Lane identification method

Abstract

The embodiment of the invention discloses a lane recognition method, and belongs to the technical field of vehicles, and the method comprises the steps: determining a to-be-driven lane based on the driving data of a vehicle; target driving lane information is determined on the basis of preset lane passing condition information, a to-be-driven lane and current time, and the target driving lane information is used for indicating a lane where the vehicle can pass at the current time; and executing a target driving service according to the target driving lane information. According to the invention, the accuracy and efficiency of identifying the time-sharing lane can be improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and includes, but is not limited to, a lane recognition method. Background Technology

[0002] Because traffic flow varies greatly in urban areas at different times of the day, such as during morning and evening rush hours, some cities have designated time-limited lanes, such as time-limited bus lanes that only allow buses to pass during specific times, tidal lanes that allow different directions of traffic at different times, or reversible lanes.

[0003] In related technologies, some vehicles are equipped with advanced driver assistance systems (ADAS). Once activated, these vehicles can autonomously accelerate, decelerate, change lanes, or turn. When the vehicle needs to support time-sharing lanes, it needs to request time-sharing information about the current road from the navigation provider to accurately determine whether it can enter the current lane. Alternatively, it can obtain the time-sharing information of the current lane through real-time perception and semantic inference using a large model. Then, based on the obtained time-sharing information, it determines whether it is permissible to enter the current lane.

[0004] However, the solutions proposed by these technologies rely excessively on the accuracy of information from navigation providers, or are limited by the semantic recognition capabilities of large models. Therefore, these technologies may suffer from poor accuracy in identifying time-sharing lanes. Summary of the Invention

[0005] In view of this, the lane recognition method provided in this application can improve the accuracy and efficiency of identifying time-sharing lanes. The lane recognition method provided in this application is implemented as follows: A first aspect of this application provides a lane recognition method, the method comprising: Based on the vehicle's driving data, determine the lane to be traveled in; Based on preset lane passage conditions, the lane to be traveled, and the current time, the target driving lane information is determined, wherein the target driving lane information is used to indicate the lane that the vehicle can travel in at the current time; Based on the target driving lane information, execute the target driving service.

[0006] A second aspect of this application also provides a lane recognition device, the device comprising: The first determining module is used to determine the lane to be traveled in based on the vehicle's driving data; The second determining module is used to determine the target driving lane information based on preset lane passage condition information, the lane to be driven, and the current time, wherein the target driving lane information is used to indicate the lane that the vehicle can pass through at the current time; The execution module is used to execute the target driving service based on the target driving lane information.

[0007] The vehicle provided in this application embodiment includes a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the program, it implements the method described in this application embodiment.

[0008] The computer-readable storage medium provided in this application embodiment stores a computer program thereon, which, when executed by a processor, implements the method provided in this application embodiment.

[0009] The lane recognition method provided in this application determines the lane to be driven in based on vehicle driving data; determines the target driving lane information based on preset lane passage condition information, the lane to be driven in, and the current time; and executes the target driving service according to the target driving lane information. Here, the lane to be driven in refers to the lane the vehicle is currently driving in; the target driving lane information is used to indicate the lanes the vehicle can travel in at the current time.

[0010] As can be seen from the above embodiments, different lanes to be driven may correspond to different traffic rules or lane traffic condition information. Therefore, after determining the lane to be driven, it is necessary to obtain lane traffic condition information that can accurately and intuitively indicate the specific traffic rules of the lane to be driven. Therefore, by simply comparing or matching the current time with the time period corresponding to the traffic rules indicated by the lane traffic condition information, it is possible to accurately identify and determine whether the lane to be driven is currently allowed to pass, and thus quickly and accurately obtain the target driving lane information.

[0011] As can be seen from the above, because the lane condition information for the lane to be driven in already accurately and intuitively indicates the traffic conditions or rules for that lane, once the vehicle obtains the lane condition information, it no longer needs to call a neural network model to perform complex semantic recognition on that lane condition information. Furthermore, the vehicle does not need to rely on data provided by third parties such as navigation providers for vehicle identification. This improves the accuracy and efficiency of vehicle identification of time-sharing lanes.

[0012] This approach improves the accuracy and efficiency of identifying time-sharing lanes, thus at least partially addressing the technical problems raised in the background section. Furthermore, it allows for flexible control of the vehicle to perform corresponding target driving services based on the target lane information, demonstrating practicality. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A flowchart illustrating the first lane recognition method provided in this application embodiment; Figure 2 A flowchart illustrating the second lane recognition method provided in this application embodiment; Figure 3 A flowchart illustrating the third lane recognition method provided in this application embodiment; Figure 4 A flowchart illustrating the fourth lane recognition method provided in this application embodiment; Figure 5 A schematic diagram of the map provided in the embodiments of this application; Figure 6 A flowchart illustrating the fifth lane recognition method provided in this application embodiment; Figure 7 A flowchart illustrating the sixth lane recognition method provided in this application embodiment; Figure 8 A flowchart illustrating the seventh lane recognition method provided in this application embodiment; Figure 9 A flowchart illustrating the eighth lane recognition method provided in this application embodiment; Figure 10 A flowchart illustrating the ninth lane recognition method provided in this application embodiment; Figure 11 A flowchart illustrating the tenth lane recognition method provided in this application embodiment; Figure 12 This is a schematic diagram of the structure of a lane recognition device provided in an embodiment of this application. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0017] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0018] It should be noted that the terms "first, second, third" used in the embodiments of this application are used to distinguish similar or different objects and do not represent a specific order of objects. It can be understood that "first, second, third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0019] In related technologies, some vehicles are equipped with advanced driver assistance systems (ADAS). Once activated, these vehicles can autonomously accelerate, decelerate, change lanes, or turn. When the vehicle needs to support time-sharing lanes, it needs to request time-sharing information about the current road from the navigation provider to accurately determine whether it can enter the current lane. Alternatively, it can obtain the time-sharing information of the current lane through real-time perception and semantic inference using a large model. Then, based on the obtained time-sharing information, it determines whether it is permissible to enter the current lane.

[0020] However, the solutions proposed by these technologies rely excessively on the accuracy of information from navigation providers, or are limited by the semantic recognition capabilities of large models. Therefore, these technologies may suffer from poor accuracy in identifying time-sharing lanes.

[0021] To address this, this application provides a lane recognition method that determines the lane to be traveled in based on vehicle driving data; determines target lane information based on preset lane access conditions, the lane to be traveled in, and the current time; and executes target driving services according to the target lane information. The target lane information indicates the lanes the vehicle can travel in at the current time. This improves the accuracy and efficiency of identifying time-sharing lanes.

[0022] This application uses a lane recognition method applied in a vehicle as an example for illustration. However, it does not imply that this application's embodiments can only be applied to lane recognition in vehicles.

[0023] Optionally, the vehicle can be an electric vehicle, a plug-in hybrid vehicle, a range-extended hybrid vehicle, or any other possible vehicle. Generally, it is only necessary to ensure that the vehicle can accurately identify whether the currently traveling lane is a time-sharing lane. This application does not limit this aspect.

