Zebra crossing rendering boundary determination method, device, equipment, vehicle and medium

Abstract

This application provides a method, apparatus, device, vehicle, and medium for determining the rendering boundary of a zebra crossing. This application can acquire curb information and lane line information output by an upstream sensing module; determine the relative positional relationship between the curb and lane lines based on the curb information and lane line information; acquire a reference lane line for determining the zebra crossing rendering boundary based on the relative positional relationship; and determine the zebra crossing rendering boundary based on the reference lane line, wherein the rendering boundary is used to define the length of the zebra crossing rendering area. This application can improve the accuracy of determining the zebra crossing rendering boundary, making the zebra crossing rendering area close to the lane line boundary, neither exceeding nor falling short of the lane line, thus improving the accuracy and aesthetics of the zebra crossing display.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and more specifically, to a method, apparatus, device, vehicle, or medium for determining the rendering boundary of a zebra crossing. Background Technology

[0002] Regarding zebra crossing rendering in intelligent driving, the current industry practice is to directly use upstream sensing modules to identify the rendering boundary of the zebra crossing, and then render the zebra crossing based on this boundary. The inventors discovered in their research that there is an error between the rendering boundary of the zebra crossing identified directly by the upstream sensing module and the actual zebra crossing boundary, resulting in an inaccurate rendering of the zebra crossing compared to the real one. Summary of the Invention

[0003] This application provides a method, apparatus, device, vehicle, and medium for determining the rendering boundary of a zebra crossing. This method can improve the accuracy of determining the first rendering boundary of a zebra crossing, ensuring that the rendering boundary of the zebra crossing is close to the lane line boundary, neither exceeding nor falling short of the lane line. This improves the accuracy and aesthetics of the zebra crossing display and solves the aforementioned technical problems.

[0004] In a first aspect, embodiments of this application provide a method for determining the rendering boundary of a zebra crossing. The method includes: acquiring curb information and lane line information output by an upstream perception module; determining the relative positional relationship between the curb and the lane line based on the curb information and the lane line information; acquiring a reference lane line for determining the rendering boundary of the zebra crossing based on the relative positional relationship; and determining the rendering boundary of the zebra crossing based on the reference lane line, wherein the rendering boundary is used to define the length of the zebra crossing rendering area.

[0005] Secondly, embodiments of this application provide a zebra crossing rendering boundary determination device, the device comprising: an information acquisition module for acquiring curb information and lane line information output by an upstream sensing module; a relationship determination module for determining the relative positional relationship between the curb and the lane lines based on the curb information and the lane line information; a reference determination module for acquiring a reference lane line for determining the zebra crossing rendering boundary based on the relative positional relationship; and a boundary determination module for determining the zebra crossing rendering boundary based on the reference lane line, wherein the rendering boundary is used to define the length of the zebra crossing rendering area.

[0006] Thirdly, embodiments of this application provide an electronic device, which includes a memory and a processor. The memory stores an application program that, when invoked by the processor, causes the processor to execute the method provided in the embodiments of this application.

[0007] Fourthly, embodiments of this application provide a vehicle that includes electronic equipment as described in the third aspect.

[0008] Fifthly, embodiments of this application provide a computer-readable storage medium storing program code, which, when invoked by a processor, causes the processor to execute the method provided in embodiments of this application.

[0009] Sixthly, embodiments of this application provide a computer program product, which, when invoked by a processor, causes the processor to execute the method provided in embodiments of this application.

[0010] The zebra crossing rendering boundary determination method provided in this application has the following technical effects: The method determines the relative positional relationship between the road edge and the lane line based on the road edge information and lane line information output by the upstream sensing module, obtains the reference lane line based on the relative positional relationship between the road edge and the lane line, and determines the rendering boundary of the zebra crossing based on the reference lane line. This can improve the accuracy of determining the rendering boundary of the zebra crossing, making the rendering area of ​​the zebra crossing close to the lane line boundary, neither exceeding nor being shorter than the lane line, thus improving the accuracy and aesthetics of the zebra crossing display. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments and drawings obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] Figure 1 This is a flowchart of a method for determining the rendering boundary of a zebra crossing according to an embodiment of this application; Figure 2 This is a schematic diagram of the sampling interval provided in an example of this application; Figure 3 This is a schematic diagram of the sampling interval provided in another example of this application; Figure 4 This is a schematic diagram of the sampling interval provided in yet another example of this application; Figure 5 This is a schematic diagram of the sampling interval provided in another example of this application; Figure 6 This is a schematic diagram of the zebra crossing rendering area provided in an example of this application; Figure 7 This is a schematic diagram of the zebra crossing rendering area provided in another example of this application; Figure 8 This is a schematic diagram of the zebra crossing rendering area provided in another example of this application; Figure 9This is another example of a diagram illustrating the zebra crossing rendering area provided in this application; Figure 10 This application also provides a schematic diagram of the zebra crossing rendering area as an example; Figure 11 This is a schematic diagram of the zebra crossing rendering area provided in another example of this application; Figure 12 This is yet another example of a schematic diagram of the zebra crossing rendering area provided in this application; Figure 13 This is another example of a schematic diagram of the zebra crossing rendering area provided in this application; Figure 14 This is a partial flowchart of a method for determining the rendering boundary of a zebra crossing provided in another embodiment of this application; Figure 15 This is a partial flowchart of a method for determining the rendering boundary of a zebra crossing according to another embodiment of this application; Figure 16 This is a structural block diagram of a zebra crossing rendering boundary determination device provided in an embodiment of this application; Figure 17 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0014] The zebra crossing rendering boundary determination method in this application can be applied to a zebra crossing rendering boundary determination device, electronic device, or vehicle. The zebra crossing rendering boundary determination device and electronic device can be deployed in a vehicle. The vehicle is equipped with sensing devices used to sense traffic environment information around the vehicle (e.g., road conditions, traffic facilities, terrain features, weather conditions, and traffic activities of other road users). The sensing devices may include, but are not limited to, at least one of cameras, lidar, millimeter-wave radar, and ultrasonic radar. The vehicle may include, but is not limited to, gasoline vehicles or new energy vehicles. New energy vehicles may include electric vehicles, which may include, but are not limited to, pure electric vehicles, hybrid electric vehicles, or fuel cell vehicles.

