Lane recognition method and apparatus, and lane prompting method and apparatus

Abstract

A lane recognition method and apparatus, and a lane prompting method and apparatus. The lane recognition method comprises: acquiring traffic flow information corresponding to a first road, wherein the traffic flow information comprises a plurality of sets of traffic flow data, each set of traffic flow data comprises a plurality of traffic flow points, and each traffic flow point indicates a coordinate in a vehicle traveling trajectory, the time at which a vehicle travels to the coordinate, and the orientation of the vehicle at the coordinate; on the basis of the traffic flow information, generating a road heat map of the first road, wherein the road heat map indicates the number of vehicles that have traveled in each of at least one lane of the first road and supported traveling directions; and on the basis of the road heat map, determining lane type information, which indicates the type of each of the at least one lane.

Description

Lane recognition methods, lane indication methods and devices Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a lane recognition method, lane indication method, and device. Background Technology

[0002] When vehicles mistakenly enter unconventional lanes (non-motorized vehicle lanes, bus lanes, tidal lanes, reversible lanes, etc.), it can easily cause unexpected risks, such as violating traffic regulations or even causing traffic accidents. To improve driving safety, when the road contains the aforementioned unconventional lanes, it is necessary to control the vehicle to travel within those lanes or to alert the driver to the presence of such lanes.

[0003] In the current technological context, the identification of unconventional lanes largely relies on high-precision maps and vehicle-mounted detection sensors. However, high-precision maps suffer from drawbacks such as high acquisition and production costs, long processing times, insufficient coverage, and difficulty in ensuring data freshness, making it difficult to promote unconventional lane identification technology relying on high-precision maps nationwide or globally. Furthermore, the sensing capabilities of detection sensors are easily affected by factors such as weather, leading to inaccurate lane identification results.

[0004] Therefore, a reliable and low-cost lane recognition and display solution is urgently needed.

[0005] Summary of the Invention

[0006] This application provides a lane recognition method, lane indication method, and device that can accurately identify lane types on the road without relying on manual labeling and with low or no dependence on the perception capabilities of vehicle-mounted sensors.

[0007] In one aspect, a lane recognition method is provided, which can be executed by a vehicle, for example, by the vehicle's computing platform, or by a chip or circuitry for the vehicle; or, the method can also be executed by a cloud server associated with the vehicle.

[0008] The method includes: acquiring traffic flow information corresponding to a first road, the traffic flow information including multiple sets of traffic flow data, each set of traffic flow data including multiple traffic flow points, each traffic flow point indicating a coordinate in a vehicle's driving trajectory, the time when the vehicle traveled to that coordinate, and the vehicle's orientation at that coordinate; generating a road heat map of the first road based on the traffic flow information, the road heat map indicating the number of vehicles that have traveled in each lane of at least one lane of the first road and the supported driving directions; and determining lane type information based on the road heat map, the lane type information indicating the type of each lane in at least one lane.

[0009] In some implementations, the traffic flow information corresponding to the first road can be traffic flow information within a certain time period, that is, the traffic flow information corresponding to the first road can be updated in real time. The certain time period can be a period of time before the current moment, and the duration of this certain time period can be 24 hours, or 48 hours, or other durations.

[0010] In the above technical solution, the type of at least one lane on a road can be determined based on traffic flow information, without relying on manual labeling or the perception capabilities of vehicle-mounted detection sensors (such as visual sensors and LiDAR), or with minimal reliance on such sensors, thus helping to reduce the cost of lane type identification. Furthermore, determining lane type through traffic flow information helps ensure the freshness of lane types, thereby improving vehicle driving safety.

[0011] In conjunction with the first aspect, in certain implementations of the first aspect, the road heat map indicates the number of vehicles traveling in at least one lane over multiple time periods, and the direction of travel in at least one lane over multiple time periods, wherein the at least one lane includes a first lane; determining lane type information based on the road heat map includes: determining the type of the first lane based on the changes in the number of vehicles traveling in the first lane over different time periods over multiple time periods, and / or determining the type of the first lane based on the changes in the direction of travel supported by the first lane over different time periods over multiple time periods.

