Methods, devices, electronic equipment, and media for determining the degree of lane line wear.

Abstract

This invention discloses a method, apparatus, electronic device, and medium for determining the wear degree of lane markings. The method includes: determining a target distance from the position of a vehicle crossing a target lane marking to the end point of the target lane marking, and a target angle between the vehicle's travel path crossing the target lane marking and the target lane marking; determining whether the target lane marking meets the wear degree increase condition based on the target distance, a pre-determined first distance threshold, the target angle, and a pre-determined first angle threshold; if the target lane marking meets the wear degree increase condition, updating the wear degree influence index, and determining the wear ratio of the target lane marking based on the updated wear degree influence index. This invention can achieve quantitative and qualitative identification of lane marking wear degree, improving the accuracy of lane marking wear degree identification.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and in particular to a method, apparatus, electronic device, and medium for determining the wear degree of lane lines. Background Technology

[0002] Roads are typically marked with numerous lane lines, which guide vehicles and ensure orderly traffic flow. Due to factors such as the time since their initial marking, vehicle driving over the lines, friction from falling objects, and environmental elements like wind and rain, lane lines often show varying degrees of wear and tear. When lane lines are heavily worn, different driving risks arise. For example, at the intersection of dashed and solid lane lines, if the solid lane line is heavily worn, poor lighting conditions or inclement weather can make it difficult to see the solid lane line, potentially leading to vehicles cutting in or changing lanes illegally.

[0003] In existing technologies, lane line images are typically processed using image processing algorithms to determine the degree of lane line wear. Alternatively, the lane line images are input into a neural network model trained on lane line sample images labeled with wear levels, yielding the lane line wear level output by the neural network model. However, the former method may fail to identify lane lines or misidentify wear levels when the camera is far from the lane lines or when there are many vehicles in the lane. The latter method requires manual labeling of wear levels on lane line sample images, which is costly and may lead to inaccurate lane line wear level identification due to inconsistent labeling standards. Summary of the Invention

[0004] This invention provides a method, apparatus, electronic device, and medium for determining the degree of lane line wear, thereby achieving quantitative and qualitative identification of the degree of lane line wear and improving the accuracy of lane line wear identification.

[0005] In a first aspect, embodiments of the present invention provide a method for determining the degree of wear on lane lines, the method comprising:

[0006] Determine the target distance from the position of the vehicle to be processed when it crosses the target lane line to the end of the target lane line, and the target angle between the driving path of the vehicle to be processed when it crosses the target lane line and the target lane line.

[0007] Based on the target distance, the predetermined first distance threshold, the target angle, and the predetermined first angle threshold, it is determined whether the target lane line meets the condition for increased wear.

[0008] If the target lane line is determined to meet the conditions for increased wear, the wear degree influence index is updated, and the wear ratio of the target lane line is determined based on the updated wear degree influence index.

[0009] Secondly, embodiments of the present invention also provide a device for determining the degree of wear of lane lines, the device comprising:

[0010] The distance and angle determination module is used to determine the target distance from the position of the vehicle to be processed when it crosses the target lane line to the end of the target lane line, and the target angle between the driving path of the vehicle to be processed when it crosses the target lane line and the target lane line.

[0011] The wear degree increase condition judgment module is used to determine whether the target lane line meets the wear degree increase condition based on the target distance, a predetermined first distance threshold, the target angle, and a predetermined first angle threshold.

[0012] The wear ratio determination module is used to update the wear degree influence index if it is determined that the target lane line meets the wear degree increase condition, and to determine the wear ratio of the target lane line based on the updated wear degree influence index.

[0013] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for determining the degree of lane line wear as described in any of the embodiments of the present invention.

[0014] Fourthly, embodiments of the present invention also provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to perform a method for determining the degree of lane line wear as described in any of the embodiments of the present invention.

[0015] The technical solution of this invention determines the target distance from the position of the vehicle crossing the target lane line to the end of the target lane line, as well as the target angle between the vehicle's travel path and the target lane line. Based on the target distance, a pre-determined first distance threshold, the target angle, and a pre-determined first angle threshold, it determines whether the target lane line meets the conditions for increased wear. If the target lane line meets the conditions for increased wear, the wear degree influence index is updated, and the wear ratio of the target lane line is also updated. This embodiment solves the problems of manual labeling and inaccurate identification of lane line wear degree in existing technologies, achieving quantitative and qualitative identification of lane line wear degree and improving the accuracy of lane line wear degree identification.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a method for determining the wear degree of lane lines according to Embodiment 1 of the present invention;

[0019] Figure 2 This is a schematic diagram of a lane line provided in Embodiment 1 of the present invention;

[0020] Figure 3 This is a schematic diagram of a vehicle crossing a target lane line, provided in Embodiment 1 of the present invention.

[0021] Figure 4 This is a schematic diagram of a scenario where the number of lane lines matching the driving path within a preset distance range is greater than 2, as provided in Embodiment 1 of the present invention.

[0022] Figure 5 This is a flowchart of another method for determining the wear degree of lane lines provided in Embodiment 2 of the present invention;

[0023] Figure 6 This is a schematic diagram of a device for determining the wear degree of lane lines provided in Embodiment 3 of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. In the embodiments of this application, certain software, components, models, and other existing industry solutions may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solutions of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0027] The acquisition, transmission, storage, use, and processing of data in this application all comply with the relevant provisions of national laws and regulations.

[0028] Example 1

[0029] Figure 1 The flowchart of a method for determining the wear degree of lane lines provided in Embodiment 1 of the present invention is applicable to situations where the wear degree of lane lines needs to be determined. The method can be executed by a lane line wear degree determination device, which can be implemented in hardware and / or software. The lane line wear degree determination device can be configured in an electronic device and used in conjunction with a shooting device such as a capture device.