[0024] The lane recognition method provided in the embodiments of this application will be explained in detail below.

[0025] Figure 1 This is a flowchart illustrating a lane recognition method provided in this application. This method can be applied to a vehicle, which may include any control unit and / or processor with functions such as processing, control, recognition, and computation. See also... Figure 1 This application provides a lane recognition method, which includes: Step 1001: Determine the lane to be traveled in based on the vehicle's driving data.

[0026] Optionally, the driving data may include any possible data of the vehicle during driving, such as the vehicle's real-time location, expected driving direction, current driving direction, real-time speed, and other possible information. This application does not limit this aspect.

[0027] Optionally, the lane to be driven in refers to the lane that the vehicle is about to enter (according to the path planned by assisted driving or autonomous driving), or the lane that the vehicle is currently traveling in. The lane to be driven in can be determined in real time based on parameters such as the vehicle's positioning, and this application embodiment does not limit this.

[0028] This allows for accurate identification of the lanes that need to be recognized, facilitating subsequent operations.

[0029] Step 1002: Determine the target driving lane information based on the preset lane traffic conditions, the lane to be driven, and the current time.

[0030] Optionally, the lane traffic condition information may refer to the traffic rules corresponding to the lane to be traveled. For example, the lane traffic condition information may at least indicate the time periods during which the vehicle is allowed to pass through the target lane, and / or the time periods during which the vehicle is prohibited from passing through.

[0031] Optionally, the lane access information is stored in the vehicle or a server connected to the vehicle. The lane access information for the lane to be traveled can be stored in a memory installed inside the vehicle, or it can be stored in a server maintained by the vehicle manufacturer.

[0032] Generally, the lane traffic condition information is maintained in real time based on the lane traffic conditions of the area where the vehicle is currently located. The lane traffic conditions refer to the specific rules of which time periods vehicles are allowed to pass in the lane, which time periods vehicles are not allowed to pass in, the specific rules of which vehicles are allowed to travel in different directions at different times, and the specific rules of which types of vehicles are allowed to pass in different time periods, as well as any other possible information.

[0033] For example, the vehicle's internal memory or the server maintained by the vehicle manufacturer may store a data set that indicates the traffic rules for each lane in various regions or cities. This data set can be in any possible form. For instance, the data set may be in the form of a table, where each row represents a different lane and each column represents the traffic conditions of the lane at different times. Alternatively, the data set may be in the form of a map, which includes all lanes in various regions of a city, and the map may be annotated accordingly to indicate the traffic rules for all lanes in different regions, and / or to indicate special traffic rules for certain special roads.

[0034] In addition, when it is necessary to obtain lane traffic condition information for the lane to be driven, lane traffic condition information matching the lane to be driven can be obtained from the dataset based on parameters such as the real-time location of the vehicle.

[0035] Optionally, the target driving lane information is used to indicate the lanes that the vehicle is allowed to travel in at the current time.

[0036] It is worth noting that different lanes may correspond to different traffic rules or lane access conditions. Therefore, after determining the lane to be traveled, it is necessary to obtain lane access condition information that accurately indicates the permitted times for the vehicle to pass through that lane and / or the prohibited times for the vehicle to pass through. This facilitates subsequent accurate determination of whether the vehicle can currently pass through the target road based on the lane access condition information of that target road.

[0037] It is worth noting that, since the lane passage information can accurately and intuitively indicate the time periods during which the vehicle is allowed to pass through the target road and the time periods during which the vehicle is not allowed to pass through, it is only necessary to compare or match the current time with the time period indicated by the lane passage information to accurately identify and determine whether the vehicle is currently allowed to pass through the lane to be driven in, and thus quickly and accurately obtain the target driving lane information.

[0038] As can be seen from the above, because the lane condition information of the lane to be driven in can accurately and intuitively indicate the traffic conditions or rules of the lane, once the vehicle obtains the lane condition information, it is not necessary to call a neural network model to perform complex semantic recognition on the lane condition information. Furthermore, since the lane condition information is stored in the vehicle or a server connected to the vehicle, the vehicle does not need to rely on data provided by third parties such as navigation providers for vehicle identification. This improves the accuracy and efficiency of vehicle identification of time-sharing lanes.

[0039] Step 1003: Execute the target driving service based on the target driving lane information.

[0040] Optionally, the target driving service can refer to any operation that the vehicle may perform when assisted driving or autonomous driving is activated. For example, the target driving service may include controlling the vehicle's speed, adjusting the vehicle's direction of travel, outputting corresponding prompts, and any other possible operations. This application embodiment does not limit this.

[0041] It is understandable that, since the target driving lane information can indicate the lane that the vehicle can travel in at the current time, if the lane indicated by the target driving lane information matches the lane to be driven in, then a target driving service for controlling the vehicle to travel along the lane to be driven in can be executed; if the lane indicated by the target driving lane information does not match the lane to be driven in, then a target driving service for controlling the vehicle to adjust its driving route and not enter the lane to be driven in can be executed. At the same time, a target driving service for generating and outputting corresponding prompt information can also be executed. This application embodiment does not limit this.

[0042] In this embodiment, the lane to be driven is determined based on vehicle driving data; the target driving lane information is determined based on preset lane traffic condition information, the lane to be driven, and the current time; and the target driving service is executed according to the target driving lane information. Here, the lane to be driven refers to the lane the vehicle is currently driving in; the target driving lane information indicates the lane the vehicle can travel in at the current time.

[0043] As can be seen from the above embodiments, different lanes to be driven may correspond to different traffic rules or lane traffic condition information. Therefore, after determining the lane to be driven, it is necessary to obtain lane traffic condition information that can accurately indicate the time periods during which the vehicle is allowed to pass through the lane and / or the time periods during which the vehicle is not allowed to pass through the lane. Since the lane traffic condition information can accurately and intuitively indicate the time periods during which the vehicle is allowed to pass through the target road and the time periods during which the vehicle is not allowed to pass through the target road, it is only necessary to compare or match the current time with the time periods indicated by the lane traffic condition information to accurately identify and determine whether the vehicle is currently allowed to pass through the lane to be driven, thereby quickly and accurately obtaining the target driving lane information.

[0044] As can be seen from the above, because the lane condition information of the lane to be driven in can accurately and intuitively indicate the traffic conditions or rules of the lane, once the vehicle obtains the lane condition information, it is not necessary to call a neural network model to perform complex semantic recognition on the lane condition information. Furthermore, since the lane condition information is stored in the vehicle or a server connected to the vehicle, the vehicle does not need to rely on data provided by third parties such as navigation providers for vehicle identification. This improves the accuracy and efficiency of vehicle identification of time-sharing lanes.

[0045] This approach improves the accuracy and efficiency of identifying time-sharing lanes. Furthermore, it allows for flexible control of the vehicle to perform corresponding traffic operations based on the target lane information, thus offering practical advantages.