[0012] In some implementations, when the number of vehicles in the first lane varies significantly across different time periods, the first lane can be designated as a time-limited dedicated lane; or, when the travel directions supported by the first lane differ across different time periods, the first lane can be designated as a tidal flow lane. The travel directions supported by the first lane can be determined based on traffic flow data indicating the orientation of vehicles at various traffic flow points.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, multiple time periods include a first time period and a second time period. The type of the first lane is determined based on the changes in the driving direction supported by the first lane in different time periods of the multiple time periods, including: when the driving direction supported by the first lane is the first direction in the first time period and the driving direction supported by the first lane is the second direction in the second time period, the first lane is determined to be a tidal flow lane.

[0014] In some implementations, the first road includes a first sub-road and a second sub-road, where the driving direction supported by the first sub-road is opposite to that supported by the second sub-road. The positions of the first and second sub-roads can then be determined by combining vehicle perception information. If it is determined that the first lane is contained within the first sub-road and that the first lane is a tidal flow lane, the time period during which the first lane is activated can be determined based on the driving directions supported by other lanes in the first sub-road. It is understood that during the aforementioned time period during which the first lane is activated, the driving direction supported by the first lane is opposite to that supported by other lanes in the first sub-road.

[0015] It should be noted that the driving direction supported by a lane or road refers to the direction in which vehicles are permitted to travel within a lane or road, provided that traffic rules are not violated.

[0016] In the above technical solution, based on the direction of the vehicles indicated by the traffic flow information, it can be determined whether the driving direction supported by the first lane is variable, and thus determine whether the first lane is a tidal lane. That is, the type of the lane can be determined without manual marking, which helps to achieve accurate identification of lane type at a lower cost.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, multiple time periods include a third time period and a fourth time period. The type of the first lane is determined based on the changes in the number of vehicles traveling in the first lane during different time periods. This includes determining the first lane as a time-segmented dedicated lane when the number of vehicles traveling in the first lane during the third time period is a first number, the number of vehicles traveling in the first lane during the fourth time period is a second number, and the difference between the first number and the second number is greater than or equal to a first number threshold.

[0018] In some implementations, the first quantity is less than the second quantity, and the first quantity is less than or equal to a third quantity threshold. When the aforementioned conditions are met and the first road is a highway, the first lane can be determined as an emergency lane.

[0019] In some implementations, the first quantity is less than the second quantity, and the first quantity is greater than a third quantity threshold. When the aforementioned conditions are met and the first road is an urban road, the first lane can be determined as a dedicated bus lane.

[0020] In the above technical solution, based on the changes in the number of vehicles in the same lane indicated by traffic flow information, it can be determined whether the first lane is a time-limited dedicated lane. That is, the type of the lane can be determined without manual marking, which helps to achieve accurate identification of lane type at a lower cost.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, at least one lane further includes a second lane. Determining the first lane as a time-limited dedicated lane includes: determining the first lane as a time-limited dedicated lane when the difference between the number of vehicles traveling in the first lane and the number of vehicles traveling in the second lane during a third time period is greater than or equal to a second quantity threshold, and when the difference between the number of vehicles traveling in the first lane and the number of vehicles traveling in the second lane during a fourth time period is less than the second quantity threshold.

[0022] For example, the second quantity threshold can be a value between 10 and 20, or it can be other values. In actual implementation, the second quantity threshold can be determined according to the actual traffic conditions of the first road. For example, the second quantity threshold can increase as the road traffic volume increases.

[0023] It should be noted that the second lane supports the same driving direction as the first lane.

[0024] In the above technical solution, based on the difference in the number of vehicles in different lanes during the same time period indicated by traffic flow information, it can be determined whether the first lane is a time-specific lane, meaning that the type of lane can be determined without manual labeling. Furthermore, comparing different lanes on the same road can reflect the actual traffic volume, helping to improve the reliability and accuracy of lane type identification results and avoiding misidentification caused by a small number of vehicles in a lane simply due to low traffic volume.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the traffic flow information also indicates the type of vehicle associated with each set of traffic flow data, and the road heat map includes multiple sub-heat maps, each sub-heat map indicating the number of one type of vehicle that has traveled in at least one lane of the first road.

[0026] In some implementations, vehicles can be categorized into motor vehicles and non-motor vehicles, or buses and passenger cars, or even other types.

[0027] In some implementations, vehicle type and lane type are associated. For example, a lane can be a dedicated lane for a certain type of vehicle, such as a dedicated lane for motor vehicles or a dedicated lane for buses. In the above technical solution, generating a sub-heatmap for different types of vehicles helps reduce the processing complexity in the lane type identification process and facilitates the rapid determination of the specific lane type of the dedicated lane.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the lane type information further indicates the location of the lane for first type vehicles to travel on in the first road, and determining the lane type information based on the road heatmap includes: determining the location of the lane for first type vehicles to travel on in the first road based on each sub-heatmap.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the first type of vehicle is any of the following: a motor vehicle, a non-motor vehicle, a passenger car, or a bus.