[0030] like Figure 1 As shown, the method includes:

[0031] S110. Determine the target distance from the position of the vehicle to be processed when it crosses the target lane line to the end of the target lane line, and the target angle between the driving path of the vehicle to be processed when it crosses the target lane line and the target lane line.

[0032] In this context, "vehicles to be processed" refers to vehicles crossing lane lines, and "target lane line" refers to the lane line crossed by the vehicle to be processed. Specifically, the road is monitored in real-time using camera equipment, and the camera's view must include at least one lane line. Typically, this can be achieved by monitoring the intersection of dashed and solid lane lines. Understandably, at points where dashed lane lines transition into solid lane lines, when the solid lane line is heavily worn, its guiding function weakens, increasing the impact of wear on driving behavior and raising driving risks.

[0033] The endpoint of the target lane line can be the farthest point of the target lane line that can be identified in the captured image, or it can be the intersection of the target lane line and the stop lane line. This embodiment does not limit the type of the endpoint of the target lane line or the specific identification method.

[0034] In this embodiment, lane lines and their endpoints are identified using real-time captured road images or video frames from real-time road videos. When multiple lane lines are identified, each lane line can be further numbered to facilitate the assessment of wear levels for each lane line. For example, Figure 2 A schematic diagram of lane lines is provided, such as... Figure 2 As shown, the captured image contains four lanes, and lane line 1, lane line 2 and lane line 3 are identified. The farthest point of each lane line that can be identified in the captured image is taken as the endpoint of each lane line.

[0035] In this embodiment, vehicle recognition is performed using real-time captured road images or video frames from real-time road videos. When a vehicle is identified, its position in each image is obtained, thereby determining the vehicle's travel path. This embodiment does not limit the specific methods of vehicle recognition and travel path determination. When a vehicle is determined to be crossing a target lane line based on its travel path, it is designated as a vehicle to be processed. The target lane line crossed by the vehicle to be processed is determined, along with the target distance from the vehicle's position when crossing the target lane line to the end of the target lane line, and the target angle between the vehicle's travel path when crossing the target lane line and the target lane line.

[0036] In this embodiment, by determining the target distance and target angle when the vehicle crosses the target lane line, it is easier to subsequently determine whether the driving behavior is affected by the wear of the target lane line based on the target distance and target angle, thereby further determining the degree of wear of the target lane line. It is understood that when the wear of the target lane line increases, the guiding ability of the target lane line will weaken, the degree to which driving behavior is affected by the wear of the target lane line will increase, the distance from the vehicle's position when crossing the target lane line to the end point of the target lane line will tend to decrease, and the angle when the vehicle crosses the target lane line will tend to increase.

[0037] S120. Based on the target distance, a predetermined first distance threshold, the target included angle, and a predetermined first angle threshold, determine whether the target lane line meets the condition for increased wear.

[0038] The first distance threshold refers to the maximum length of the target lane line. Further, for the target lane line where dashed and solid lane lines intersect, the first distance threshold refers to the maximum length of the solid lane line. The first angle threshold can refer to the maximum angle when a vehicle crosses the target lane line. The target lane line meets the condition of increased wear, meaning that the wear on the solid lane line of the target lane line increases at this point, and the guiding effect of the target lane line on driving weakens.

[0039] In this embodiment, for scenarios where dashed and solid lane lines intersect, the first distance threshold can be set to the length of the solid lane line. The length of the solid lane line can be the length of the solid lane line identified in the captured image, or it can be a preset empirical value. It is understood that at the point where a dashed lane line changes to a solid lane line, vehicles making normal lane changes should complete the change before the solid lane line. Therefore, the wear condition of the target lane line can be determined based on vehicles whose target distance is less than the length of the solid lane line.

[0040] Furthermore, regarding the setting of the first distance threshold, when the solid lane line is located outside an intersection, the first distance threshold can be determined based on empirical values ​​of the solid lane line's length; alternatively, the recognition distance of the solid lane line within the current captured image can be determined and used as the first distance threshold. When the solid lane line is located at an intersection, the distance from the start point of the solid lane line to the start and end points of the stop lane line within the current captured image can be determined and used as the first distance threshold.

[0041] In this embodiment, the first angle threshold can be set based on empirical values, such as 10°, or it can be determined based on big data, specifically the crossing angles of historical vehicles traveling normally across lanes, and the first angle threshold can be calculated using a certain algorithm. However, this embodiment does not limit the specific value of the first angle threshold.

[0042] In an optional embodiment, determining whether the target lane line meets the condition for increased wear can be achieved by comparing the target distance with a first distance threshold and the target angle with a first angle threshold. It is understood that when the target distance when the vehicle crosses the target lane line is less than or equal to the first distance threshold, it is considered that the vehicle's driving may have been affected by the wear of the solid lane line in the target lane line, and the solid lane line in the target lane line may have a trend of increasing wear. When the target angle when the vehicle crosses the target lane line is greater than the first angle threshold, it can be considered that the vehicle's lane-changing behavior is abnormal. Therefore, when the target distance when the vehicle crosses the target lane line is less than or equal to the first distance threshold, and the target angle when the vehicle crosses the target lane line is less than or equal to the first angle threshold, it is considered that the vehicle's driving may have been affected by the wear of the solid lane line in the target lane line, and the solid lane line in the target lane line may have a trend of increasing wear.