[0015] See Figure 1 , Figure 1 This is a flowchart of a method for determining the rendering boundary of a zebra crossing according to an embodiment of this application. The method for determining the rendering boundary of a zebra crossing may include steps S110 to S140.

[0016] Step S110: Obtain the curb information and lane line information output by the upstream sensing module.

[0017] The upstream sensing module can acquire traffic environment information around the vehicle based on onboard sensing devices. This traffic environment information can include at least curb information and lane line information of the road where the vehicle is located. The curb (e.g., curbstone) is used to define the road. Lane line information can include a set of discrete points for multiple lane lines on the road where the vehicle is located, with each lane line having a corresponding set of discrete points. In this application, the coordinate system used for the lane line discrete points can be the vehicle coordinate system, with the rear axle center of the vehicle as the origin, the vehicle's driving direction as the longitudinal direction (positive X-axis), and the left side of the vehicle as the lateral direction (positive Y-axis). For details on how the upstream sensing module acquires curb and lane line information, please refer to related technologies.

[0018] Step S120: Determine the relative positional relationship between the curb and the lane line based on the curb information and the lane line information.

[0019] The intersection of the roadside and lane lines can be obtained as a sampling interval based on the roadside information and the lane line information; discrete point sampling can be performed on the roadside information and the lane line information within the sampling interval to obtain roadside sampling points and lane line sampling points; the relative positional relationship between the roadside and the lane lines can be determined based on the roadside sampling points and the lane line sampling points.

[0020] For example, see Figure 2-5 , Figure 2-5 These are schematic diagrams of sampling intervals provided in different examples of this application. The black solid line represents the roadside, the gray solid line represents the lane lines, and the shaded area represents the intersection of the roadside and lane lines (i.e., the sampling interval). Discrete point sampling can be performed on the roadside information and the lane line information separately within the sampling interval. It should be noted that, as... Figure 2-5 As shown, the intersection of the curb and the lane line in this application refers to the intersection of the curb and the lane line in the direction of vehicle travel.

[0021] If the sampling interval is empty, it is determined that there is no relative positional relationship between the curb and the lane line.

[0022] If the sampling interval is not empty, a relative positional relationship between the curb and lane lines is determined. If a relative positional relationship exists between the curb and lane lines, the curb information and lane line information are sampled separately within the sampling interval. Specifically, the curb information and lane line information can be sampled separately within the sampling interval along the vehicle's direction of travel. As one implementation method, the number of search steps can be set according to actual needs. Search step size The lane line sampling points obtained within the sampling interval are as follows: (X min Y r1 (X) min+ Y r2 ), ..., (X min + Y rn The total number of lane line sampling points is... The roadside sampling points obtained within the sampling interval are as follows: (X) min Y l1 (X) min + Y l2 ), ..., (X min + Y ln The total number of roadside sampling points is... It should be understood that the coordinate system used for the curb sampling points and lane line sampling points is the aforementioned vehicle coordinate system, where the X-coordinate represents the longitudinal coordinate and the Y-coordinate represents the lateral coordinate.

[0023] Roadside sampling points and lane line sampling points are sampled at the same intervals in the direction of vehicle travel (e.g., The roadside sampling points and lane line sampling points obtained from sampling at the same sampling interval have a corresponding relationship because the sampling interval, search steps, and search step size are the same (e.g., (X...). min Y r1 ) and (X min Y l1 (Corresponding to the above) The coordinates of the curb sampling points and lane line sampling points are based on the vehicle coordinate system, which has the rear axle center of the vehicle as the origin, the driving direction of the vehicle as the longitudinal positive direction, and the left side of the vehicle as the lateral positive direction.

[0024] In one implementation, step S120 includes: for corresponding curb sampling points and lane line sampling points located on the left side of the vehicle, if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the curb sampling point, then the curb is determined to be on the right side of the lane line; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the curb sampling point, then the curb is determined to be on the left side of the lane line. Similarly, for corresponding curb sampling points and lane line sampling points located on the right side of the vehicle, if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the curb sampling point, then the curb is determined to be on the right side of the lane line; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the curb sampling point, then the curb is determined to be on the left side of the lane line.