[0046] In one possible implementation, see [link to relevant documentation]. Figure 2 Based on preset lane traffic conditions, the lane to be traveled in, and the current time, the target lane information is determined, including: Step 1004: If it is determined that the lane to be driven is a time-sharing lane, obtain the lane traffic condition information of the lane to be driven.

[0047] Optionally, the time-sharing lane may include various types of lanes such as tidal flow lanes, reversible lanes, time-limited one-way lanes, and time-limited no-entry lanes.

[0048] Tidal flow lanes are lanes that can change their permitted direction of travel based on the uneven traffic flow during morning and evening rush hours. For example, between 7-9 am, a tidal flow lane allows north-south traffic entering the city, while between 6-8 pm, it allows south-north traffic leaving the city. Reversible lanes are lanes that can flexibly adjust their permitted direction of travel according to traffic demand. For example, during peak hours, they may only allow straight-ahead traffic, while during off-peak hours, they may allow both straight-ahead and left-turn traffic. Time-limited one-way lanes are lanes that allow vehicles to travel in only one direction during specific time periods (usually peak hours or during specific events), while allowing two-way traffic during normal times. Time-limited prohibited lanes are lanes that prohibit certain special vehicles or all vehicles from using during specific time periods; for example, a time-limited prohibited lane might be a bus lane during morning and evening rush hours, prohibiting other vehicles from using it.

[0049] As can be seen, this time-sharing lane has different traffic rules at different times; that is, the lane traffic conditions for different time-sharing lanes may be different. Therefore, when a vehicle is detected entering this time-sharing lane, it is necessary to accurately determine the current traffic rules of the target vehicle to prevent the vehicle from violating the traffic rules.

[0050] In this embodiment, whether the lane to be driven is a time-sharing lane can be identified in any possible way. For example, the fixed signs, electronic signs, lane lines, and ground navigation markings of the lane to be driven can be captured by a camera installed on the vehicle, and then the corresponding image recognition model can be used for semantic recognition to determine whether the lane to be driven is a time-sharing lane, reversible lane, time-limited one-way lane, or time-limited no-entry lane. Alternatively, traffic information provided by navigation software can be analyzed and integrated to determine whether the lane to be driven is a time-sharing lane. Another example is receiving lane status broadcast signals from roadside units (RSUs) located near the lane to be driven, and parsing and identifying the lane status broadcast information to determine whether the lane to be driven is a time-sharing lane.

[0051] As can be seen, in practical applications, the method provided in this application can identify whether the lane to be driven is a time-sharing lane in various ways, and the embodiments of this application do not limit this.

[0052] It is worth noting that the traffic rules or lane conditions for this time-sharing lane differ at different times. Therefore, once it is determined that the lane to be traveled is a time-sharing lane, it is necessary to obtain lane condition information that accurately indicates the permitted and / or prohibited times for the vehicle to travel in that lane. This facilitates subsequent accurate determination of whether the vehicle can currently travel on that target road based on the lane condition information.

[0053] Step 1005: Obtain the target driving lane information based on the lane's traffic conditions and the current time.

[0054] Optionally, the target driving lane information can also be used to indicate whether the vehicle is currently able to travel from the lane in question.

[0055] It is worth noting that because the target road is a time-sharing road, its traffic rules or conditions may vary at different times. The lane traffic condition information accurately and intuitively indicates the time periods during which the vehicle is permitted to travel on the target road and the time periods during which it is not permitted. Therefore, by simply comparing or matching the current time with the time period indicated by the lane traffic condition information, it is possible to accurately identify and determine whether the vehicle is currently permitted to travel in the lane, thus quickly and accurately obtaining the target driving lane information.

[0056] As can be seen from the above, because the lane condition information of the lane to be driven in can accurately and intuitively indicate the traffic conditions or rules of the lane, once the vehicle obtains the lane condition information, it is not necessary to call a neural network model to perform complex semantic recognition on the lane condition information. Furthermore, since the lane condition information is stored in the vehicle or a server connected to the vehicle, the vehicle does not need to rely on data provided by third parties such as navigation providers for vehicle identification. This improves the accuracy and efficiency of vehicle identification of time-sharing lanes.

[0057] In one possible implementation, see [link to relevant documentation]. Figure 3 Obtain lane access conditions for the lane to be used, including: Step 1006: Obtain the target map based on the real-time location in the driving data.

[0058] Optionally, the real-time location may refer to the vehicle's location at the current moment.

[0059] Optionally, the target map can be a regular shape such as a rectangle, circle, triangle, or star, or any other possible irregular shape, or a shape formed by piecing together regular and irregular shapes. The shape of the target map can be adjusted according to the user's selection. This application embodiment does not limit this.

[0060] Optionally, the target map includes at least the lane to be driven, and may also include the real-time location and / or an associated area of ​​the lane to be driven. The distance between the edge of the associated area and the real-time location or the lane to be driven is less than a preset threshold; or, with the real-time location as the center, a region of a preset shape is used as the target map. This application does not limit this aspect.

[0061] Furthermore, the target map is also used to indicate the lane traffic conditions of the lane to be traveled. In this case, the lane traffic conditions can be used as the marker information of the target map. This application embodiment does not limit this aspect.

[0062] Alternatively, the target map can be stored in the vehicle or a server connected to the vehicle.

[0063] It is worth noting that because the vehicle is currently located in the lane to be driven in, the lane to be driven in can be determined based on the vehicle's real-time location, and then the associated area of ​​the lane to be driven in can be determined, thus obtaining the target map.

[0064] Step 1007: Based on the target map, obtain the lane passage conditions information for the lane to be driven.

[0065] It is worth noting that because the target map includes the lane to be driven in and can indicate the lane traffic conditions of the lane to be driven in, the lane traffic conditions of the lane to be driven in can be accurately determined when the target map is obtained.

[0066] In one possible implementation, see [link to relevant documentation]. Figure 4 Based on the real-time location in the driving data, obtain the target map, including: Step 1008: Determine the boundary information based on the real-time location in the driving data.

[0067] Optionally, the boundary information is used to indicate the size and / or shape and / or coordinates of the boundary points of the region corresponding to the real-time location. Generally, the region corresponding to the real-time location can refer to a region obtained by expanding outward from the real-time location as the center, and the boundary information refers to the boundary information of this region. The boundary points can refer to the vertices of this region, or any one or more points on the edge of this region. This application does not limit this.

[0068] Optionally, the boundary information corresponds to multiple preset maps, each with a different scale. Each preset map includes at least one map tile, and at least one of the map tiles includes the lane to be driven. That is, the areas covered by multiple preset maps corresponding to the same boundary information can be the same, but because the scales of the preset maps are different, the sizes and resolutions of the preset maps are also different.

[0069] For example, see Figure 5 , Figure 5 (a) illustrates the relationship between the preset maps provided in the embodiments of this application. Specifically, Figure 5 Example (a) uses three preset maps with different scales as an example.