[0043] In another optional embodiment, determining whether the target lane line meets the condition of increased wear can also be done by comparing the target distance with a first distance threshold and the target angle with a first angle threshold. For vehicles to be processed whose target distance is less than or equal to the first distance threshold and whose target angle is less than or equal to the first angle threshold, the driving behavior trend of the vehicle to be processed can be determined among the multiple vehicles that have been crossed, based on the determined distance from the position when crossing the target lane line to the end point of the target lane line being less than or equal to the first distance threshold and the determined angle between the driving path when crossing the target lane line and the target lane line being less than or equal to the first angle threshold. If it is determined that the vehicle to be processed is in a trend of decreasing target distance and increasing target angle among the multiple vehicles that have been crossed, then it is determined that the driving behavior of the vehicle to be processed may be affected by the wear of the solid lane line in the target lane line, and the solid lane line in the target lane line may have a trend of increasing wear.

[0044] In this embodiment, based on the target distance and target angle of the vehicle to be processed monitored in real time, the strength of the target lane line's ability to guide driving behavior is judged, thereby judging the wear degree of the target lane line. The wear degree of the lane line can be dynamically judged, and the judgment of the wear degree of the lane line is more consistent with the actual situation, thus improving the accuracy of determining the wear degree of the lane line.

[0045] Furthermore, before S110, the method further includes: determining the driving path of the vehicle to be processed and determining the lane line matching the driving path; S120 includes: if the number of lane lines matching the driving path within a preset distance range is less than or equal to 2, the target distance is less than or equal to a preset first distance threshold, and the target included angle is less than or equal to a preset first angle threshold, then the target lane line is determined to meet the condition of increased wear degree.

[0046] Among them, the lane lines that match the driving path refer to the lane lines corresponding to the lanes where the driving path of the vehicle to be processed is located. Figure 3 A schematic diagram is provided showing a vehicle crossing a target lane line, such as... Figure 3 As shown, the captured image includes four lanes. The driving path of the vehicle to be processed is displayed. In the first stage, the vehicle is traveling in the second lane from left to right. During this stage, the lane lines matching the driving path are lane line 1 and lane line 2. In the second stage, the vehicle is traveling in the first lane from left to right. The vehicle crosses lane line 1, at which point lane line 1 becomes the target lane line, and the lane line matching the driving path is lane line 1. Considering the complete driving path of the vehicle to be processed, the lane lines matching the driving path include lane line 1 and lane line 2. The preset distance range can be determined based on the length of each lane line in the captured image. This embodiment does not limit the method or specific value for determining the preset distance range.

[0047] In this embodiment, determining the lane lines matching the driving path serves two purposes. First, the number of lane lines matching the driving path can be used to help determine whether the vehicle to be processed is a normal vehicle crossing lanes. When the number of lane lines matching the driving path within a preset distance range is greater than 2, the vehicle to be processed crosses at least two lanes within the preset distance range. For example, Figure 4 A schematic diagram is provided showing that the number of lane lines matching the driving path is greater than 2 within a preset distance range, such as... Figure 4 As shown, the vehicle to be processed continuously crosses lane line 2 and lane line 3. At this point, the lane lines matching the driving path are lane line 1, lane line 2, and lane line 3, with more than two lane lines. In this case, the vehicle to be processed is considered to be driving abnormally, and the determination of the wear level of the target lane line is no longer based on the target distance and target angle of the vehicle to be processed. Secondly, when it is necessary to determine the wear level of the target lane line based on the target distance and target angle of the vehicle to be processed, since the driving path of the vehicle to be processed involves at least two lane lines, in addition to updating the number of vehicles crossed and driven by the target lane line crossed by the vehicle to be processed, the number of vehicles driven by other lane lines besides the target lane line also needs to be updated to facilitate the determination of the wear level of each lane line separately.

[0048] In this embodiment, the number of lane lines corresponding to the driving path of the vehicle to be processed is greater than 2 within a preset distance range, and the target angle of the vehicle to be processed is greater than a first angle threshold. If any one of these conditions is met, the vehicle to be processed is considered to be driving abnormally. If the target distance of the vehicle to be processed is greater than the first distance threshold, it indicates that the vehicle to be processed is making a normal lane change across the dashed lane line in the target lane line, and will not participate in subsequent processing; only the statistics of vehicles that have already passed it are needed. Furthermore, after determining that the vehicle to be processed is driving abnormally, an abnormal driving prompt for the vehicle to be processed can also be generated.

[0049] This embodiment determines the number of lane lines, target distance, and target angle corresponding to the driving path of the vehicle to be processed. It can eliminate the interference of abnormal driving vehicles and vehicles changing lanes across dashed lane lines on the determination of the strength of the driving behavior guidance of the target lane line. It identifies the situation where the vehicle to be processed drives normally across the solid lane line as the wear of the solid lane line in the target lane line, thereby improving the accuracy of determining the degree of lane line wear.

[0050] S130. If it is determined that the target lane line meets the condition for increased wear, the wear degree influence index is updated, and the wear ratio of the target lane line is determined based on the updated wear degree influence index.

[0051] The Wear Influence Index represents the impact of the wear level of the target lane line on the driving behavior of the vehicle being processed. A Wear Influence Index update indicates an increase in the impact of the wear level of the target lane line on the driving behavior of the vehicle being processed. The Wear Ratio represents the proportion of the worn area of ​​the target lane line to the entire lane line. For target lane lines where dashed and solid lines merge, the Wear Ratio can be the proportion of the worn area of ​​the solid lane line to the entire solid lane line area. A higher Wear Ratio indicates a higher degree of wear on the target lane line.

[0052] In this embodiment, the initial value of the wear degree influence index can be set to 0, or the initial wear degree influence index of each lane line can be determined by identifying each lane line in the captured image and determining parameters such as the gray value and integrity of each lane line area.