[0025] In another implementation, step S120 includes: for the corresponding curb sampling points and lane line sampling points located on the left side of the vehicle, traversing the corresponding curb sampling points and lane line sampling points located on the left side of the vehicle; if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the curb sampling point, then the first count value (r_count) is incremented by 1; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the curb sampling point, then the second count value (l_count) is incremented by 1, and the initial values ​​of the first count value and the second count value are 0; after traversing all the corresponding curb sampling points and lane line sampling points located on the left side of the vehicle, if the second count value is greater than the first count value, then it is determined that the curb is on the left side of the lane line; if the second count value is not greater than the first count value, then it is determined that the curb is on the right side of the lane line. For the corresponding curb and lane line sampling points located on the right side of the vehicle, iterate through these points. If the lateral coordinate of the lane line sampling point is greater than that of the curb sampling point, increment the third count (l_count) by 1; if the lateral coordinate of the lane line sampling point is not greater than that of the curb sampling point, increment the fourth count (r_count) by 1. The initial values ​​of the third and fourth counts are 0. After iterating through all the corresponding curb and lane line sampling points located on the right side of the vehicle, if the second count is greater than the first count, the curb is determined to be on the left side of the lane line; if the second count is not greater than the first count, the curb is determined to be on the right side of the lane line.

[0026] As another implementation method, the difference in lateral coordinates between corresponding curb sampling points and lane line sampling points can be calculated first. The absolute value of the difference is then checked to see if it falls within a preset threshold range. If the absolute value is within the threshold range, it is determined that the lane line and curb are relatively close in the lateral direction (X-axis direction of the vehicle coordinate system), and the reliability and effectiveness of their sampling points are high. In this case, step S120 is executed. If the absolute value is outside the threshold range, it is determined that the lane line and curb are relatively far apart in the lateral direction, and the reliability and effectiveness of their sampling points are low. In this case, curb sampling points and lane line sampling points whose absolute lateral coordinate difference falls outside the threshold range can be discarded. This implementation method improves the accuracy of determining the relative positional relationship between curb and lane lines by judging the lateral deviation between curb sampling points and lane line sampling points. When the lateral deviation is small, the relative positional relationship between the curb and lane lines is determined; when the lateral deviation is large, the relevant sampling points are discarded. This ensures that the subsequent zebra crossing rendering boundary can be accurately determined.

[0027] As an example, for each pair of roadside sampling points and lane line sampling points with a corresponding relationship (e.g., (X...) min Y r1 ) and (Xmin Y l1 The system determines whether the absolute value of the lateral coordinate difference between the curb sampling point and the lane line sampling point is within a set threshold range. If the absolute value of the lateral coordinate difference between the curb sampling point and the lane line sampling point is outside the set threshold range, the pair of curb sampling points and lane line sampling points is discarded. If the absolute value of the lateral coordinate difference between the curb sampling point and the lane line sampling point is within the set threshold range, the magnitude of the lateral coordinates between the curb sampling point and the lane line sampling point (e.g., Y) is compared. r1 With Y l1 Y r2 With Y l2 , ..., Y rn With Y ln (Size). Regarding the curb and lane lines on the left side of the vehicle, if Y... r ≥Y l If Y, then increment r_count by 1; if Y r <Y l If l_count is positive, increment l_count by 1, initially l_count = 0; after traversing all sampling points, if l_count ≥ r_count, it can be determined that the curb is to the left of the lane line; if l_count < r_count, it can be determined that the curb is to the right of the lane line, where Y r Y represents the lateral coordinate of the lane line sampling point; l `r_count` represents the lateral coordinates of the curb sampling points; `r_count` represents the number of lane line sampling points, initially `r_count=0`; `l_count` represents the number of curb sampling points, initially `l_count=0`. For the curb and lane lines on the right side of the vehicle, if Y... r ≥Y l If Y, then increment l_count by 1; if Y r <Y l If l_count ≥ r_count, then add 1 to r_count; after traversing all sampling points, if l_count ≥ r_count, then the curb is on the left side of the lane line; if l_count < r_count, then the curb is on the right side of the lane line.

[0028] Step S130: Based on the relative positional relationship, obtain the reference lane line used to determine the zebra crossing rendering boundary.

[0029] The system detects whether there are curbs on both the left and right sides of the vehicle. Based on the detection results and the relative positional relationship between the curbs and lane lines, a baseline lane line is determined. This baseline lane line is used to determine the rendering boundary of the zebra crossing. It is understood that the left-right relationships in this embodiment are all relative to the vehicle's direction of travel.

[0030] If there is a curb on the left side of the vehicle, the lane line that is closest to the left curb (i.e., the curb on the left side of the vehicle) to the right side of the curb is determined as the reference lane line on the left side of the vehicle.

[0031] If there is no curb on the left side of the vehicle, the lane line located on the far left of the vehicle will be designated as the baseline lane line on the left side of the vehicle.

[0032] If there is a curb on the right side of the vehicle, the lane line that is closest to the right curb on the left side of the right curb (i.e., the curb on the right side of the vehicle) is determined as the reference lane line on the right side of the vehicle.

[0033] If there is no curb on the right side of the vehicle, the lane line on the far right of the vehicle will be designated as the baseline lane line on the right side of the vehicle.

[0034] Step S140: Determine the rendering boundary of the zebra crossing based on the reference lane line, wherein the rendering boundary is used to define the length of the zebra crossing rendering area.

[0035] There are two baseline lane lines, which define the left and right rendering boundaries of the zebra crossing rendering area. For example, the two baseline lane lines can be directly used as the left and right rendering boundaries of the zebra crossing rendering area. The left and right rendering boundaries define the length of the zebra crossing rendering area. See [link to zebra crossing rendering area details] for the length and width of the zebra crossing rendering area. Figure 6-13 .

[0036] For example, see Figure 6-13 , Figure 6-13 These are schematic diagrams of the zebra crossing rendering areas provided in different examples of this application. Figure 6-13 In the diagram, the black solid line represents the curb, the gray solid line represents the lane line, the shaded area represents the zebra crossing area, and the arrow indicates the direction of vehicle travel.