[0030] In the above technical solution, based on the sub-heatmaps associated with different types of vehicles, the processor can quickly determine the location of different types of lanes on the road, which helps to reduce the processor's processing speed.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: acquiring vehicle perception information corresponding to the first road, wherein the vehicle perception information is acquired by the vehicle's perception system, and the vehicle perception information indicates the lane line position of at least one lane and / or the boundary of the first road; determining lane type information based on a road heat map, including: determining lane type information based on the road heat map and the vehicle perception information.

[0032] In the above technical solution, by combining vehicle perception information, the boundaries of each lane can be determined, which helps to improve the accuracy of lane type recognition results and improve the matching degree between lane type recognition results and lane position in the road.

[0033] In conjunction with the first aspect, in some implementations of the first aspect, the first road connects to the first intersection, and the vehicle perception information also indicates the driving direction of at least one lane at the first intersection. Based on the road heat map and the vehicle perception information, lane type information is determined, including: determining lane type information based on the driving direction and the road heat map.

[0034] In the above technical solution, by combining vehicle perception information, the direction of each lane at the intersection can be determined, and then, based on the change of the driving direction of each lane at the first intersection over time, it can be determined whether there is a reversible lane in the first road.

[0035] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: obtaining map vector elements corresponding to the first road, the map vector elements including the road vector of the first road and / or the lane vector corresponding to each lane in at least one lane; determining lane type information based on the road heatmap, including: determining lane type information based on the map vector elements and the road heatmap.

[0036] In some implementations, the matching relationship between the traffic flow indicated by the traffic flow information and the lane and / or road can be accurately determined based on map vector elements, thereby achieving the matching of lane type identification results and lane position in the road.

[0037] In the above technical solution, combining road vector elements helps to improve the matching degree between lane type recognition results and lane position in the road, thereby improving the reliability of lane type recognition results, reducing the probability of mismatching the recognition result of one lane to another, and increasing the speed of obtaining lane type recognition results.

[0038] In some implementations, when the lane recognition method of this application is performed by a vehicle, the traffic flow information corresponding to the aforementioned first road can be the traffic flow information collected by the vehicle while driving on the first road.

[0039] Secondly, a lane indication method is provided, which can be executed by a vehicle, for example, by the vehicle's computing platform, or by a chip or circuitry for the vehicle.

[0040] The method includes: acquiring lane type information matching the road where the vehicle is located, the lane type information indicating the type of each lane in at least one lane of the road; controlling a prompting device of the vehicle to indicate the non-traveling lanes of the vehicle in at least one lane based on the lane type information, and / or controlling the prompting device to indicate the type of each lane based on the lane type information.

[0041] In some implementations, the prompting device may include a display device in the vehicle cabin (such as a central control screen), or it may also include a sound-emitting device in the vehicle cabin (such as a speaker, audio system).

[0042] In some implementations, lane type information can be determined by the method in any of the implementations in the first aspect. Where the lane type information is determined by a cloud server, the lane type information can be received by the vehicle from the cloud server via a wireless communication-enabled device such as a telematics box (T-box).

[0043] In the above technical solution, the vehicle control device indicates the non-driving lanes in the road where the vehicle is located, or the type of each lane in at least one lane. In human-driven scenarios, it can reduce the probability of the vehicle entering a non-driving lane, thereby reducing the probability of traffic violations and improving driving safety. In autonomous driving or human-machine co-driving scenarios, it can enable the vehicle's occupants to know the reasons why certain lanes are not drivable, thereby improving the driving experience for the occupants.

[0044] In conjunction with the second aspect, in certain implementations of the second aspect, based on lane type information, the vehicle's prompting device prompts at least one of the following: a non-drivable lane for the vehicle in at least one lane, or the type of each lane, including: prompting the non-drivable lane based on the vehicle type and lane type information; and / or prompting the type of each lane based on the vehicle type and lane type information.