[0053] In this embodiment, the wear degree influence index update can be based on the current wear degree influence index plus 1; or it can be based on the difference between the target distance and the first distance threshold and / or the difference between the target angle and the first angle threshold, to determine the increment based on the current wear degree influence index.

[0054] Specifically, corresponding wear degree influence index increments can be set for different distance difference ranges or angle difference ranges. For example, when the distance difference is 0-0.5m, the corresponding wear degree influence index increment is set to 1; when the distance difference is 0.5-1m, the corresponding wear degree influence index increment is set to 2; and when the distance difference is greater than 1m, the corresponding wear degree influence index increment is set to 3. Similarly, when the angle difference is 0-0.5°, the corresponding wear degree influence index increment is set to 1; when the distance difference is 0.5°-1°, the corresponding wear degree influence index increment is set to 2; and when the distance difference is greater than 1°, the corresponding wear degree influence index increment is set to 3. The corresponding wear degree influence index increment is determined based on the difference range between the target distance and the first distance threshold, and / or the difference range between the target angle and the first angle threshold. When the increment determined based on the distance difference and the increment determined based on the angle are different, the larger increment can be used. However, this embodiment does not limit the initial value and update method of the wear degree influence index.

[0055] In an optional embodiment, the wear ratio of the target lane line is determined based on the updated wear degree influence index. Different wear degree influence index ranges can be preset, and different corresponding wear ratios can be set for different wear degree influence index ranges.

[0056] In another optional embodiment, when the initial value of the wear degree influence index is set to 0 and the increment is 1, the wear degree influence index is equal to the number of vehicles whose driving behavior is affected by the wear degree of the target lane line. At this time, the wear ratio can be determined according to the proportion of the wear degree influence index to the total number of vehicles that have passed the target lane line.

[0057] In this embodiment, by determining the target distance and target angle of the vehicle to be processed crossing the target lane line, and combining the comparison results of the target distance with a first distance threshold and the target angle with a first angle threshold, when the target distance is less than the first distance threshold and the target angle is less than the first angle threshold, it is determined whether the wear degree of the target lane line is increasing and whether the wear degree of the target lane line has affected the driving behavior of the vehicle to be processed, based on the target distance and target angle. When it is determined that the wear degree of the target lane line has affected the driving behavior of the vehicle to be processed, the wear degree influence index and the wear ratio of the target lane line are updated, realizing a quantitative representation of the wear degree of the lane line. A qualitative representation of the wear degree of the lane line can also be achieved through the magnitude of the wear ratio. Simultaneously, by determining whether the driving behavior of the captured vehicle is affected by the wear degree of the target lane line, the strength of the target lane line's guiding driving ability is judged, thereby determining the actual wear ratio of the target lane line. This achieves a dynamic judgment of the lane line wear ratio and improves the accuracy of determining the wear degree of the lane line.

[0058] The technical solution of this invention determines the target distance from the position of the vehicle crossing the target lane line to the end of the target lane line, as well as the target angle between the vehicle's travel path and the target lane line. Based on the target distance, a pre-determined first distance threshold, the target angle, and a pre-determined first angle threshold, it determines whether the target lane line meets the conditions for increased wear. If the target lane line meets the conditions for increased wear, the wear degree influence index is updated, and the wear ratio of the target lane line is also updated. This embodiment solves the problems of manual labeling and inaccurate identification of lane line wear degree in existing technologies, achieving quantitative and qualitative identification of lane line wear degree and improving the accuracy of lane line wear degree identification.

[0059] Example 2

[0060] Figure 5 This is a flowchart of a method for determining the wear level of lane lines according to Embodiment 2 of the present invention. Based on the above embodiments, the present invention further specifies the process of judging the condition for the increase of wear level, the process of determining the second distance threshold and the second angle threshold, and the process of determining the wear ratio of the target lane line, and adds a process of determining the wear level based on the wear ratio of the target lane line.

[0061] like Figure 5 As shown, the method includes:

[0062] S210. Determine the driving path of the vehicle to be processed, and determine the lane lines that match the driving path.

[0063] S220. Determine the target distance from the position of the vehicle to be processed when it crosses the target lane line to the end of the target lane line, and the target angle between the driving path of the vehicle to be processed when it crosses the target lane line and the target lane line.

[0064] The specific process of determining the driving path of the vehicle to be processed, determining the lane lines, and determining the target distance and the target angle has been described in the above embodiments, and will not be repeated here.

[0065] S230. Determine whether the number of lane lines matching the driving path within a preset distance range is less than or equal to 2, the target distance is less than or equal to a preset first distance threshold, and the target angle is less than or equal to a preset first angle threshold. If yes, execute S240; otherwise, return to execute S210.

[0066] The process of determining whether the vehicle to be processed is a normal vehicle crossing the target lane has been described in the above embodiments, and will not be repeated here.

[0067] S240, Determine the second distance threshold, and determine the second angle threshold.

[0068] Specifically, the first distance threshold is greater than or equal to the second distance threshold, and the first angle threshold is greater than or equal to the second angle threshold. The second distance threshold refers to the critical distance between the vehicle's position when crossing the target lane line and the end point of the target lane line under normal driving behavior. Similarly, the second angle threshold refers to the critical angle between the vehicle's travel path when crossing the target lane line and the target lane line under normal driving behavior. It is understandable that for vehicles whose target distance is less than the first distance threshold, the driving on the solid lane line may not be entirely due to lane line wear; factors such as driver inattention, limited driving skills, or lane line obstruction due to environmental factors may also exist. Therefore, determining the second distance threshold and the second angle threshold, and comparing the target distance with the second distance threshold and the target angle with the second angle threshold, can make the judgment of lane line wear more accurate.