[0037] See Figure 6 There are curbs and lane lines with relative positions on both the left and right sides of the vehicle. For the left side of the vehicle, the left curb is outside the associated lane line, so the associated lane line is taken as the reference lane line (the left rendering boundary of the zebra crossing), denoted as Y. target_left For the right side of the vehicle, if the right curb is outside the associated lane line, then that associated lane line is taken as the right rendering boundary of the zebra crossing, denoted as Y. target_right The new zebra crossing center point O((Y) can be obtained. target_left +Y target_right ) / 2, Y center ).

[0038] See Figure 7There are curbs and lane lines with relative positions on both the left and right sides of the vehicle. For the left side of the vehicle, the left curb is outside the associated lane line, so the associated lane line is taken as the left rendering boundary of the zebra crossing, denoted as Y. target_left For the right side of the vehicle, the right curb is inside the associated lane line and belongs to the oncoming lane. Only the lane itself is rendered. Therefore, the lane line closest to the right curb is selected as the right rendering boundary, denoted as Y. target_right The new zebra crossing center point O((Y) can be obtained. target_left +Y target_right ) / 2, Y center ).

[0039] See Figure 8 There are curbs and lane lines with relative positions on both the left and right sides of the vehicle. For the left side of the vehicle, the left curb is inside the associated lane line and belongs to the oncoming lane; only this lane is rendered. Therefore, the lane line closest to the left curb is selected as the left rendering boundary, denoted as Y. target_left For the right side of the vehicle, if the right curb is outside the associated lane line, then that associated lane line is taken as the right rendering boundary, denoted as Y. target_right The new zebra crossing center point O((Y) can be obtained. target_left +Y target_right ) / 2, Y center ).

[0040] See Figure 9 There are curbs and lane lines with relative positions on both the left and right sides of the vehicle. For the left side of the vehicle, the left curb is inside the associated lane line and belongs to the oncoming lane; only this lane is rendered. Therefore, the lane line closest to the left curb is selected as the left rendering boundary, denoted as Y. target_left For the right side of the vehicle, the right curb is inside the associated lane line and belongs to the oncoming lane. Only the lane itself is rendered. Therefore, the lane line closest to the right curb is selected as the right rendering boundary, denoted as Y. target_right The new zebra crossing center point O((Y) can be obtained. target_left +Y target_right ) / 2, Y center ).

[0041] See Figure 10 There are curbs and lane lines with relative positions on the left side of the vehicle. For the left side of the vehicle, if the left curb is outside the associated lane line, then that associated lane line is taken as the left rendering boundary of the zebra crossing, denoted as Y. target_left For the right side of the vehicle, where there is no curb, the outermost lane line is taken as the right-side rendering boundary, denoted as Y. target_right The new zebra crossing center point O((Y) can be obtained. target_left+Y target_right ) / 2, Y center ).

[0042] See Figure 11 The vehicle has a curb and lane lines with relative positions on its left side. For the left side of the vehicle, the left curb is inside the associated lane lines and belongs to the oncoming lane; only the lane itself is rendered. Therefore, the lane line closest to the left curb is selected as the left rendering boundary, denoted as Y. target_left For the right side of the vehicle, where there is no curb, the outermost lane line is taken as the right-side rendering boundary, denoted as Y. target_right The new zebra crossing center point O((Y) can be obtained. target_left +Y target_right ) / 2, Y center ).

[0043] See Figure 12 There are curbs and lane lines with relative positions on the right side of the vehicle. For the left side of the vehicle, there are no curbs; therefore, the outermost lane line is taken as the left rendering boundary, denoted as Y. target_left For the right side of the vehicle, if the right curb is outside the associated lane line, then that associated lane line is taken as the right rendering boundary of the zebra crossing, denoted as Y. target_right The new zebra crossing center point O((Y) can be obtained. target_left +Y target_right ) / 2, Y center ).

[0044] See Figure 13 There are curbs and lane lines with relative positions on the right side of the vehicle. For the left side of the vehicle, there are no curbs; therefore, the outermost lane line is taken as the left rendering boundary, denoted as Y. target_left For the right side of the vehicle, the right curb is inside the associated lane line and belongs to the oncoming lane. Only the lane itself is rendered. Therefore, the lane line closest to the right curb is selected as the right rendering boundary, denoted as Y. target_right The new zebra crossing center point O((Y) can be obtained. target_left +Y target_right ) / 2, Y center ).

[0045] Steps S110 to S140 have the following technical effects: determining the rendering boundary for limiting the length of the zebra crossing rendering area based on the relative positional relationship between the curb and the lane line can improve the accuracy of determining the first rendering boundary of the zebra crossing, making the zebra crossing displayed downstream more closely to the lane line boundary in the lateral direction of the vehicle, without exceeding or being shorter than the lane line in the lateral direction of the vehicle, thereby improving the accuracy and aesthetics of the zebra crossing display.

[0046] See Figure 14 , Figure 14 This is a partial flowchart of a method for determining the rendering boundary of a zebra crossing according to another embodiment of this application. In some embodiments, the method for determining the rendering boundary of a zebra crossing may include steps S110 to S140 and steps S210 to S220.

[0047] Step S210: Obtain the zebra crossing information output by the upstream sensing module, and obtain the center point of the zebra crossing from the zebra crossing information.

[0048] The upstream sensing module can acquire traffic environment information around the vehicle based on the onboard sensing equipment. This traffic environment information can include at least the curb information, lane line information, and zebra crossing information of the road where the vehicle is located. The zebra crossing information can include at least the zebra crossing center point and the zebra crossing's orientation angle. In this application, the coordinate system used for the zebra crossing center point is the aforementioned vehicle coordinate system.