[0045] In some implementations, different vehicle types may have different prohibited lanes, and the lane types may also differ. Therefore, in the above technical solutions, indicating the prohibited lanes and / or providing targeted lane type information based on vehicle type and lane type helps improve driving safety and the driving experience. For example, if the road currently occupied includes a bus lane, and the vehicle is a passenger car, the driver can be indicated that the bus lane is a prohibited lane; if the vehicle is a bus, the prohibited lane indication can be omitted.

[0046] In conjunction with the second aspect, in certain implementations of the second aspect, based on lane type information, the vehicle's prompting device prompts at least one of the following: a non-drivable lane for the vehicle in at least one lane, or the type of each lane, including: based on the vehicle's current time period and lane type information, the vehicle's prompting device prompts a non-drivable lane, and / or the vehicle's prompting device prompts the type of each lane.

[0047] For vehicles, the feasibility of the same lane may vary at different times. In the above technical solution, the control prompting device provides prompts based on the current time period of the vehicle, which helps to improve the effectiveness of the information provided by the prompting device, thereby further improving the driving safety of the vehicle.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, at least one lane includes a first lane, lane type information indicates that the first lane supports a first direction of travel in a first time period, and the first lane supports a second direction of travel in a second time period; based on the vehicle's current time period and lane type information, the control prompting device prompts for lanes that are not drivable, and / or, the control prompting device prompts for the type of each lane, including: when the vehicle's direction of travel is the first direction and the vehicle's current time period belongs to the second time period, the control prompting device prompts that the first lane is a lane that is not drivable.

[0049] In conjunction with the second aspect, in some implementations of the second aspect, at least one lane includes a first lane, lane type information indicates that the first lane is a time-limited dedicated lane, the first lane is a dedicated lane for first type vehicles during the fifth time period, and the first lane allows other types of vehicles to travel during other time periods outside the fifth time period; based on the vehicle's current time period and lane type information, the control prompting device prompts for lanes that are not allowed to travel, and / or, the control prompting device prompts for the type of each lane, including: when the vehicle's current time period is the fifth time period and the vehicle is not a first type vehicle, the control prompting device prompts that the first lane is a time-limited dedicated lane, and / or, the control prompting device prompts that the first lane is a lane that is not allowed to travel.

[0050] In conjunction with the second aspect, in some implementations of the second aspect, the prompting device includes a display device, and controlling the prompting device to prompt the type of each lane includes: controlling the display device to display lanes of at least one color, each of the at least one color indicating a lane type.

[0051] In the above technical solution, different colors are used to indicate different types of lanes, making the lane type indicated by the vehicle more eye-catching, which helps to improve the understandability of the prompt information and the reception rate of the prompt information by the drivers and passengers in the vehicle.

[0052] In conjunction with the second aspect, in some implementations of the second aspect, the control display device indicates the type of each lane, including: when the vehicle is of the second type, the control display device displays a third lane of a first color, the third lane being a lane in which vehicles of the second type are permitted to travel; or, when the vehicle is of the third type, the control display device displays a fourth lane of a first color, the fourth lane being a lane in which vehicles of the third type are permitted to travel.

[0053] In conjunction with the second aspect, in some implementations of the second aspect, the lane type indicator lane is either a drivable lane or a non-drivable lane, or the lane type indicator lane is a lane that allows one or more types of vehicles to travel.

[0054] Thirdly, a lane recognition device is provided, comprising an acquisition unit and a processing unit. The acquisition unit is configured to: acquire traffic flow information corresponding to a first road, the traffic flow information including multiple sets of traffic flow data, each set of traffic flow data including multiple traffic flow points, each traffic flow point indicating a coordinate in a vehicle's driving trajectory, the time when the vehicle arrived at the coordinate, and the vehicle's orientation at the coordinate; the processing unit is configured to: generate a road heat map of the first road based on the traffic flow information, the road heat map indicating the number of vehicles traveling in each lane of at least one lane of the first road and the supported driving directions; and determine lane type information based on the road heat map, the lane type information indicating the type of each lane in at least one lane.

[0055] In conjunction with the third aspect, in some implementations of the third aspect, the road heatmap indicates the number of vehicles traveling in at least one lane over multiple time periods, and the direction of travel in at least one lane over multiple time periods, wherein the at least one lane includes a first lane; the processing unit is configured to: determine the type of the first lane based on the changes in the number of vehicles traveling in the first lane over different time periods over multiple time periods, and / or determine the type of the first lane based on the changes in the direction of travel supported by the first lane over different time periods over multiple time periods.