[0070] visible, Figure 5 In (a) shown, preset map T1 includes 1 tile W1, preset map T2 includes 4 tiles W2, and preset map T3 includes 16 tiles W3. That is, the preset maps constitute a multi-level tile map set.

[0071] Furthermore, the four tiles W2 are obtained by cutting tiles W1, meaning that the area corresponding to these four tiles W2 is the same as the area corresponding to these one tile W1, and each tile W2 corresponds to one-quarter of tile W1. Similarly, the 16 tiles W3 are obtained by cutting each of the four tiles W2. For example, the four tiles W3 located in the upper left corner of preset map T3 correspond to one tile W2 located in the upper left corner of preset map T2, and each tile W3 corresponds to one-quarter of a tile W2. Moreover, preset maps T1, T2, and T3 each include a road C1. Because the scales of the preset maps are different, the size of road C1 displayed in different preset maps will also differ.

[0072] It is worth noting that, Figure 5 The example only shows a scheme with three preset maps. However, in practical applications, more preset maps can be set, such as 10, 15, 25, or any other possible number. This allows for a more refined division of the scales between the preset maps. This application does not limit this approach.

[0073] in addition, Figure 5 The example only illustrates a scheme where tiles in the upper-layer preset map are divided into four tiles in the lower-layer preset map. However, in practical applications, tiles in the upper layer can be divided into any number of tiles in the lower layer, such as two or eight tiles in the lower layer. This application does not limit this approach.

[0074] Step 1009: Obtain the target map from multiple preset maps.

[0075] Optionally, the target map can be obtained based on any possible parameters, and this application embodiment does not limit this.

[0076] It is worth noting that since the target map can indicate the lane traffic conditions of the lane to be driven, after obtaining the target map, it is convenient to continue to obtain the lane traffic conditions of the lane to be driven based on the target map, and thus obtain the aforementioned target driving lane information.

[0077] In one possible implementation, see [link to relevant documentation]. Figure 6 The target map is obtained from multiple preset maps, including: Step 1010: Determine the target preset map from each preset map whose scale matches the real-time vehicle speed in the driving data.

[0078] Optionally, the target preset map can be any one of the preset maps.

[0079] In this embodiment, the higher the real-time speed of the vehicle, the smaller the scale of the preset map can be determined from various preset maps as the target preset map; conversely, the lower the real-time speed of the vehicle, the larger the scale of the preset map can be determined from various preset maps as the target preset map. Furthermore, the scale can be selected based on any other possible parameters, and this embodiment does not limit this selection.

[0080] It's important to note that the vehicle's real-time speed refers to its current travel speed. Generally, the larger the scale of the preset map, the higher its accuracy (the smaller the actual distance represented by a unit length on a larger scale preset map). Therefore, at a higher actual speed, the vehicle might travel a longer actual distance in a short period. Consequently, if a larger scale preset map is used, the vehicle might cross multiple map tiles in a short time. This could lead to the need for frequent map retrieval.

[0081] In addition, when the actual vehicle speed is low, the actual distance the vehicle may travel in a short period of time is shorter because the accuracy of each tile in the preset map with a smaller scale is lower. Therefore, if a preset map with a smaller scale is selected, it may result in the inaccuracy of the target map to be determined and the poor accuracy of the lane traffic condition information of the lane to be driven.

[0082] As can be seen from the above, by determining a target preset map whose scale matches the real-time speed of the vehicle from various preset maps, the target preset map can be flexibly selected in order to balance the processing pressure and processing accuracy of the method.

[0083] Step 1011: Based on the real-time location in the driving data and the lane to be driven, obtain the target map tile in the preset map of the target to obtain the target map.

[0084] Optionally, the real-time location and the lane to be driven in are located within the map area indicated by the target map tile.

[0085] In this embodiment, the real-time location of the vehicle and whether the lane to be driven is located on any map tile can be determined based on the location information of the map range indicated by any map tile in the target preset map (such as the coordinates of the boundary point of the map range indicated by any map tile, or the coordinate set of the map range indicated by any map tile). If so, this map tile is used as the target map tile.

[0086] Alternatively, map tiles containing other lanes directly connected to the lane to be driven can also be used as the target map tile; however, this application does not limit this.

[0087] For example, see [link to previous article] Figure 5 See (b) in the middle. Figure 5 Example (b) uses a preset map T2 as an example. The preset map T2 includes four tiles W2, numbered W2-1, W2-2, W2-3, and W2-4. Assuming the vehicle is currently traveling in a lane of road C1 on tile W2-1, then road C1 or a lane within road C1 is the lane to be traveled. Therefore, tile W2-1 can be used as the target map tile. In this case, tile W2-1 can serve as the target map, and the areas within tile W2-1 other than road C1 are the associated areas of the lane to be traveled.

[0088] Additionally, road C2 in tile W2-2 is directly connected to road C1; therefore, tile W2-2 can also be used as a target map tile. In this case, both tile W2-1 and tile W2-2 can serve as the target map.

[0089] In this way, the real-time location of the vehicle and the target map associated with the lane to be driven can be accurately determined, which facilitates obtaining accurate lane traffic condition information for the lane to be driven.

[0090] In one possible implementation, based on the target map, lane traffic condition information for the lane to be traveled is obtained, including: The target map is parsed to obtain the overall marking information and / or lane marking information indicated by the candidate map tiles in the target map.

[0091] Optionally, parsing the target map can involve reading the marker information carried by each map tile in the target map. This marker information may include the overall marker information and / or the lane marker information.

[0092] Optionally, the candidate map tile refers to one of the target map tiles corresponding to the target map that contains the real-time location of the vehicle.

[0093] The overall marking information is used to indicate whether all lanes within the candidate map tile are permitted for vehicle passage at different times. In other words, the overall marking information indicates the passage conditions or rules for all lanes within each area (each area corresponds to one map tile) indicated by the candidate map tile. The lane marking information is used to indicate whether each lane within the candidate map tile is permitted for vehicle passage at different times, and / or the permitted direction of travel for each lane within the candidate map tile at different times. In other words, the lane marking information indicates the passage conditions or rules for specific lanes within the candidate map tile.

[0094] For example, based on the above embodiments, see below. Figure 5 As shown in (b) of the preset map T2, the overall marking information indicated by tiles W2-1 and W2-2 is "No passage during the period from 7:00am to 9:00am", and the overall marking information indicated by tiles W2-3 and W2-4 is "No passage during the period from 7:00pm to 9:00pm". In addition, tile W2-1 also indicates the lane marking information for road C1 as "Road C1: Passable all day", tile W2-2 also indicates the lane marking information for road C2 as "Road C2: No passage all day", and tile W2-3 also indicates the lane marking information for road C3 as "Road C3: No passage from 8:00am to 10:00am".

[0095] If the entire preset map T2 is taken as the target map, and assuming that the vehicle is currently located in the area indicated by tile W2-1 in the preset map T2, and the lane to be driven is road C1 in tile W2-1; therefore, tile W2-1 can be taken as the candidate map tile, and the overall marking information can be obtained as "impassable time period: 7:00am-9:00am" and the lane marking information as "Road C1: passable all day".