[0049] Step S220: Determine the width of the zebra crossing rendering area based on the zebra crossing center point and the lane line information.

[0050] From the lane line information, at least two discrete lane line points that are closest to the center point of the zebra crossing in the vehicle's direction of travel are obtained; a straight line is fitted based on the at least two discrete lane line points; and the width of the zebra crossing rendering area is determined based on the zebra crossing center point and the straight line. Specifically, at least two discrete lane line points whose longitudinal coordinates are closest to the zebra crossing center point can be selected as the at least two discrete lane line points closest to the zebra crossing center point in the vehicle's direction of travel. The straight line fitting method can include, but is not limited to, the least squares method, the Hough transform method, or other methods capable of fitting a straight line based on discrete points. This application does not limit the method of fitting a straight line based on discrete points.

[0051] For example, with the center point O(X) of the zebra crossing center Y center For calculating the coordinates, the X coordinate can be selected as the closest to the X coordinate. center The two lane line discrete points (X) center_min Y center_min ) and (X center_max Y center_max Then, based on the two lane line discrete points (X... center_min Y center_min ) and (X center_max Y center_max Fit the straight line Y = aX + b, and then... center Substituting the line Y = aX + b, we can obtain the width Y of the zebra crossing rendering area. target ).

[0052] In some embodiments, since the left and right rendering boundaries and width of the zebra crossing rendering area are already determined, the zebra crossing can be rendered directly within the left and right rendering boundaries of the zebra crossing rendering area, according to the width of the zebra crossing rendering area.

[0053] In other embodiments, to improve the accuracy and aesthetics of zebra crossing rendering, the rendering can be based on the vertical coordinate X of the zebra crossing's center point. center The width of the zebra crossing rendering area is used to determine two target points. The midpoint of the vertical coordinates of the two target points is the center point of the zebra crossing, and the distance between the two target points is the width of the zebra crossing rendering area. The straight line parallel to the horizontal axis (Y-axis) of the vehicle coordinate system where the two target points are located is determined as the upper and lower rendering boundaries of the zebra crossing. Based on the upper and lower rendering boundaries and the left and right rendering boundaries, the rendering area of ​​the zebra crossing can be determined, and the zebra crossing can be rendered directly in the zebra crossing rendering area.

[0054] Steps S210 to S220 have the following technical effects: determining the width of the zebra crossing rendering area based on the zebra crossing center point and lane line information output by the upstream sensing module enables the zebra crossing displayed downstream to be closer to the lane line boundary in the direction of vehicle travel, without exceeding or being shorter than the lane line in the direction of vehicle travel, thereby further improving the accuracy and aesthetics of the zebra crossing display.

[0055] See Figure 15 , Figure 15 This is a partial flowchart of a method for determining the rendering boundary of a zebra crossing according to another embodiment of this application. In some embodiments, the method for determining the rendering boundary of a zebra crossing may include steps S110 to S140 and steps S310 to S330. In other embodiments, the method for determining the rendering boundary of a zebra crossing may include steps S110 to S140, steps S210 to S220, and steps S310 to S330.

[0056] Step S310: Obtain zebra crossing information output by the upstream sensing module, and obtain the zebra crossing center point and the orientation angle of the zebra crossing rendering area from the zebra crossing information. The orientation angle is the angle between the width direction of the zebra crossing rendering area and the vehicle driving direction.

[0057] The upstream sensing module can acquire traffic environment information around the vehicle based on the onboard sensing device. This traffic environment information can include at least the curb information, lane line information, and zebra crossing information of the road where the vehicle is located. The zebra crossing information can include at least the zebra crossing center point and the zebra crossing's orientation angle. The lane line information can include a set of discrete points for multiple lane lines on the road where the vehicle is located, with each lane line having a corresponding set of discrete points. In this application, the coordinate system used for the zebra crossing center point and the lane line discrete points is the aforementioned vehicle coordinate system.

[0058] Step S320: Obtain discrete lane line points within a preset range of the zebra crossing center point from the lane line information.

[0059] As an example, the preset range can include a range of ±8 meters around the longitudinal coordinates of the zebra crossing's center point. Based on the longitudinal coordinates of discrete lane line points in the lane line information, discrete lane line points whose longitudinal coordinates are within ±8 meters of the zebra crossing's center point can be obtained.

[0060] Step S330: Correct the orientation angle of the zebra crossing based on the center point of the zebra crossing and the discrete points of the lane lines within a preset range of the center point of the zebra crossing.

[0061] The discrete points of the lane lines within the preset range of the zebra crossing center point include discrete points on at least two lane lines. Step S330 includes steps S331 to S334.

[0062] Step S331: Based on the discrete points of the lane lines within a preset range of the zebra crossing center point, fit at least two straight lines corresponding to each of the two lane lines to obtain at least two straight lines.

[0063] For each lane line, a straight line Y=aX+b is fitted based on discrete points on the lane line within a preset range of the zebra crossing's center point. The straight line fitting method can include, but is not limited to, least squares, Hough transform, or other methods capable of fitting straight lines based on discrete points. This application does not impose specific limitations on the method used for fitting straight lines based on discrete points.

[0064] Step S332: Determine the target line as the line that is closest to the center point of the zebra crossing from at least two straight lines.