[0056] In conjunction with the third aspect, in some implementations of the third aspect, multiple time periods include a first time period and a second time period. The processing unit is used to determine that the first lane is a tidal lane when the driving direction supported by the first lane is the first direction in the first time period and the driving direction supported by the first lane is the second direction in the second time period.

[0057] In conjunction with the third aspect, in some implementations of the third aspect, multiple time periods include a third time period and a fourth time period. The processing unit is used to determine the first lane as a time-segmented dedicated lane when the number of vehicles traveling in the first lane during the third time period is a first number, the number of vehicles traveling in the first lane during the fourth time period is a second number, and the difference between the first number and the second number is greater than or equal to the first number threshold.

[0058] In conjunction with the third aspect, in some implementations of the third aspect, at least one lane also includes a second lane, and the processing unit is used to: determine the first lane as a time-segmented dedicated lane when the difference between the number of vehicles traveling in the first lane and the number of vehicles traveling in the second lane during the third time period is greater than or equal to a second quantity threshold, and the difference between the number of vehicles traveling in the first lane and the number of vehicles traveling in the second lane during the fourth time period is less than the second quantity threshold.

[0059] In conjunction with the third aspect, in some implementations of the third aspect, the traffic flow information also indicates the type of vehicle associated with each set of traffic flow data, and the road heatmap includes multiple sub-heatmaps, each sub-heatmap indicating the number of one type of vehicle that has traveled in at least one lane of the first road.

[0060] In conjunction with the third aspect, in some implementations of the third aspect, the lane type information also indicates the location of the lane for the first type of vehicle to travel in the first road, and the processing unit is used to: determine the location of the lane for the first type of vehicle to travel in the first road based on each sub-heatmap.

[0061] In conjunction with the third aspect, in some implementations of the third aspect, the first type of vehicle is any of the following: a motor vehicle, a non-motor vehicle, a passenger car, or a bus.

[0062] In conjunction with the third aspect, in some implementations of the third aspect, the acquisition unit is further configured to: acquire vehicle perception information corresponding to the first road, wherein the vehicle perception information is acquired by the vehicle's perception system, and the vehicle perception information indicates the lane line position of at least one lane and / or the boundary of the first road; the processing unit is configured to: determine lane type information based on the road heat map and the vehicle perception information.

[0063] In conjunction with the third aspect, in some implementations of the third aspect, the first road connects to the first intersection, and the vehicle perception information also indicates the driving direction of at least one lane at the first intersection. The processing unit is used to determine the lane type information based on the driving direction and the road heat map.

[0064] In conjunction with the third aspect, in some implementations of the third aspect, the acquisition unit is further configured to: acquire map vector elements corresponding to the first road, the map vector elements including the road vector of the first road and / or the lane vector corresponding to each lane in at least one lane; the processing unit is configured to: determine lane type information based on the map vector elements and the road heatmap.

[0065] Fourthly, a lane indication device is provided, the device comprising an acquisition unit and a processing unit, wherein the acquisition unit is configured to: acquire lane type information matching the road where the vehicle is located, the lane type information indicating the type of each lane in at least one lane of the road; the processing unit is configured to: control the vehicle's indication device to indicate the non-traveling lanes of the vehicle in at least one lane according to the lane type information, and / or, control the indication device to indicate the type of each lane according to the lane type information.

[0066] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the processing unit is used to: control the prompting device to indicate non-drivable lanes based on vehicle type and lane type information; and / or control the prompting device to indicate the type of each lane based on vehicle type and lane type information.

[0067] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the processing unit is used to: control the prompting device to prompt for lanes that are not allowed based on the current time period of the vehicle and lane type information, and / or control the prompting device to prompt for the type of each lane.

[0068] In conjunction with the fourth aspect, in some implementations of the fourth aspect, at least one lane includes a first lane, and lane type information indicates that the first lane supports a first direction of travel in a first time period and a second direction of travel in a second time period; the processing unit is used to: when the vehicle's direction of travel is the first direction and the vehicle's current time period belongs to the second time period, the control prompting device prompts that the first lane is a non-traveling lane.

[0069] In conjunction with the fourth aspect, in some implementations of the fourth aspect, at least one lane includes a first lane, lane type information indicates that the first lane is a time-limited dedicated lane, the first lane is a dedicated lane for first type vehicles in the fifth time period, and other types of vehicles are allowed to travel in the first lane in other time periods outside the fifth time period; the processing unit is used to: when the current time period of the vehicle belongs to the fifth time period and the vehicle is not a first type vehicle, the control prompting device prompts that the first lane is a time-limited dedicated lane, and / or, the control prompting device prompts that the first lane is a non-pedal lane.