[0069] In this embodiment, the determination of the second distance threshold and the second angle threshold can be, in one optional embodiment, by multiplying the length of the target lane line (i.e., the first distance threshold) by a certain proportion, such as 80%. However, this embodiment does not limit the method for determining the length of the target lane line or the specific value of the proportion. Alternatively, the second angle threshold can be the product of an empirical angle value and a certain proportion. For example, if the empirical angle value is 10° and the proportion is set to 80%, then the first angle threshold can be 8°. This embodiment does not limit the specific value of the first angle threshold.

[0070] In another optional embodiment, all vehicles that have crossed the target lane line can be identified, and the determined distance from the position of each crossed vehicle when crossing the target lane line to the end point of the target lane line can be determined. The average of these determined distances is then calculated, and a second distance threshold is determined based on this average. For example, the average can be directly used as the second distance threshold, or the product of the average with a certain proportion can be used as the second distance threshold; this embodiment does not impose any limitations on this. Similarly, the determined angle between the travel path of each crossed vehicle when crossing the target lane line and the target lane line is determined, the average of these determined angles is then calculated, and a second angle threshold is determined based on this average. For example, the average can be directly used as the second angle threshold, or the product of the average with a certain proportion can be used as the second angle threshold; this embodiment does not impose any limitations on this.

[0071] In another optional embodiment, after identifying all vehicles that have crossed the target lane line, the identified distances are sorted in descending order. Based on a certain ratio, the identified distance of the crossed vehicle at the corresponding ranking position is selected as a second distance threshold. Similarly, the identified angles are sorted in descending order. Based on a certain ratio, the identified angle of the crossed vehicle at the corresponding ranking position is selected as a second angle threshold.

[0072] It should be noted that when determining the second distance threshold and the second angle threshold based on the distance and angle of the vehicles already crossed over the target lane, the second distance threshold and the second angle threshold can be updated either after the preceding vehicle has completed steps S110-S120 (i.e., based on the distance and angle of the preceding vehicle), and after determining the target distance and target angle of the vehicle to be processed, the condition for increased wear is directly determined based on the updated second distance threshold and second angle threshold. That is, the vehicle to be processed is not included in the vehicles crossed used to determine the second distance threshold and the second angle threshold at this point. This setting improves the speed of determining whether the wear level of the target lane line has increased based on the driving situation of the vehicle to be processed. Alternatively, after determining the target distance and target angle of the vehicle to be processed, the second distance threshold and the second angle threshold can be re-determined based on the target distance and target angle of the vehicle to be processed, and then the condition for increased wear is determined based on the updated second distance threshold and second angle threshold. In other words, the vehicles crossed by the vehicles used to determine the second distance threshold and the second angle threshold include the vehicle to be processed. This setting can improve the accuracy of the second distance threshold and the second angle threshold, thereby improving the accuracy of judging whether the wear of the target lane line has increased.

[0073] Furthermore, the process of determining the second distance threshold may include:

[0074] A1. Determine the distance from the position of the vehicle that has crossed the target lane line to the end of the target lane line.

[0075] A2. Determine the second distance threshold based on the known distances to each vehicle that has been crossed.

[0076] Among the vehicles that have been crossed, those used to determine the second distance threshold and the second angle threshold may include the current vehicle to be processed or may not include the vehicle to be processed; this embodiment does not impose any restrictions on this.

[0077] In this embodiment, the determined distances of all vehicles that have crossed the target lane line are counted. A second distance threshold can be determined based on the average value of each determined distance, or the determined distances can be sorted from largest to smallest and a value can be taken according to a certain value ratio, and the determined distance obtained by taking the value is used as the second distance threshold.

[0078] In this embodiment, a second distance threshold is determined based on the known distance traveled by vehicles crossing each lane, so that the determined second distance threshold is more in line with the actual situation of each lane, thereby improving the accuracy of determining the wear degree of the lane lines.

[0079] Furthermore, A2 can include:

[0080] A21. Determine the number of vehicles that have crossed the target lane line and the number of vehicles that have passed the target lane line.

[0081] A22. Determine the proportion of the value based on the number of vehicles that have been crossed and the number of vehicles that have been driven through;

[0082] A23. Determine the second distance threshold based on the stated value ratio and the determined distance of each vehicle already crossed.

[0083] Among them, "vehicles that have already passed" refers to vehicles that are driving normally in the lane that matches the target lane line, including both vehicles that cross the lane line and vehicles that are traveling straight in the lane that matches the target lane line. Figure 3 For example, if the lane lines matching the driving path of the vehicle to be processed are lane line 1 and lane line 2, then the number of vehicles that have passed corresponding to lane line 1 and lane line 2 will be updated. If it is determined from the driving path that the vehicle has not crossed lanes, that is, the vehicle is driving in a straight line, although this is not used as a condition for judging the increase of the wear degree of the target lane line for the vehicle to be processed, the number of vehicles that have passed on the lane line corresponding to the lane where the vehicle's driving path is located still needs to be accumulated.

[0084] In this embodiment, the second distance threshold is determined based on the value ratio and the determined distance of each crossed vehicle. This can be achieved by sorting the determined distances of each crossed vehicle in descending order, and taking the determined distance at the value ratio in the sorting result as the second distance threshold.

[0085] In this embodiment, the proportion of the number of vehicles that have crossed the target lane line to the total number of vehicles that have crossed is used as the value ratio, and the second distance threshold is determined based on this value ratio. This setting makes the second distance threshold obtained more consistent with the general situation of the crossing distance of vehicles crossing the target lane line when the wear degree of the target lane line has not increased, so that the judgment result is more accurate when judging whether the wear degree of the target lane line has increased based on the second distance threshold.

