the distance refers to the distance between the vehicle 101 and the specified reference lane line in the target lane.

[0079] Compared with the position, the driving trajectory can to some extent dynamically reflect the driving situation of the vehicle 101. Therefore, in the case that there is a possible positioning inaccuracy or the accuracy of the road network information is low, the lane occupation identification is comprehensively performed by using the driving trajectory, which can reduce the occurrence of misidentification and improve the accuracy of the lane occupation identification.

[0080] In some embodiments, the control unit 113 can identify the lane occupation of the vehicle 101 according to the driving trajectory and the difference, which can include: obtaining the category of the vehicle 101, the category including a motor vehicle or a non-motor vehicle; in the case that the category of the vehicle matches the passing category of the target lane, identifying the case that the difference is greater than a specified difference threshold and the driving trajectory is driving off the target section as the lane occupation of the vehicle 101.

[0081] Taking the example that the control unit 113 belongs to the vehicle machine of the motor vehicle, the vehicle model of the vehicle 101 is usually pre-stored in the control unit 113, so that the control unit can directly determine the category of the vehicle 101 as the motor vehicle.

[0082] Still referring to Figure 3 For the motor vehicle, if the determined passing category of the target lane is the motor lane for the motor vehicle to drive, it means that the category of the vehicle matches the passing category of the target lane. Similarly, for the non-motor vehicle, if the determined passing category of the target lane is the non-motor lane for the non-motor vehicle to drive, it also means that the category of the vehicle matches the passing category of the target lane. In this case, the control unit 113 calculates the difference between the distance (S1 or S1') and the width (S0) of the target lane (S1'-S0>S2) greater than the first specified difference threshold; or the difference is positive (S1'-S0>0, the special case that the first specified difference threshold is set to 0), which means that there may be lane occupation. On this basis, if the control unit 113 determines that the driving trajectory of the vehicle 101 is driving off the target lane, it can be determined that the vehicle 101 occupies the lane. Conversely, if the control unit 113 determines that the driving trajectory of the vehicle 101 is driving into the target lane on this basis, it can be determined that the driving of the vehicle 101 belongs to normal lane changing and does not occupy the lane.

[0083] In some embodiments, the control unit 113 can identify the lane occupation of the vehicle 101 according to the driving trajectory and the difference, which can include: obtaining the category of the vehicle 101, the category including a motor vehicle or a non-motor vehicle; in the case that the category of the vehicle does not match the passing category of the target lane, identifying the case that the difference is less than a specified difference threshold and the driving trajectory is driving into the target section as the lane occupation of the vehicle 101.

[0084] Taking the example that the control unit 113 belongs to the intelligent device, as mentioned above, for the non-motor vehicle, the function of the vehicle-mounted device can be completed by the user's intelligent device. Therefore, the control unit 113 can determine the category of the vehicle 101 as the non-motor vehicle by detecting or directly obtaining.

[0085] Still referring to Figure 4For the motor vehicle, if the determined traffic category of the target lane is the non-motor vehicle lane, it means that the category of the vehicle does not match the traffic category of the target lane. Similarly, for the non-motor vehicle, if the determined traffic category of the target lane is the motor vehicle lane, it also means that the category of the vehicle does not match the traffic category of the target lane.

[0086] If the distance and the width difference of the target lane are less than the second specified difference threshold (S1'-S0

[0087] In some embodiments, the control unit 113 can determine the specified difference threshold, and the manner of determining the specified difference threshold can include determining the specified difference threshold by using at least one of the road information and the category of the vehicle 101.

[0088] The control unit 113 sets the specified difference threshold, which can be set according to the width of the lane or the level of the lane. The specified difference threshold is used to reduce the error in the lane occupation identification caused by the positioning accuracy and other factors. For example, the specified difference threshold can be inversely proportional to the width of the lane, that is, the wider the lane, the smaller the specified difference threshold. Alternatively, the specified difference threshold can be inversely proportional to the level of the lane, that is, for high-level road sections such as national roads or expressways, the specified difference threshold is relatively small. For county roads or third-class roads, the specified difference threshold is relatively large.