[0065] The zebra crossing center point O(X) calculated by the upstream sensing module center Y center To calculate the coordinates, the distance between the center point of the zebra crossing and the corresponding straight line of each lane is calculated, and the distance values ​​corresponding to at least two straight lines are obtained. The distance values ​​corresponding to the at least two straight lines are compared, and the straight line with the largest distance value is determined as the target straight line.

[0066] Step S333: Solve for the inclination angle of the target line, where the inclination angle is the angle between the target line and the vehicle's direction of travel.

[0067] The inclination angle of the target line can be calculated using the arctangent function atan(a). , .

[0068] Step S334: If the difference between the tilt angle and the zebra crossing's orientation angle is less than or equal to the difference threshold, then the tilt angle is used to correct the zebra crossing's orientation angle.

[0069] The difference between the tilt angle of the target line and the orientation angle of the zebra crossing can be calculated; it can be determined whether the difference is less than or equal to a threshold; if the difference is less than or equal to the threshold, the tilt angle can be used to correct the orientation angle of the zebra crossing, that is, the tilt angle is used as the orientation angle of the zebra crossing; if the difference is greater than the threshold, the orientation angle of the zebra crossing is not corrected.

[0070] If the difference is less than or equal to the difference threshold, it indicates that the deviation between the tilt angle calculated by the method of this application and the orientation angle calculated by the upstream sensing module is small, and it can be determined that the probability of the vehicle's path being a straight path is relatively high. In this case, the tilt angle calculated by the method of this application is considered to be more accurate. Therefore, the tilt angle calculated by the method of this application is used as the orientation angle of the zebra crossing to correct the orientation angle of the zebra crossing.

[0071] If the difference is greater than the difference threshold, it indicates that the tilt angle calculated by the method of this application and the orientation angle calculated by the upstream sensing module are significantly different. It can be determined that the probability of the vehicle's path being a turning path is relatively high. The lane lines of the turning path are curved, and the straight line fitted by the method of this application may be inaccurate, resulting in a large tilt angle of the straight line. In this case, the zebra crossing orientation angle calculated by the upstream sensing module is considered to be more accurate, so the zebra crossing orientation angle is not corrected.

[0072] Steps S310 to S330 have the following technical effects: When the deviation between the straight line tilt angle calculated by the method of this application and the zebra crossing orientation angle calculated by the upstream sensing module is small, the straight line tilt is used to correct the zebra crossing orientation angle calculated by the upstream sensing module, which corrects the zebra crossing angle error caused by perceptual visual errors, and can avoid the adverse visual effects caused by frequent zebra crossing corrections.

[0073] See Figure 16 , Figure 16 This is a structural block diagram of a zebra crossing rendering boundary determination device according to an embodiment of this application. The zebra crossing rendering boundary determination device 100 may include an information acquisition module 110, a relationship determination module 120, a reference determination module 130, and a boundary determination module 140. The information acquisition module 110 is used to acquire curb information and lane line information output by an upstream sensing module. The relationship determination module 120 is used to determine the relative positional relationship between the curb and the lane lines based on the curb information and the lane line information. The reference determination module 130 is used to acquire a reference lane line for determining the zebra crossing rendering boundary based on the relative positional relationship. The boundary determination module 140 is used to determine the zebra crossing rendering boundary based on the reference lane line, wherein the rendering boundary defines the length of the zebra crossing rendering area.

[0074] In some embodiments, the relationship determination module 120 is further configured to obtain the intersection of the roadside and the lane line as a sampling interval based on the roadside information and the lane line information; to perform discrete point sampling on the roadside information and the lane line information respectively within the sampling interval to obtain roadside sampling points and lane line sampling points; and to determine the relative positional relationship between the roadside and the lane line based on the roadside sampling points and the lane line sampling points.

[0075] In some embodiments, the relationship determination module 120 is further configured to, for the roadside sampling point and lane line sampling point located on the left side of the vehicle with the corresponding relationship, determine that the roadside is on the right side of the lane line if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the roadside sampling point; and determine that the roadside is on the left side of the lane line if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the roadside sampling point. For the roadside sampling point and lane line sampling point located on the right side of the vehicle with the corresponding relationship, determine that the roadside is on the right side of the lane line if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the roadside sampling point; and determine that the roadside is on the left side of the lane line if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the roadside sampling point.

[0076] In some embodiments, the relationship determination module 120 is further configured to traverse the roadside sampling points and lane line sampling points located on the left side of the vehicle that have the corresponding relationship; if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the roadside sampling point, the first count value is incremented by 1; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the roadside sampling point, the second count value is incremented by 1, and the initial values ​​of the first count value and the second count value are 0; after traversing all the roadside sampling points and lane line sampling points located on the left side of the vehicle that have the corresponding relationship, if the second count value is greater than the first count value, it is determined that the roadside is to the left of the lane line; if the second count value is not greater than the first count value, it is determined that... The curb is on the right side of the lane line. Traverse all curb and lane line sampling points located to the right of the vehicle that have the corresponding relationship. If the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the curb sampling point, increment the third count value by 1; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the curb sampling point, increment the fourth count value by 1. The initial values ​​of the third and fourth count values ​​are 0. After traversing all curb and lane line sampling points located to the right of the vehicle that have the corresponding relationship, if the second count value is greater than the first count value, determine that the curb is on the left side of the lane line; if the second count value is not greater than the first count value, determine that the curb is on the right side of the lane line.