[0070] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the prompting device includes a display device, and the processing unit is configured to: control the display device to display lanes of at least one color, each of the at least one color indicating a lane type.

[0071] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the processing unit is configured to: when the vehicle is of the second type, control the display device to display a third lane of a first color, the third lane being a lane in which vehicles of the second type are permitted to travel; or, when the vehicle is of the third type, control the display device to display a fourth lane of a first color, the fourth lane being a lane in which vehicles of the third type are permitted to travel.

[0072] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the lane type indicates whether the lane is a drivable lane or a non-drivable lane, or the lane type indicates whether the lane is a lane that allows one or more types of vehicles to travel.

[0073] Fifthly, a lane recognition device is provided, the device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0074] In a sixth aspect, a lane indication device is provided, the device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the second aspect described above.

[0075] In conjunction with the fifth or sixth aspect, in some implementations of the fifth or sixth aspect, the device also includes a memory.

[0076] In a seventh aspect, a computer program product is provided, comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first or second aspect.

[0077] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0078] Eighthly, a computer-readable storage medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first or second aspect.

[0079] Ninthly, a chip is provided, the chip including circuitry for performing the methods in any possible implementation of the first or second aspect described above.

[0080] In a tenth aspect, a server is provided, which includes means as described in any possible implementation of the third or fifth aspect.

[0081] Eleventhly, a vehicle is provided, wherein the server includes means as in any of the possible implementations of the third to sixth aspects, or the vehicle includes computer-readable storage as in any of the possible implementations of the eighth aspect, or the vehicle includes a chip as in any of the possible implementations of the ninth aspect, or the vehicle is loaded with computer program code as in any of the possible implementations of the seventh aspect.

[0082] In conjunction with the eleventh aspect, in some implementations of the eleventh aspect, the vehicle is a vehicle in a broad sense, such as a means of transportation (e.g., commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), engineering vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural equipment (e.g., lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. In actual implementation, the vehicle can also be a road vehicle, a water vehicle, an air vehicle, industrial equipment, agricultural equipment, or other intelligent driving equipment such as entertainment equipment.

[0083] In a twelfth aspect, a lane recognition and display system is provided, comprising a server and a vehicle. The server in the system performs the following steps: acquiring traffic flow information corresponding to a first road, the traffic flow information including multiple sets of traffic flow data, each set including multiple traffic flow points, each traffic flow point indicating a coordinate in a vehicle's trajectory, the time the vehicle traveled to that coordinate, and the vehicle's orientation at that coordinate; generating a road heatmap of the first road based on the traffic flow information, the road heatmap indicating the number of vehicles traveling in each lane of at least one lane of the first road and the supported travel directions; determining lane type information based on the road heatmap, the lane type information indicating the type of each lane in at least one lane; and sending the lane type information corresponding to at least one road, including the first road, to the vehicle. The vehicle in the system is used to: acquire lane type information matching the road where the vehicle is located based on the received lane type information corresponding to at least one road, the lane type information indicating the type of each lane in at least one lane of the road; control a prompting device of the vehicle to indicate the inaccessible lanes in at least one lane based on the lane type information, and / or control the prompting device to indicate the type of each lane based on the lane type information. In addition, the server can execute the methods in any possible implementation of the first aspect, and the vehicle can execute the methods in any possible implementation of the second aspect.

[0084] For the beneficial effects not described in detail in aspects three through twelfth, please refer to the descriptions in aspect one or two, which will not be repeated here. Attached Figure Description

[0085] Figure 1 is a schematic diagram of the lane recognition and display system architecture provided in an embodiment of this application;

[0086] Figure 2 is another schematic diagram of the lane recognition and display system architecture provided in the embodiments of this application;

[0087] Figure 3 is a schematic flowchart of the lane recognition method provided in the embodiments of this application;

[0088] Figure 4 is a schematic diagram of the road heat map rendering result provided in an embodiment of this application;

[0089] Figure 5 is a schematic diagram of the application scenarios involved in the embodiments of this application;

[0090] Figure 6 is a schematic diagram of the result obtained by fusing road heatmaps and map vector elements according to an embodiment of this application;

[0091] Figure 7 is a schematic flowchart of the lane indication method provided in an embodiment of this application;

[0092] Figure 8 is a schematic diagram of a GUI provided in an embodiment of this application;

[0093] Figure 9 is another schematic diagram of the GUI provided in the embodiments of this application;

[0094] Figure 10 is a schematic block diagram of the device provided in an embodiment of this application;

[0095] Figure 11 is another schematic block diagram of the device provided in the embodiments of this application. Detailed Implementation

[0096] To facilitate understanding of the technical solutions of this application, the technical terms involved in this application are introduced below.