[0089] In addition, the specified difference threshold can also be set according to the category of the vehicle 101. For example, for the lane occupation identification of the motor vehicle, the adjustment parameter of the specified difference threshold can be set to 1. For the lane occupation identification of the non-motor vehicle, the adjustment parameter of the specified difference threshold can be set to 0.5, so that the specified difference threshold is set based on the adjustment parameter. The numerical value of the above adjustment parameter is only exemplary and is not limited.

[0090] In some embodiments, the execution unit 115 can be configured to perform the lane occupation warning operation when the control unit 113 determines that the vehicle has the lane occupation driving behavior.

[0091] If the control unit 113 determines that the vehicle 101 occupies the lane, the execution unit 115 can perform a warning operation on the lane occupation. For example, for a motor vehicle, the warning operation can include a lane occupation prompt on the multimedia device of the motor vehicle, such as a text prompt or a sound prompt. The warning operation can also include taking over the control of the motor vehicle to control the motor vehicle to slow down or brake. For a non-motor vehicle, the warning operation can include a text or sound prompt on the smart terminal.

[0092] Thus, the driver of the vehicle 101 can be informed of the lane occupation in a timely manner, so that the probability of dangerous driving on the road can be reduced to a certain extent.

[0093] Example Apparatus and Device

[0094] Figure 6 A schematic structural block diagram of an apparatus 600 for determining a driving section is shown according to some embodiments of the present disclosure. The apparatus 600 can be implemented as or included in the in-vehicle device 110. Various modules / components in the apparatus 600 can be implemented by hardware, software, firmware, or any combination thereof.

[0095] As shown, the apparatus 600 includes a target section acquisition module 610 configured to acquire a target section for driving of the vehicle, the target section being determined according to movement information of the vehicle, the movement information being used to indicate a position of the vehicle; a road information acquisition module 620 configured to acquire road information of the target section; and a lane occupation identification module 630 configured to identify lane occupation of the vehicle by using the movement information and the road information, the lane occupation identification being identification of whether the vehicle has a lane occupation driving behavior.

[0096] In some embodiments, the lane occupation identification module 630 includes a width determination sub-module configured to determine a width of a target lane in the target section according to the road information, the target lane being a lane bound to the vehicle; a distance determination sub-module configured to determine a distance between the vehicle and a specified reference lane line in the target lane according to the movement information and the road information; and a lane occupation identification execution sub-module configured to identify lane occupation of the vehicle by using a difference between the distance and the width.

[0097] In some embodiments, the lane occupation identification execution sub-module includes a vehicle category determination unit configured to acquire a category of the vehicle, the category including a motor vehicle or a non-motor vehicle; and the lane occupation identification execution sub-module identifies that the vehicle occupies the lane when the difference is greater than a specified difference threshold in the case that the category is the motor vehicle.

[0098] In some embodiments, the lane occupation identification performing submodule identifies, in a case that the category of the vehicle is a non-motor vehicle, a case that the difference value is less than the specified difference value threshold as the vehicle occupying the lane.

[0099] In some embodiments, in a case that the movement information is further used to indicate a driving direction of the vehicle, the lane occupation identification performing submodule comprises a driving trajectory determining unit configured to determine, according to the driving direction, a driving trajectory of the vehicle in the specified time period, the driving trajectory comprising driving into the target lane or driving out of the target lane.

[0100] The lane occupation identification performing submodule identifies, according to the driving trajectory and the difference value, the vehicle occupying the lane.

[0101] In some embodiments, the lane occupation identification performing submodule is specifically configured to obtain a category of the vehicle, the category comprising a motor vehicle or a non-motor vehicle; and in a case that the category of the vehicle is a motor vehicle, identify a case that the difference value is greater than the specified difference value threshold and the driving trajectory is driving out of the target lane as the vehicle occupying the lane.

[0102] In some embodiments, the lane occupation identification performing submodule is specifically configured to obtain a category of the vehicle, the category comprising a motor vehicle or a non-motor vehicle; and in a case that the category of the vehicle is a non-motor vehicle, identify a case that the difference value is less than the specified difference value threshold and the driving trajectory is driving into the target lane as the vehicle occupying the lane.

[0103] In some embodiments, the device further comprises a specified difference value threshold determining submodule configured to determine the specified difference value threshold by using at least one of the road information and the category of the vehicle.