[0096] Suppose that the vehicle is currently located in the area indicated by tile W2-2 in the preset map T2, and the lane to be driven is road C2 in tile W2-2; therefore, tile W2-2 can be used as the candidate map tile, and the overall marking information can be obtained as "No passage during the period: 7:00am-9:00am" and the lane marking information as "Road C2: No passage all day".

[0097] Assuming the vehicle is currently located within the area indicated by tile W2-3 in the preset map T2, and the lane to be driven in is any road in tile W2-3 other than road C3; therefore, tile W2-3 can be used as the candidate map tile, and the overall marking information can be obtained as "No passage during the period: 7:00pm-9:00pm", and the lane marking information as "Road C3: No left turn from 8:00am-10:00am, all directions are allowed at other times".

[0098] Suppose that the vehicle is currently located within the range indicated by tile W2-4 in the preset map T2, and the lane to be driven is any road in tile W2-4; therefore, tile W2-4 can be used as the candidate map tile, and the overall marking information can be obtained as "Inaccessible period: 7:00pm-9:00pm".

[0099] It is worth noting that the above embodiments are merely examples provided to better understand the solution of this application, and do not mean that the overall marking information and / or the lane marking information in the embodiments of this application can only be set according to the examples listed above. In practical applications, the overall marking information can also indicate any possible information such as "social vehicles are prohibited from entering during a certain time period" or "all vehicles are prohibited from turning right during a certain time period," and a lane marking information can also indicate any possible information such as "social vehicles are prohibited from entering this lane during a certain time period" or "social vehicles are prohibited from turning left during a certain time period." The embodiments of this application do not limit this.

[0100] In this way, the traffic conditions information corresponding to the lane to be driven can be accurately obtained, so as to identify the lane in time-sharing mode.

[0101] It should be understood that this application embodiment uses one or more map tiles from a tile map as an example to illustrate the target map, but it does not mean that this application embodiment can only obtain the target map based on a tile map. In practical applications, the method can also use a polygon map formed by the boundaries of urban administrative divisions as the target map, as long as it is ensured that the polygon map can carry lane traffic condition information for each area or road within the city. This application embodiment does not limit this.

[0102] In one possible implementation, see [link to relevant documentation]. Figure 7 If the lane access condition information includes at least the overall marking information, the target driving lane information is obtained based on the lane access condition information and the current time, including: Step 1012: Based on the overall marking information, determine the first target time period during which all lanes in the target map are not allowed to pass the vehicle, or the second target time period during which all lanes in the target map are allowed to pass the vehicle.

[0103] For example, see [link to previous article] Figure 5 In (b), assuming tile W2-4 can be used as the candidate map tile, the determination can be made based on the overall marking information of "impassable period: 7:00pm-9:00pm" indicated by tile W2-4. Specifically, the first target period can be determined as "7:00pm-9:00pm", or the second target period can be determined as "0:00am-6:59pm" and "9:01pm-23:59pm".

[0104] Step 1013: If the current time does not meet the first target time period, or if the current time meets the second target time period, then it is determined that the vehicle is currently able to pass through the waiting lane.

[0105] Optionally, the current time not satisfying the first target time period means that the current time is outside the time interval indicated by the first target time period; the current time satisfying the second target time period means that the current time is within the time interval indicated by the second target time period.

[0106] For example, based on the embodiment of step 1012, assuming the current time is 8:30 pm, it can be determined that the current time meets the first target time period but does not meet the second target time period. Therefore, it can be determined that the vehicle cannot currently pass through the waiting lane. Assuming the current time is 6:30 pm, it can be determined that the current time does not meet the first target time period but meets the second target time period. Therefore, it can be determined that the vehicle can currently pass through the waiting lane.

[0107] In this way, the target driving lane information corresponding to the vehicle can be accurately obtained. Moreover, this application can manage all time-sharing communication lanes in the entire area corresponding to a tile based on the overall marking information within a tile. This overall marking information can cover the time-sharing communication data of all time-sharing lanes within the tile, which can also improve traffic efficiency and the efficiency of identifying time-sharing roads.

[0108] In one possible implementation, see [link to relevant documentation]. Figure 8Given that the lane traffic condition information includes both the overall marking information and the lane marking information, the target driving lane information is obtained based on the lane traffic condition information and the current time, including: Step 1014: Determine whether each lane corresponding to the lane marking information includes the lane to be traveled.

[0109] For example, see [link to previous article] Figure 5 In (b), assuming that tile W2-2 can be used as the candidate map tile, the judgment can be made based on the overall marking information of "No passage during the period of 7:00am-9:00am" indicated by tile W2-2 and the lane marking information of "Road C2 is not passable all day" indicated by tile W2-2.

[0110] Furthermore, if the lane marking information indicated by tile W2-2 corresponds to road C2, and the lane to be driven is road C2, then it can be determined that each lane corresponding to the lane marking information includes the lane to be driven; if the lane to be driven is any other road within tile W2-2 other than road C2, then it can be determined that each lane corresponding to the lane marking information does not include the lane to be driven.

[0111] Step 1015: If yes, then obtain the target driving lane information based on the current time and the lane marking information corresponding to the lane to be driven.

[0112] In this embodiment, the lane marking information corresponding to the lane to be driven has a higher priority than the overall marking information. That is, if a tile carries both the overall marking information and the lane marking information of a certain lane, and the vehicle is driving in that lane, the target driving lane information can be obtained by using only the lane marking information of that lane and the current time.

[0113] However, if the vehicle leaves this lane and enters a new lane without lane marking information, then the overall marking information within this tile and the current time can be reused to obtain the target driving lane information.

[0114] In this way, lane marking information can be used for lane identification when the target road has special lane marking information. Therefore, the method provided in this application can individually mark specific lanes with special time-sharing rules, thereby achieving differentiated identification of specific roads, thus improving the practicality and flexibility of the method.

[0115] Step 1016: If not, obtain the target driving lane information based on the current time and the overall marking information.

[0116] Optionally, the operation of "obtaining the target driving lane information based on the current time and the overall marking information" in step 1013 can be performed by referring to the embodiments of steps 1009-1010 above, and will not be described again in this application embodiment.

[0117] In this way, the lane information of the target vehicle can be accurately obtained, thereby improving the accuracy of time-sharing lane recognition.

[0118] In one possible implementation, see [link to relevant documentation]. Figure 9 The target driving lane information is obtained based on the current time and the lane marking information corresponding to the lane to be driven, including: Step 1017: Based on the lane marking information corresponding to the lane to be driven, determine the third target time period during which the vehicle is not allowed to pass through the lane to be driven or the fourth target time period during which the vehicle is allowed to pass through the lane to be driven.

[0119] For example, see [link to previous article] Figure 5 In (b), assuming tile W2-1 can be used as the candidate map tile, and the vehicle is currently traveling on road C1 (i.e., road C1 is the target road), the judgment can be made based on the lane marking information "Road C1: Passable all day" indicated by tile W2-1. Specifically, it can be determined that the third target time period does not exist, or that the fourth target time period is "0:00am-23:59pm".