[0077] In some embodiments, the reference determination module 130 is further configured to: if there is a curb on the left side of the vehicle, determine the lane line located to the right of the left curb that is closest to the left curb as the reference lane line on the left side of the vehicle; if there is no curb on the left side of the vehicle, determine the lane line located at the far left of the vehicle as the reference lane line on the left side of the vehicle; if there is a curb on the right side of the vehicle, determine the lane line located to the left of the right curb that is closest to the right curb as the reference lane line on the right side of the vehicle; if there is no curb on the right side of the vehicle, determine the lane line located at the far right of the vehicle as the reference lane line on the right side of the vehicle.

[0078] In some embodiments, the zebra crossing rendering boundary determination device 100 further includes a width determination module. The width determination module is used to acquire zebra crossing information output by the upstream perception module, and obtain the zebra crossing center point from the zebra crossing information; and determine the width of the zebra crossing rendering area based on the zebra crossing center point and the lane line information.

[0079] In some embodiments, the width determination module is further configured to obtain at least two discrete lane line points that are closest to the center point of the zebra crossing in the vehicle's driving direction from the lane line information; fit a straight line based on the at least two discrete lane line points; and determine the width of the zebra crossing rendering area based on the center point of the zebra crossing and the straight line.

[0080] In some embodiments, the zebra crossing rendering boundary determination device 100 further includes an angle correction module. The angle correction module is used to acquire zebra crossing information output by the upstream sensing module, and to acquire the zebra crossing center point and the orientation angle of the zebra crossing rendering area from the zebra crossing information, wherein the orientation angle is the angle between the width direction of the zebra crossing rendering area and the vehicle driving direction; to acquire discrete lane line points within a preset range of the zebra crossing center point from the lane line information; and to correct the orientation angle of the zebra crossing rendering area based on the zebra crossing center point and the discrete lane line points.

[0081] In some embodiments, the angle correction module is further configured to fit the straight lines corresponding to the at least two lane lines respectively based on the discrete points of the lane lines to obtain at least two straight lines; determine the straight line that is closest to the center point of the zebra crossing among the at least two straight lines as the target straight line; solve the tilt angle of the target straight line, the tilt angle being the angle between the target straight line and the vehicle's driving direction; if the difference between the tilt angle and the orientation angle is less than or equal to a difference threshold, then the tilt angle is used to correct the orientation angle of the zebra crossing rendering area.

[0082] Those skilled in the art will clearly understand that the apparatus provided in the embodiments of this application can implement the methods provided in the embodiments of this application. The specific working process of the described apparatus and modules can be found in the corresponding processes of the methods in the embodiments of this application, and will not be repeated here.

[0083] In the embodiments provided in this application, the coupling, direct coupling, or communication connection between the modules shown or discussed may be indirect coupling or communication coupling through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms. The embodiments of this application do not impose specific limitations on this.

[0084] Furthermore, the functional modules in the embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0085] See Figure 17 , Figure 17 This is a structural block diagram of an electronic device provided in an embodiment of this application. The electronic device 200 may include a memory 210 and a processor 220. The memory 210 stores an application program, which is configured to cause the processor 220 to execute the method provided in the embodiment of this application when invoked by the processor 220.

[0086] The memory 210 may include random access memory (RAM) or read-only memory (ROM). The memory 210 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 210 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, instructions for implementing the various method embodiments described above, etc. The data storage area may store data created by the electronic device 200 during use.

[0087] Processor 220 may include one or more processing cores. Processor 220 uses various interfaces and lines to connect to various parts of the entire electronic device 200, and is used to run or execute instructions, programs, code sets or instruction sets stored in memory 210, as well as to call and run or execute data stored in memory 210, and perform various functions of electronic device 200 and process data.

[0088] The processor 220 can be implemented using at least one of the following hardware forms: Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 220 can integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem can also be implemented separately as a communication chip, without being integrated into the processor 220.

[0089] This application provides a vehicle that includes electronic equipment 200.

[0090] This application also provides a computer-readable storage medium. The computer-readable storage medium stores program code configured to cause the processor to execute the methods provided in this application when invoked by a processor. The computer-readable storage medium may be an electronic storage device such as flash memory, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), hard disk, or ROM. In some embodiments, the computer-readable storage medium includes a non-volatile computer-readable storage medium (Non-TCRSM). The computer-readable storage medium has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code may be compressed in an appropriate form.

[0091] This application also provides a computer program product, which includes a computer program that, when invoked by a processor, causes the processor to execute the method provided in the embodiments of this application.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for determining the rendering boundary of zebra crossings, characterized in that, include: Acquire roadside and lane line information output by the upstream sensing module; The relative positional relationship between the curb and the lane lines is determined based on the curb information and the lane line information. Based on the relative positional relationship, a reference lane line is obtained to determine the zebra crossing rendering boundary; Based on the reference lane lines, the rendering boundary of the zebra crossing is determined, and the rendering boundary is used to define the length of the zebra crossing rendering area.

2. The method of claim 1, wherein, Determining the relative positional relationship between the curb and the lane lines based on the curb information and the lane line information includes: Based on the curb information and the lane line information, the intersection of the curb and the lane line is obtained as the sampling interval; Within the sampling interval, discrete point sampling is performed on the roadside information and the lane line information to obtain roadside sampling points and lane line sampling points; The relative positional relationship between the roadside and the lane line is determined based on the roadside sampling points and the lane line sampling points.