[0104] In some embodiments, the device further comprises a lane occupation warning submodule configured to perform a lane occupation warning operation in a case that the identification result of the lane occupation identification indicates that the vehicle is occupying the lane.

[0105] The units and / or modules included in the apparatus 600 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units and / or modules can be implemented using software and / or firmware, e.g., machine executable instructions stored on a storage medium. In addition to or alternatively, some or all of the units and / or modules in the apparatus 600 can be implemented at least partially by one or more hardware logic components. As an example and not by way of limitation, example types of hardware logic components that can be used include Field-Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application-Specific Standard Products (ASSPs), System-on-a-Chip (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0106] Figure 7A block diagram of an electronic device 700 in which one or more embodiments of the disclosure can be implemented is shown. It should be understood that Figure 7 The electronic device 700 shown is merely exemplary and should not be construed as limiting the scope of the embodiments described herein. Figure 7 The electronic device 700 shown can be used to implement Figure 1 the in-vehicle device 110 and the server 120.

[0107] As Figure 7 shown, the electronic device 700 is in the form of a general electronic device. Components of the electronic device 700 can include, but are not limited to, one or more processors or processing units 710, a memory 720, a storage device 730, one or more communication units 740, one or more input devices 750, and one or more output devices 760. The processing unit 710 can be a real or virtual processor and capable of executing various processing according to programs stored in the memory 720. In a multi-processor system, multiple processing units execute computer-executable instructions in parallel to improve parallel processing capability of the electronic device 700.

[0108] The electronic device 700 typically includes a number of computer storage media. Such media can be any available media that is accessible by the electronic device 700 and includes both volatile and non-volatile media, removable and non-removable media. The memory 720 can be a volatile memory (e.g., registers, cache, random access memory (RAM)), a non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 730 can be a removable or non-removable media and can include a machine-readable medium, such as a flash drive, a magnetic disk, or any other medium that can be used to store information and / or data and that can be accessed by the electronic device 700.

[0109] The electronic device 700 can further include additional removable / non-removable, volatile / non-volatile storage media. Although not shown in Figure 7 , a disk drive for reading from or writing to a removable, non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable, non-volatile optical disk (e.g., a CD-ROM) can be provided. In these instances, each drive can be connected to the bus (not shown) by one or more data media interfaces. The memory 720 can include a computer program product 725 having one or more program modules configured to carry out the various methods or actions of the various embodiments of the present disclosure.

[0110] The communication unit 740 enables communication through the communication medium with other electronic devices. Additionally, the functionality of the components of the electronic device 700 can be implemented in a single computing cluster or a plurality of computer machines capable of communicating over a communication connection. As such, the electronic device 700 can operate in a networked environment using logical connections to one or more other servers, network personal computers (PCs), or another network node in the networking environment.

[0111] The input device 750 can be one or more input devices, such as a mouse, a keyboard, a trackball, etc. The output device 760 can be one or more output devices, such as a display, a speaker, a printer, etc. The electronic device 700 can also communicate with one or more external devices (not shown), such as a storage device, a display device, etc., through the communication unit 740, as needed, with one or more devices that enable a user to interact with the electronic device 700, or with any devices (e.g., a network card, a modem, etc.) that enable the electronic device 700 to communicate with one or more other electronic devices. Such communication can be carried out via an input / output (I / O) interface (not shown).

[0112] According to an example implementation of the present disclosure, there is provided a computer-readable storage medium having computer-executable instructions stored thereon, where the computer-executable instructions are executed by a processor to implement the method described above. According to an example implementation of the present disclosure, there is also provided a computer program product tangibly stored on a non-transitory computer-readable medium and comprising computer-executable instructions, where the computer-executable instructions are executed by a processor to implement the method described above.

[0113] Various aspects of the disclosure are now described with reference to the drawings. In general, the drawings described below are diagrammatic and schematic representations of actual or conceptual structures and processes, and are not limiting of the scope of the present disclosure. In the drawings, the same reference numerals are used to represent similar components. The embodiments of the present disclosure will be described with reference to the drawings, wherein like reference numerals represent like elements throughout.

[0114] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function / act specified in the flowchart and / or block diagram block or blocks.