[0120] For example, if the candidate map tile is another tile, and road C5 exists in the candidate map tile, and the lane marking information indicated by the candidate map tile is "Road C5: Passable from 20:00 to 23:59", if the vehicle is traveling on road C5 (that is, road C5 is the target road), then the third target time period can be determined to be "0:00-19:59", or the fourth target time period can be determined to be "20:00-23:59".

[0121] Step 1018: If the current time does not meet the third target time period, or if the current time meets the fourth target time period, then it is determined that the vehicle is currently able to pass through the waiting lane.

[0122] Optionally, the current time not satisfying the third target time period means that the current time is outside the time interval indicated by the third target time period; the current time satisfying the fourth target time period means that the current time is within the time interval indicated by the fourth target time period.

[0123] For example, based on the embodiment of step 1017, assuming the current time is 10:30 pm and the third target time period does not exist, or the fourth target time period is determined to be "0:00 am - 23:59 pm", then it can be determined that the current time meets the fourth target time period. Therefore, it can be determined that the vehicle can currently pass through the waiting lane.

[0124] Assuming the current time is 16:30, and the third target time period is "0:00-19:59", or the fourth target time period is determined to be "20:00-23:59", then it can be determined that the current time meets the third target time period but does not meet the fourth target time period. Therefore, it can be determined that the vehicle cannot pass through the waiting lane at present.

[0125] In this way, the target driving lane information corresponding to the vehicle can be accurately obtained.

[0126] It is understandable that, because the above embodiments only use the current time and the overall marker information for judgment and identification, the solutions provided by the above embodiments can be preferentially applied to situations where the lane passage condition information of the lane to be driven only restricts time, but does not restrict parameters such as vehicle driving direction and vehicle type.

[0127] However, the lane access conditions of the lane to be traveled can also restrict parameters such as vehicle direction and vehicle type. Therefore, it is necessary to introduce other parameters to obtain the target lane information. See the following example: In one possible implementation, see [link to relevant documentation]. Figure 10 The target driving lane information is obtained based on the current time and the lane marking information corresponding to the lane to be driven, including: Step 1019: Obtain the expected driving direction from the driving data.

[0128] Optionally, the expected driving direction may refer to the possible driving direction of the vehicle when it leaves the waiting lane (or when it enters the no-lane-changing area of ​​the waiting lane). The expected driving direction may be determined by the vehicle based on the current navigation route, or it may be determined by the vehicle based on the user's triggering operation on the turn signal stalk.

[0129] For example, if the current navigation route instructs the user to turn right when exiting the waiting lane (or when the vehicle enters the no-lane-change zone of the waiting lane), then the vehicle's expected direction of travel can be determined to be a right turn; if the user currently moves the turn signal stalk to the position of activating the left turn signal (or triggers the activation of the left turn signal), then the vehicle's expected direction of travel can be determined to be a left turn.

[0130] Step 1020: Determine the permitted traffic direction of the lane to be driven within a preset time period based on the lane marking information corresponding to the lane to be driven.

[0131] In this embodiment, the preset time period can refer to the time period during which vehicles are allowed to travel in a specific direction in the lane to be driven; that is, the preset time period refers to the time period during which the lane to be driven is not completely prohibited from passage. This application embodiment does not limit this.

[0132] In this embodiment, the lane marking information can be used to indicate the passage conditions or rules that exempt or restrict the direction of travel in the lane to be traveled.

[0133] For example, see [link to previous article] Figure 5 In (b), assuming that tile W2-3 can be used as the candidate map tile, and the vehicle is currently traveling on road C3 (that is, road C3 is the target road), it can be determined from the lane marking information indicated by tile W2-3 that "road C3: left turns are prohibited from 8:00am to 10:00am, and all directions are allowed at other times" that the permitted directions for the lane to be driven are right turns or straight ahead from 8:00am to 10:00am, and left turns, right turns, or straight ahead from 0:00am to 7:59am and from 10:01am to 12:00pm.

[0134] For example, if the candidate map tile is another tile, and road C6 exists in the candidate map tile, and the lane marking information indicated by the candidate map tile is "Road C6: No straight ahead from 9:00-23:59, no passage in all directions from 0:00-8:59", if the vehicle is traveling on road C6 (that is, road C6 is the target road), the permitted direction of passage for the lane to be traveled in from 9:00 to 23:59 can be determined as right turn or left turn based on the lane marking information indicated by this tile.

[0135] Step 1021: If the current time meets the preset time period, determine whether the expected driving direction matches the permitted traffic direction.

[0136] Optionally, the current time satisfying the preset time period means that the current time is within the time interval indicated by the preset time period.

[0137] For example, based on the embodiment of step 1020, assuming the current time is 8:30 pm, and "the permitted traffic direction for the lane to be traveled in between 8:00 am and 10:00 am is right turn or straight ahead, and all directions are permitted at other times," it can be determined that the current time meets the preset time period, and the expected travel direction matches the permitted traffic direction. Assuming the current time is 9:30 am, it can be determined that the current time meets the preset time period. If the vehicle's expected travel direction is right turn, it can be determined that the expected travel direction does not match the permitted traffic direction; if the vehicle's expected travel direction is left turn, it can be determined that the expected travel direction matches the permitted traffic direction.

[0138] Furthermore, assuming the current time is 18:30, and "the permitted direction of travel for this lane between 9:00 and 23:59 is either right turn or left turn," it can be determined that the current time meets the preset time period. If the vehicle's expected travel direction is right turn, then the expected travel direction matches the permitted direction; if the vehicle's expected travel direction is straight, then the expected travel direction does not match the permitted direction. Assuming the current time is 01:30, it can be determined that the current time does not meet the preset time period, and in this case, it is directly determined that the expected travel direction does not match the permitted direction.

[0139] Step 1022: If a match is found, determine that the vehicle is currently able to travel through the lane to be driven.

[0140] Step 1023: If there is no match, it is determined that the vehicle is currently unable to travel through the lane to be driven.

[0141] As can be seen from the above, this allows for the accurate acquisition of the target driving lane information, even when the lane conditions of the waiting lane restrict the vehicle's driving direction, in order to determine whether the vehicle can currently travel through the waiting lane.

[0142] In one possible implementation, where the lane marking information is also used to indicate the types of vehicles permitted to travel in the lane to be traveled, the target driving lane information is obtained based on the lane marking information corresponding to the current time and the lane to be traveled, including: Step A: Obtain the vehicle type.

[0143] Optionally, the vehicle type may include public vehicles, special vehicles, and civilian vehicles. For example, public vehicles may include operating vehicles such as buses, special vehicles may include rescue vehicles such as fire trucks, ambulances, and police cars, or emergency vehicles such as water trucks and road sweepers; civilian vehicles may refer to other ordinary civilian vehicles besides public vehicles and special vehicles. This application does not limit this.