[0086] Furthermore, the process of determining the second angle threshold may include:

[0087] B1. Determine the angle between the travel path of the vehicle that has crossed the target lane line and the target lane line when crossing the target lane line;

[0088] B2. Determine the second angle threshold based on the determined included angle of each vehicle that has been crossed.

[0089] Similarly, by statistically analyzing the determined angles of all vehicles that have crossed the target lane line, the second angle threshold can be determined based on the average value of each determined angle, or the determined angles can be sorted from largest to smallest and selected according to a certain value ratio, and the determined angles obtained from the selection can be used as the second angle threshold.

[0090] Furthermore, B2 may include: determining a second angle threshold based on the value ratio and the determined included angle of each crossed vehicle.

[0091] Similarly, based on the value ratio and the determined included angle of each crossed vehicle, the second angle threshold can be determined. This can be done by sorting the determined included angles of each crossed vehicle in descending order, and taking the determined included angle at the value ratio in the sorting result as the second angle threshold.

[0092] Similarly, in this embodiment, the proportion of the number of vehicles that have crossed the target lane line to the total number of vehicles that have crossed is used as the value ratio, and the second angle threshold is determined based on this value ratio. This setting makes the obtained second angle threshold more closely match the general situation of the crossing angle of vehicles crossing the target lane line when the wear degree of the target lane line has not increased, so that the judgment result is more accurate when judging whether the wear degree of the target lane line has increased based on the second angle threshold.

[0093] S250. Determine whether the target distance is less than or equal to the second distance threshold, and / or the target angle is greater than or equal to the second angle threshold. If yes, execute S260; otherwise, return to execute S210.

[0094] In this embodiment, if the target distance is less than or equal to the second distance threshold and the target angle is greater than or equal to the second angle threshold, the target lane line is considered to meet the condition of increased wear as long as at least one of the above conditions is met. The vehicle to be processed is then identified as a vehicle whose driving behavior is affected by the wear degree of the target lane line, and the wear degree influence index is updated.

[0095] S260, Update the wear and tear impact index.

[0096] The initial value and update method of the wear degree influence index have been described in the above embodiments, and will not be repeated here.

[0097] It should be noted that, in this embodiment, when updating the wear degree influence index, the increment based on the current wear degree influence index can be determined according to the difference between the target distance and the second distance threshold and / or the difference between the target angle and the second angle threshold. The specific process will not be described in detail in this embodiment.

[0098] S270, Determine the updated wear level impact index and the total number of vehicles that have passed and match the target lane line.

[0099] S280. The ratio of the updated wear degree influence index to the total number is used as the wear ratio of the target lane line.

[0100] In this embodiment, the sum of the wear degree impact index and the number of vehicles that have passed is used as the benchmark for calculating the wear ratio. Compared to directly using the number of vehicles that have passed as the benchmark, this approach can delay the impact of the increase in the wear degree impact index on the wear ratio of the target lane line. It is understandable that since both the wear degree impact index and the number of vehicles that have passed are dynamically updated values, a higher wear ratio requires a higher wear degree impact index to lead to an increase in the wear ratio. In other words, a higher proportion of vehicles affected by the wear degree of the target lane line out of all vehicles is needed for an increase in the wear ratio.

[0101] S290. Determine the wear level of the target lane line based on the wear ratio of the target lane line and the wear ratio threshold corresponding to at least one wear level.

[0102] Wear levels are used to qualitatively represent the wear level of a target lane line. For example, wear levels can include light wear, moderate wear, and heavy wear, with different wear percentage thresholds corresponding to different wear levels. For example, the wear percentage threshold for light wear can be 10%, for moderate wear it can be 20%, and for heavy wear it can be 25%. However, this embodiment does not limit the method or number of wear levels, or the wear percentage thresholds corresponding to different wear levels.

[0103] Specifically, if the wear ratio of the target lane line is greater than or equal to the wear ratio threshold corresponding to the target wear level, and less than the wear ratio threshold corresponding to the next wear level of the target wear level, then the wear level of the target lane line is determined as the target wear level.

[0104] Furthermore, after determining the wear level of the target lane line, corresponding wear level warning measures can be taken according to different wear levels.

[0105] The technical solution of this embodiment determines whether the vehicle under test is affected by the wear level of the target lane line and whether the wear level of the target lane line has increased by measuring the target distance and / or target angle when the vehicle under test crosses the target lane line. When it is determined that the wear level of the target lane line has increased, the wear ratio of the target lane line is determined based on the number of vehicles affected by the wear level of the target lane line and the total number of normally driving vehicles corresponding to the target lane line, thus achieving a quantitative representation of the wear level of the target lane line. Furthermore, the solution of judging the strength of the driving guidance ability of the target lane line based on the target distance and / or target angle when the vehicle under test crosses the target lane line, and then judging the wear level of the target lane line, is more consistent with the judgment of the actual wear level. By determining the wear ratio and the wear ratio threshold corresponding to each wear level, the wear level of the target lane line is determined, thus achieving a qualitative representation of the wear level of the target lane line.

[0106] In a specific application scenario, the travel path of the vehicle to be processed is as follows: Figure 3 The following example illustrates the entire process of determining the wear level of lane lines.

[0107] First, according to Figure 2 The lane marking diagram shown identifies the lane markings as lane 1, lane 2, and lane 3. The lengths of each lane marking are determined and used as the first distance thresholds for matching each lane marking, namely D1, D2, and D3. The maximum angle between the lane markings and the lane markings when crossing them is set, which is the first angle threshold A. I The wear level of each lane marking affects the index S. F1 S F2 and S F3The initial values ​​are all set to 0; the wear ratio R for each lane line is set. F1 R F2 and R F3 The initial values ​​are all set to 0.