[0115] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0116] The flow diagrams and the block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various implementations of the present disclosure. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logic functions (s). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in some cases, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0117] implementations. Numerous modifications and adaptations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The herein described subject matter is to be considered in all its novel implications and applications and can be practiced in a variety of environments. It is also to be understood that such features are only examples and that many modifications, additions, or omissions can be made without departing from the scope of the claimed disclosure.

Claims

1.A method for identifying lane occupation, comprising: obtaining a target section of a road traveled by a vehicle, the target section being determined according to movement information of the vehicle, the movement information being used to indicate a position of the vehicle; obtaining road information of the target section; performing lane occupation identification on the vehicle by using the movement information and the road information, the lane occupation identification being identification of whether the vehicle has a lane occupation behavior. 2.The method of claim 1, wherein performing lane occupation identification on the vehicle by using the movement information and the road information comprises: determining a width of a target lane in the target section according to the road information, the target lane being a lane bound to the vehicle; determining a distance between the vehicle and a specified reference lane line in the target lane according to the movement information and the road information; and performing lane occupation identification on the vehicle by using a difference between the distance and the width. 3.The method of claim 2, wherein performing lane occupation identification on the vehicle by using the difference between the distance and the width comprises: obtaining a category of the vehicle, the category including a motor vehicle or a non-motor vehicle; in a case where the category of the vehicle matches a passing category of the target lane, identifying a case where the difference is greater than a specified difference threshold as lane occupation of the vehicle. 4.The method of claim 2, wherein performing lane occupation identification on the vehicle by using the difference between the distance and the width comprises: obtaining a category of the vehicle, the category including a motor vehicle or a non-motor vehicle; in a case where the category of the vehicle does not match a passing category of the target lane, identifying a case where the difference is less than a specified difference threshold as lane occupation of the vehicle. 5.The method of claim 2, wherein in a case where the movement information is also used to indicate a travel direction of the vehicle, performing lane occupation identification on the vehicle by using the difference between the distance and the width comprises: determining a travel trajectory of the vehicle in a specified time period according to the travel direction, the travel trajectory including driving into the target lane or driving out of the target lane; and performing lane occupation identification on the vehicle according to the travel trajectory and the difference. 6.The method of claim 5, wherein performing lane occupation identification on the vehicle according to the travel trajectory and the difference comprises: obtaining a category of the vehicle, the category including a motor vehicle or a non-motor vehicle; in a case where the category of the vehicle matches a passing category of the target lane, identifying a case where the difference is greater than a specified difference threshold and the travel trajectory is driving out of the target lane as lane occupation of the vehicle. 7.The method of claim 5, wherein performing lane occupation identification on the vehicle according to the travel trajectory and the difference comprises: obtaining a category of the vehicle, the category including a motor vehicle or a non-motor vehicle; and in a case where the category of the vehicle does not match a passing category of the target lane, identifying a case where the difference is less than a specified difference threshold and the travel trajectory is driving into the target lane as lane occupation of the vehicle. In a case where the category of the vehicle does not match the traffic category of the target lane, the difference is less than a specified difference threshold, and the driving track is a case of driving into the target lane, the case is identified as lane occupation of the vehicle. 8.The method of any one of claims 3, 4, 6 or 7, wherein the specified difference threshold is determined in a manner comprising: determining the specified difference threshold using at least one of the road information and the category of the vehicle. 9.The method of claim 1, further comprising: in a case where the identification result of the lane occupation identification indicates that the vehicle has lane occupation driving behavior, performing a lane occupation warning operation. 10.An apparatus for identifying lane occupation, comprising: a target road section acquisition module configured to acquire a target road section on which a vehicle drives, the target road section being determined according to movement information of the vehicle, the movement information being used to indicate a position of the vehicle; a road information acquisition module configured to acquire road information of the target road section; and a lane occupation identification module configured to identify lane occupation of the vehicle using the movement information and the road information, the lane occupation identification being identification of whether the vehicle has lane occupation driving behavior. 11.An electronic device comprising: at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions, when executed by the at least one processing unit, causing the electronic device to perform the method according to any one of claims 1 to 9. 12.A computer-readable storage medium having stored thereon a computer program, the computer program being executable by a processor to implement the method according to any one of claims 1 to 9. 13.A computer program product comprising computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 9. ​

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