[0144] Step B: Based on the lane marking information corresponding to the lane to be driven, determine the types of vehicles allowed to pass through the lane during the target time period.

[0145] Optionally, the target time period may refer to the time period during which a specific type of vehicle is allowed to travel in the lane to be driven; that is, the target time period refers to the time period during which the lane to be driven is not completely prohibited from all types of vehicles. This application does not limit this aspect.

[0146] In this embodiment, the lane marking information can be used to indicate the passage conditions or rules that exempt or restrict vehicle types in the lane to be traveled.

[0147] For example, if the candidate map tile contains road C7, and the lane marking information indicated by the candidate map tile is "Road C7: Social vehicles are prohibited from passing from 07:30 to 09:30", if the vehicle is traveling on road C7 (that is, road C7 is the target road), it can be determined from the lane marking information "Road C7: Social vehicles are prohibited from passing all day" indicated by this tile that the permitted vehicle types for the lane to be traveled in are public vehicles and special vehicles from 07:30 to 09:30, and public vehicles, special vehicles and social vehicles are permitted from 00:00 to 07:29 and from 09:31 to 23:59.

[0148] Step C: If the current time meets the target time period, determine whether the vehicle type matches the permitted vehicle type.

[0149] Optionally, the current time satisfying the target time period means that the current time is within the time interval indicated by the target time period.

[0150] For example, assuming the current time is 18:30, and "the permitted vehicle types for the lane to be traveled in between 07:30 and 09:30 are public vehicles and special vehicles, and the permitted vehicle types for the lane to be traveled in between 00:00 and 07:29, and between 09:31 and 23:59 are public vehicles, special vehicles, and private vehicles", it can be determined that the current time meets the preset time period. If the vehicle type is a private vehicle, it can be determined that the vehicle type matches the permitted vehicle type.

[0151] Assuming the current time is 08:30, it can be determined that the current time meets the preset time period. If the vehicle type is a social vehicle, it can be determined that the vehicle type does not match the permitted vehicle type.

[0152] Step D: If a match is found, determine that the vehicle is currently permitted to travel through the lane in question.

[0153] Step E: If there is no match, it is determined that the vehicle is currently unable to travel through the lane in question.

[0154] As can be seen from the above, this allows for the accurate acquisition of the target driving lane information, even when the lane conditions of the waiting lane restrict the vehicle type, thus determining whether the vehicle can currently travel through the waiting lane.

[0155] In some possible ways, if it is determined that the vehicle cannot currently pass through the lane to be driven in, the vehicle's driving path can be replanned by calling any possible path planning algorithm to ensure that the vehicle can bypass (or not enter) the lane to be driven in which it is currently inaccessible.

[0156] For example, if a user sets a destination, and it is determined that the vehicle cannot currently travel through the designated lane, a corresponding route planning algorithm can be invoked to replan a route from the vehicle's real-time location to the destination that does not pass through the designated lane. Furthermore, the new route can be used as the target lane information to control the vehicle to perform the aforementioned target driving service, thereby controlling the vehicle to enter the new route. This application does not limit this aspect.

[0157] In this way, if the vehicle is currently unable to pass through the lane it is waiting to travel in, the vehicle can be controlled accordingly to avoid problems such as the vehicle being unable to drive normally.

[0158] In one possible implementation, see [link to relevant documentation]. Figure 11 Based on the target driving lane information, the target driving service is executed, including: Step 1024: Control the vehicle's driving direction based on the target driving lane information.

[0159] For example, if the target driving lane information indicates that the vehicle can currently travel through the waiting driving lane, then the vehicle can be controlled to continue driving from the waiting driving lane, or the vehicle can be controlled to continue driving from the waiting driving lane in the expected driving direction.

[0160] If the target lane information indicates that the vehicle cannot currently travel from the lane it is waiting to travel in, then the vehicle can be controlled to gradually reduce its speed until it pulls over to the side of the road. If the target lane information indicates that the vehicle cannot currently travel from the lane it is waiting to travel in, but a new route that can bypass the lane it is waiting to travel in has been planned, then the vehicle can be controlled to change lanes to travel through the new route.

[0161] During the lane-changing process, the vehicle's onboard camera continuously captures information such as fixed signs, electronic signs, lane lines, and ground navigation markers of the alternative lanes in the new route, and determines whether the alternative lane is a time-sharing lane. If the alternative lane is also a time-sharing lane, the target driving lane information can be obtained by following the steps provided in any of the above embodiments. If the alternative lane is not a time-sharing lane, it can be determined whether the vehicle can enter the alternative lane, or whether the vehicle can pass through the alternative lane in the expected driving direction, based on the signs, ground navigation markers, and other information of the alternative lane. This application does not limit this aspect.

[0162] In one possible implementation, see [link to previous section] Figure 11 Based on the target driving lane information, the execution of target driving services may also include: Step 1025: Generate and output prompt information based on the target driving lane information.

[0163] Generally, the prompt message may indicate that passage through the designated lane is currently prohibited. This prompt message can take any form, such as text, image, sound, or light, and can be output through any possible device installed in the vehicle, such as a speaker or display. This application does not limit this aspect.

[0164] Optionally, the prompt message can be used to remind the user that the lane to be driven in is unavailable, that the user may need to take over, or that it may be necessary to enter a new route (alternate lane). This application embodiment does not limit this.

[0165] In this way, the vehicle can be controlled flexibly and in real time based on the target driving lane information, thereby improving the performance of assisted driving.

[0166] It should be understood that although the steps in the above flowcharts are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the above flowcharts may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0167] Based on the foregoing embodiments, this application provides a lane recognition device, which includes various modules and units included in each module, and can be implemented by a processor; of course, it can also be implemented by specific logic circuits; in the implementation process, the processor can be a central processing unit (CPU), microprocessor (MPU), digital signal processor (DSP) or field programmable gate array (FPGA), etc.

[0168] Figure 12 This is a schematic diagram of the structure of a lane recognition device provided in an embodiment of this application. See also... Figure 12 The device includes: The first determining module 201 is used to determine the lane to be traveled based on the vehicle's driving data; The second determining module 202 is used to determine the target driving lane information based on preset lane passage condition information, the lane to be driven, and the current time, wherein the target driving lane information is used to indicate the lane that the vehicle can pass through at the current time; The execution module 203 is used to execute the target driving service based on the target driving lane information.

[0169] In one possible implementation, the second determining module 202 is further configured to: when it is determined that the lane to be driven is a time-sharing lane, obtain lane traffic condition information of the lane to be driven; and obtain target driving lane information based on the lane traffic condition information and the current time.

[0170] In this embodiment, the waiting lane refers to the lane the vehicle is about to travel in. The time-sharing traffic data is used to indicate the permitted traffic periods and / or prohibited traffic periods for the vehicle in the waiting lane. The time-sharing traffic data is stored in the vehicle or a server connected to the vehicle. The target driving lane information is also used to indicate whether the vehicle can currently travel from the waiting lane.