[0108] When the vehicle to be processed enters the shooting frame, as shown Figure 3 As shown, the driving path of the vehicle to be processed is determined, and a list of lane line numbers corresponding to that driving path is also determined. Figure 3 The lane number list L = [1, 2]. To determine if the vehicle to be processed is a vehicle that is normally crossing the target lane: if the number of lanes in the lane number list is greater than 2, and the target angle of the vehicle to be processed is greater than A... I If any one of these conditions is met, it is considered abnormal driving behavior; if the target distance of the vehicle to be processed is greater than D1, then the vehicle to be processed is crossing the dashed lane line to change lanes. In this case, only the number of vehicles already passed by the vehicle to be processed needs to be counted. After determining that the vehicle to be processed is a normal vehicle crossing the target lane line, the number of vehicles already passed by S1 and S2 corresponding to lane line 1 and lane line 2 is incremented by one. At the same time, the number of vehicles already crossed by S1 corresponding to lane line 1 is also incremented. A1 Add one. Save the target distance D between the position of the vehicle to be processed when it crosses lane line 1 and the end point of lane line 1, and the target angle A between the vehicle to be processed and lane line 1 when it crosses lane line 1.

[0109] Calculate S A1 / S1 is used as the value ratio. The determined distances of all vehicles crossed (including vehicles to be processed) corresponding to lane line 1 are sorted in descending order, and the determined distances at the value ratio are used as the second distance threshold D. S1 Similarly, for all vehicles that have been crossed (including vehicles to be processed) corresponding to lane line 1, the determined angles are sorted in descending order, and the determined angles at the percentage points are used as the second angle threshold A. S1 .

[0110] If D≤D S1 , and / or, A S1 ≥A S1 Then S F1 Add one, R F1 =S F1 / (S1+S F1 The calculated R F1 The wear level of lane line 1 is determined by comparing it with the wear ratio thresholds for different wear levels.

[0111] Example 3

[0112] Figure 6 This is a schematic diagram of a device for determining the wear degree of lane lines according to Embodiment 3 of the present invention. Figure 6As shown, the device includes:

[0113] The distance and angle determination module 310 is used to determine the target distance from the position of the vehicle to be processed when it crosses the target lane line to the end of the target lane line, and the target angle between the driving path of the vehicle to be processed when it crosses the target lane line and the target lane line.

[0114] The wear degree increase condition judgment module 320 is used to determine whether the target lane line meets the wear degree increase condition based on the target distance, the predetermined first distance threshold, the target included angle, and the predetermined first angle threshold.

[0115] The wear ratio determination module 330 is used to update the wear degree influence index if it is determined that the target lane line meets the wear degree increase condition, and to determine the wear ratio of the target lane line according to the updated wear degree influence index.

[0116] The technical solution of this invention determines the target distance from the position of the vehicle crossing the target lane line to the end of the target lane line, as well as the target angle between the vehicle's travel path and the target lane line. Based on the target distance, a pre-determined first distance threshold, the target angle, and a pre-determined first angle threshold, it determines whether the target lane line meets the conditions for increased wear. If the target lane line meets the conditions for increased wear, the wear degree influence index is updated, and the wear ratio of the target lane line is also updated. This embodiment solves the problems of manual labeling and inaccurate identification of lane line wear degree in existing technologies, achieving quantitative and qualitative identification of lane line wear degree and improving the accuracy of lane line wear degree identification.

[0117] Based on the above embodiments, the device further includes:

[0118] The lane line determination module is used to determine the driving path of the vehicle to be processed and to determine the lane line that matches the driving path.

[0119] The wear degree increase condition judgment module 320 includes:

[0120] The cross-target lane line driving judgment unit is used to determine that the target lane line meets the wear degree increase condition if the number of lane lines matching the driving path within a preset distance range is less than or equal to 2, the target distance is less than or equal to a preset first distance threshold, and the target included angle is less than or equal to a preset first angle threshold.

[0121] Based on the above embodiments, the vehicle crossing the target lane line determination unit is further specifically used for:

[0122] Determine the second distance threshold, and determine the second angle threshold;

[0123] Wherein, the first distance threshold is greater than or equal to the second distance threshold, and the first angle threshold is greater than or equal to the second angle threshold;

[0124] If it is determined that the target distance is less than or equal to the second distance threshold, and / or the target angle is greater than or equal to the second angle threshold, then it is determined that the target lane line meets the condition for increased wear.

[0125] Based on the above embodiments, the device further includes:

[0126] The distance determination module is used to determine the determined distance from the position of the crossed vehicle when it crosses the target lane line to the end of the target lane line.

[0127] The second distance threshold determination module is used to determine the second distance threshold based on the determined distance of each crossed vehicle;

[0128] Angle determination module is used to determine the angle between the travel path of a vehicle that has crossed the target lane line and the target lane line when crossing the target lane line.

[0129] The second angle threshold determination module is used to determine the second angle threshold based on the determined included angle of each crossed vehicle.

[0130] Based on the above embodiments, the second distance threshold determination module includes:

[0131] The vehicle quantity determination unit is used to determine the number of vehicles that have crossed the target lane line and the number of vehicles that have passed and are matched with the target lane line.

[0132] The value ratio determination unit is used to determine the value ratio based on the number of vehicles that have been crossed and the number of vehicles that have been driven through.

[0133] The second distance threshold determination unit is used to determine the second distance threshold based on the value ratio and the determined distance of each crossed vehicle;

[0134] The second angle threshold determination module includes:

[0135] The second angle threshold determination unit is used to determine the second angle threshold based on the value ratio and the determined included angle of each crossed vehicle.