3. The method of claim 2, wherein, The curb sampling points and the lane line sampling points are obtained by sampling at the same sampling interval in the vehicle's driving direction. The curb sampling points and lane line sampling points obtained at the same sampling interval have a corresponding relationship. The coordinates of the curb sampling points and the lane line sampling points adopt the vehicle coordinate system, which takes the rear axle center of the vehicle as the origin, the driving direction of the vehicle as the longitudinal positive direction, and the left side of the vehicle as the lateral positive direction. Determining the relative positional relationship between the roadside and the lane lines based on the roadside sampling points and the lane line sampling points includes: For the roadside sampling point and lane line sampling point located on the left side of the vehicle with the corresponding relationship, if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the roadside sampling point, then the roadside is determined to be on the right side of the lane line; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the roadside sampling point, then the roadside is determined to be on the left side of the lane line. For the roadside sampling point and lane line sampling point located on the right side of the vehicle with the corresponding relationship, if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the roadside sampling point, then the roadside is determined to be on the right side of the lane line; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the roadside sampling point, then the roadside is determined to be on the left side of the lane line.

4. The method of claim 3, wherein, For the roadside sampling point and lane line sampling point located on the left side of the vehicle with the corresponding relationship, if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the roadside sampling point, then it is determined that the roadside is to the right of the lane line. If the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the curb sampling point, then the curb is determined to be to the left of the lane line, including: Traverse the roadside sampling points and lane line sampling points located on the left side of the vehicle that have the corresponding relationship. If the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the roadside sampling point, the first count value is incremented by 1; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the roadside sampling point, the second count value is incremented by 1. The initial values ​​of the first count value and the second count value are 0. After traversing all the roadside sampling points and lane line sampling points located on the left side of the vehicle with the corresponding relationship, if the second count value is greater than the first count value, it is determined that the roadside is on the left side of the lane line; if the second count value is not greater than the first count value, it is determined that the roadside is on the right side of the lane line. For the roadside sampling point and lane line sampling point located on the right side of the vehicle with the corresponding relationship, if the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the roadside sampling point, then the roadside is determined to be on the right side of the lane line; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the roadside sampling point, then the roadside is determined to be on the left side of the lane line, including: Traverse the roadside sampling points and lane line sampling points located on the right side of the vehicle that have the corresponding relationship. If the lateral coordinate of the lane line sampling point is greater than the lateral coordinate of the roadside sampling point, the third count value is incremented by 1; if the lateral coordinate of the lane line sampling point is not greater than the lateral coordinate of the roadside sampling point, the fourth count value is incremented by 1. The initial values ​​of the third count value and the fourth count value are 0. After traversing all the roadside sampling points and lane line sampling points located on the right side of the vehicle that have the corresponding relationship, if the second count value is greater than the first count value, it is determined that the roadside is on the left side of the lane line; if the second count value is not greater than the first count value, it is determined that the roadside is on the right side of the lane line.

5. The method according to any one of claims 1-4, characterized in that, The step of obtaining the reference lane line for determining the zebra crossing rendering boundary based on the relative positional relationship includes: If there is a curb on the left side of the vehicle, the lane line located to the right of the left curb that is closest to the left curb will be determined as the reference lane line on the left side of the vehicle. If there is no curb on the left side of the vehicle, the lane line located on the far left of the vehicle will be designated as the baseline lane line on the left side of the vehicle. If there is a curb on the right side of the vehicle, the lane line that is closest to the right curb on the left side of the right curb will be determined as the reference lane line on the right side of the vehicle. If there is no curb on the right side of the vehicle, the lane line on the far right of the vehicle will be designated as the baseline lane line on the right side of the vehicle.

6. The method according to claim 1, characterized in that, The method further includes: Obtain zebra crossing information output by the upstream sensing module, and obtain the center point of the zebra crossing from the zebra crossing information; The width of the zebra crossing rendering area is determined based on the zebra crossing center point and the lane line information.

7. The method according to claim 6, characterized in that, The step of determining the width of the zebra crossing rendering area based on the zebra crossing center point and the lane line information includes: From the lane line information, obtain at least two discrete lane line points that are closest to the center point of the zebra crossing in the vehicle's direction of travel; A straight line is fitted based on the at least two discrete points of the lane lines; The width of the zebra crossing rendering area is determined based on the center point of the zebra crossing and the straight line.

8. The method according to claim 1 or 6, characterized in that, The method further includes: Obtain zebra crossing information output by the upstream sensing module, and obtain the zebra crossing center point and the orientation angle of the zebra crossing rendering area from the zebra crossing information. The orientation angle is the angle between the width direction of the zebra crossing rendering area and the vehicle driving direction. Obtain discrete lane line points within a preset range of the zebra crossing center point from the lane line information; The orientation angle of the zebra crossing rendering area is corrected based on the center point of the zebra crossing and the discrete points of the lane lines.

9. The method according to claim 8, characterized in that, The discrete points of the lane lines include discrete points on at least two lane lines; the correction of the orientation angle of the zebra crossing rendering area based on the zebra crossing center point and the discrete points of the lane lines includes: Based on the discrete points of the lane lines, fit the straight lines corresponding to each of the at least two lane lines to obtain at least two straight lines; The line that is closest to the center point of the zebra crossing among the at least two lines is determined as the target line; Solve for the inclination angle of the target straight line, where the inclination angle is the angle between the target straight line and the vehicle's direction of travel; If the difference between the tilt angle and the orientation angle is less than or equal to the difference threshold, then the tilt angle is used to correct the orientation angle of the zebra crossing rendering area.

10. An electronic device, characterized in that, include: A memory and a processor, wherein the memory stores an application program that, when invoked by the processor, causes the processor to perform the method as described in any one of claims 1-9.

11. A vehicle, characterized in that, Includes the electronic device as described in claim 10.

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