[0171] The descriptions of the above device embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0172] It should be noted that, in the embodiments of this application... Figure 12The lane recognition device shown is illustrative, representing only a logical functional division; in actual implementation, different division methods are possible. Furthermore, the functional units in the various embodiments of this application can be integrated into a single processing unit, exist as separate physical units, or be integrated into a single unit with two or more units. The integrated units can be implemented in hardware, as software functional units, or a combination of both.

[0173] It should be noted that, in the embodiments of this application, if the above-described methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0174] This application provides an electronic device, which may be the aforementioned vehicle. Its internal structure may include a processor, memory, and network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements the aforementioned method.

[0175] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method provided in the above embodiments.

[0176] This application provides a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the method provided in the above-described method embodiments.

[0177] Those skilled in the art will understand that the structures of the electronic devices and / or vehicles mentioned in the embodiments of this application are merely block diagrams of some structures related to the solution of this application, and do not constitute a limitation on the electronic devices and / or vehicles to which the solution of this application is applied. Specific electronic devices and / or vehicles may include more or fewer components than those mentioned in the above embodiments, or combine certain components, or have different component arrangements.

[0178] In one embodiment, the lane recognition device provided in this application can be implemented as a computer program that can run on the aforementioned electronic device. The memory of the electronic device can store the various program modules that make up the device. The computer program, composed of the various program modules, causes the processor to execute the steps of the methods in the various embodiments of this application described in this specification.

[0179] It should be noted that the descriptions of the storage medium and device embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium, storage medium, and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0180] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" mentioned throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0181] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three kinds of relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0182] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0183] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or modules can be electrical, mechanical, or other forms.

[0184] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected to achieve the purpose of this embodiment according to actual needs.

[0185] In addition, each functional module in the various embodiments of this application can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the integrated modules can be implemented in hardware or in the form of hardware plus software functional units.

[0186] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0187] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0188] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0189] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0190] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0191] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0192] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A lane recognition method, characterized in that, The method includes: Based on the vehicle's driving data, determine the lane to be traveled in; Based on preset lane passage conditions, the lane to be traveled, and the current time, the target driving lane information is determined, wherein the target driving lane information is used to indicate the lane that the vehicle can travel in at the current time; Based on the target driving lane information, execute the target driving service.

2. The lane recognition method as described in claim 1, characterized in that, The determination of the target driving lane information based on preset lane traffic condition information, the lane to be driven in, and the current time includes: If it is determined that the lane to be driven is a time-sharing lane, the lane passage condition information of the lane to be driven is obtained. The lane to be driven refers to the lane in which the vehicle is about to drive. The time-sharing passage data is used to indicate the passage period during which the vehicle is allowed to pass through the lane to be driven and / or the prohibited passage period during which the vehicle is not allowed to pass through. The time-sharing passage data is stored in the vehicle or a server connected to the vehicle. Based on the lane passage conditions and the current time, the target driving lane information is obtained. The target driving lane information is also used to indicate whether the vehicle can currently pass through the waiting driving lane.

3. The lane recognition method as described in claim 2, characterized in that, The step of obtaining the lane passage condition information of the lane to be driven includes: Based on the real-time location in the driving data, a target map is obtained. The target map includes at least the lane to be driven, and the target map is also used to indicate the lane traffic conditions of the lane to be driven. Based on the target map, the lane passage conditions information of the lane to be driven is obtained.

4. The lane recognition method as described in claim 3, characterized in that, The step of obtaining the target map based on the real-time location in the driving data includes: Based on the real-time location in the driving data, boundary information is determined. The boundary information is used to indicate the size and / or shape and / or coordinates of the boundary points of the area corresponding to the real-time location. The boundary information corresponds to multiple preset maps, each preset map having a different scale. Each preset map includes at least one map tile, and at least one map tile in each map tile includes the lane to be driven. The target map is obtained from a plurality of the preset maps.

5. The lane recognition method as described in claim 4, characterized in that, The step of obtaining the target map from a plurality of preset maps includes: From each of the preset maps, a target preset map whose scale matches the real-time vehicle speed in the driving data is determined; Based on the real-time location in the driving data and the lane to be driven, the target map tile in the target preset map is obtained to obtain the target map, wherein the real-time location and the lane to be driven are located within the map range indicated by the target map tile.

6. The lane recognition method as described in claim 3, characterized in that, The process of obtaining lane access condition information for the lane to be driven based on the target map includes: Analyze the target map to obtain the overall marking information and / or lane marking information indicated by the candidate map tiles in the target map; The overall marking information is used to indicate whether all lanes within the candidate map tile are allowed to pass through the vehicle at different time periods, and the lane marking information is used to indicate whether each lane within the candidate map tile is allowed to pass through the vehicle at different time periods, and / or the allowed travel direction of each lane within the candidate map tile at different time periods.

7. The lane recognition method as described in claim 6, characterized in that, When the lane access condition information includes at least the overall marking information, obtaining the target driving lane information based on the lane access condition information and the current time includes: Based on the overall marking information, determine a first target time period during which the vehicle is not allowed to pass through all lanes in the target map, or a second target time period during which the vehicle is allowed to pass through all lanes in the target map; If the current time does not meet the first target time period, or if the current time meets the second target time period, then it is determined that the vehicle is currently able to pass through the waiting lane; Alternatively, if the lane accessibility information includes the overall marking information and the lane marking information, obtaining the target driving lane information based on the lane accessibility information and the current time includes: Determine whether each lane corresponding to the lane marking information includes the lane to be driven; If so, the target driving lane information is obtained based on the current time and the lane marking information corresponding to the lane to be driven. If not, the target driving lane information is obtained based on the current time and the overall marking information.

8. The lane recognition method as described in claim 7, characterized in that, The step of obtaining the target driving lane information based on the current time and the lane marking information corresponding to the lane to be driven includes: Based on the lane marking information corresponding to the lane to be driven, determine a third target time period during which the vehicle is not allowed to pass through the lane to be driven or a fourth target time period during which the vehicle is allowed to pass through the lane to be driven. If the current time does not meet the third target time period, or if the current time meets the fourth target time period, then it is determined that the vehicle is currently able to pass through the waiting lane.

9. The lane recognition method as described in claim 7, characterized in that, The step of obtaining the target driving lane information based on the current time and the lane marking information corresponding to the lane to be driven includes: Obtain the expected driving direction from the driving data; Based on the lane marking information corresponding to the lane to be driven, the permitted direction of travel for the lane to be driven within a preset time period is determined; If the current time meets the preset time period, determine whether the expected driving direction matches the permitted traffic direction; If a match is found, it is determined that the vehicle is currently able to travel through the lane to be driven. If there is no match, it is determined that the vehicle is currently unable to travel from the lane in question.

10. The lane recognition method according to any one of claims 1-9, characterized in that, The step of executing the target driving service based on the target driving lane information includes: The vehicle's driving direction is controlled based on the target driving lane information; And / or, generate and output prompt information based on the target driving lane information.

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