[0136] Based on the above embodiments, the wear ratio determination module 330 includes:

[0137] The total quantity determination unit is used to determine the total number of the updated wear degree influence index and the number of vehicles that have passed and match the target lane line;

[0138] The wear ratio determination unit is used to take the ratio of the updated wear degree influence index to the total number as the wear ratio of the target lane line.

[0139] Based on the above embodiments, the device further includes:

[0140] The wear level determination module is used to determine the wear level of the target lane line based on the wear ratio of the target lane line and a wear ratio threshold corresponding to at least one wear level.

[0141] The lane line wear determination device provided in this embodiment of the invention can execute the lane line wear determination method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0142] Example 4

[0143] Figure 7 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0144] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0145] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0146] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as methods for determining the degree of lane line wear.

[0147] In some embodiments, the method for determining the degree of lane line wear can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for determining the degree of lane line wear described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for determining the degree of lane line wear by any other suitable means (e.g., by means of firmware).

[0148] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0149] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0150] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0151] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0152] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0153] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0154] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0155] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining the degree of wear on lane markings, characterized in that, include: Determine the driving path of the vehicle to be processed, and determine the lane lines that match the driving path; Determine the target distance from the position of the vehicle to be processed when it crosses the target lane line to the end of the target lane line, and the target angle between the driving path of the vehicle to be processed when it crosses the target lane line and the target lane line. Based on the target distance, a predetermined first distance threshold, the target angle, and a predetermined first angle threshold, it is determined whether the target lane line meets the condition for increased wear. This includes: if the number of lane lines matching the driving path within a predetermined distance range is less than or equal to 2, the target distance is less than or equal to a predetermined first distance threshold, and the target angle is less than or equal to a predetermined first angle threshold, then it is determined that the target lane line meets the condition for increased wear. If the target lane line is determined to meet the condition for increased wear, the wear influence index is updated, and the wear ratio of the target lane line is determined based on the updated wear influence index, including: determining the updated wear influence index and the total number of vehicles that have passed and are matched with the target lane line; and taking the ratio of the updated wear influence index to the total number as the wear ratio of the target lane line.

2. The method according to claim 1, characterized in that, After determining that the number of lane lines matching the driving path within a preset distance range is less than or equal to 2, the target distance is less than or equal to a preset first distance threshold, and the target angle is less than or equal to a preset first angle threshold, the method further includes: Determine the second distance threshold, and determine the second angle threshold; Wherein, the first distance threshold is greater than or equal to the second distance threshold, and the first angle threshold is greater than or equal to the second angle threshold; If it is determined that the target distance is less than or equal to the second distance threshold, and / or the target angle is greater than or equal to the second angle threshold, then it is determined that the target lane line meets the condition for increased wear.

3. The method according to claim 2, characterized in that, The process of determining the second distance threshold includes: Determine the determined distance from the position of the vehicle that has crossed the target lane line when it crossed the target lane line to the end of the target lane line; Determine the second distance threshold based on the determined distance to each vehicle that has already been crossed; The process of determining the second angle threshold includes: Determine the angle between the travel path of a vehicle that has crossed the target lane line and the target lane line when crossing the target lane line; The second angle threshold is determined based on the established angles of each vehicle that has already been crossed.

4. The method according to claim 3, characterized in that, Based on the determined distances to each vehicle already crossed, a second distance threshold is determined, including: Determine the number of vehicles that have crossed the target lane line, and the number of vehicles that have passed the target lane line. The proportion of the value is determined based on the number of vehicles that have been crossed and the number of vehicles that have been driven over. A second distance threshold is determined based on the stated value ratio and the determined distance to each vehicle that has been crossed; Based on the determined angles of each vehicle that has already been crossed, determine the second angle threshold, including: The second angle threshold is determined based on the stated value ratio and the determined included angle of each vehicle that has been crossed.

5. The method according to claim 1, characterized in that, After determining the wear ratio of the target lane line, the process also includes: The wear level of the target lane line is determined based on the wear ratio of the target lane line and the wear ratio threshold corresponding to at least one wear level.

6. A device for determining the degree of wear of lane markings, characterized in that, include: The lane line determination module is used to determine the driving path of the vehicle to be processed and to determine the lane line that matches the driving path. The distance and angle determination module is used to determine the target distance from the position of the vehicle to be processed when it crosses the target lane line to the end of the target lane line, and the target angle between the driving path of the vehicle to be processed when it crosses the target lane line and the target lane line. The wear degree increase condition judgment module is used to determine whether the target lane line meets the wear degree increase condition based on the target distance, a predetermined first distance threshold, the target angle, and a predetermined first angle threshold. The wear and tear condition judgment module includes: The cross-target lane line driving judgment unit is used to determine that the target lane line meets the wear degree increase condition if the number of lane lines matching the driving path within a preset distance range is less than or equal to 2, the target distance is less than or equal to a preset first distance threshold, and the target included angle is less than or equal to a preset first angle threshold. The wear ratio determination module is used to update the wear degree influence index if it is determined that the target lane line meets the wear degree increase condition, and to determine the wear ratio of the target lane line based on the updated wear degree influence index. The wear ratio determination module includes: The total quantity determination unit is used to determine the total number of the updated wear degree influence index and the number of vehicles that have passed and match the target lane line; The wear ratio determination unit is used to take the ratio of the updated wear degree influence index to the total number as the wear ratio of the target lane line.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method for determining the degree of lane line wear as described in any one of claims 1-5.

8. A storage medium for storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the method for determining the degree of lane line wear as described in any one of claims 1-5.

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