[0097] 1. Vectorized map: A map composed of vector data representing the location and shape of geographic entities. Vector data can include at least one of points, lines, and polygons.

[0098] 2. Map vector elements: Geographic entities whose location or shape is identified using vector data, including road vectors, lane vectors, intersection vectors, etc.

[0099] 3. Traffic Flow Information: Traffic flow information for a road can include one or more sets of traffic flow data. Each set of traffic flow data can be understood as data consisting of the trajectories formed by one or more vehicles traveling on that road. Each set of traffic flow data can include multiple traffic flow points, each traffic flow point indicating a coordinate in a vehicle's trajectory, the time the vehicle arrived at that coordinate, and the vehicle's orientation and pose at that coordinate. In some implementations, each set of traffic flow data also includes information such as the type of vehicle forming the traffic flow. In actual implementation, each set of traffic flow data can be data collected by vehicles or roadside units (RSUs) containing the trajectory of at least one vehicle. When the traffic flow data is collected by vehicles, the trajectory of at least one vehicle includes its own trajectory and / or the trajectory of at least one other vehicle.

[0100] As mentioned earlier, under current technological conditions, the identification of unconventional lanes largely relies on high-precision maps and vehicle-mounted detection sensors. However, high-precision maps have drawbacks such as high acquisition and production costs, long processing times, insufficient coverage, and difficulty in ensuring data freshness, making it difficult to promote unconventional lane identification technology relying on high-precision maps nationwide or globally. The perception capabilities of vehicle-mounted detection sensors are easily affected by factors such as weather. For example, in severe weather (such as rain, snow, or fog), vehicle-mounted detection sensors cannot accurately identify information from road traffic signs, leading to inaccurate lane identification results.

[0101] In view of this, embodiments of this application provide a lane recognition method, a lane prompting method, and an apparatus, which can obtain reliable lane type recognition results and display the lane type recognition results, thereby improving vehicle driving safety and the driving experience of drivers and passengers.

[0102] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0103] Figure 1 is a schematic diagram of the lane recognition and display system architecture provided in an embodiment of this application. The system includes a vehicle 100, or may also include a server 200. As shown in Figure 1, the vehicle 100 may include a perception system 120, a prompting device 130, a communication system 140, and a computing platform 150. The perception system 120 may include several types of sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a global navigation satellite system (GNSS), such as the global positioning system (GPS), the BeiDou system, etc. Alternatively, the perception system 120 may also include an inertial measurement unit (IMU), or may include one or more of the following detection sensors: lidar, millimeter-wave radar, ultrasonic radar, and camera devices.

[0104] The prompting device 130 may include any of the following: a display device, a sound device, and a lighting device. The display device is mainly divided into two categories: the first is an in-vehicle display screen; the second is a projection display screen, such as a head-up display (HUD). An in-vehicle display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as digital instrument cluster displays and central control screens. In some possible implementations, one or more of the aforementioned in-vehicle displays can be human-machine interfaces (HMIs), for example, the central control screen can be an HMI. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device (e.g., the windshield) in front of the driver. This reduces the driver's eye-shifting time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. Sound-generating devices can include in-vehicle speakers, in-vehicle audio systems, and other in-vehicle sound-generating devices. The lighting device can be an ambient light or breathing light composed of light-emitting diode (LED) beads or light strips, wherein the light strip can include multiple LED beads; alternatively, the lighting device can be other types of lights. The lighting device can be installed on the instrument panel, center console screen, etc., or around the instrument panel, center console screen, or other displays, or in other locations convenient for providing information to the driver, such as around the steering wheel.

[0105] The communication system 140 is used for information exchange between vehicle 100 and server 200, other vehicles, and roadside equipment. For example, when vehicle 100 is traveling on the current road, it can receive at least one of the following through the communication system 140: traffic flow data of the current road collected by other vehicles, traffic flow data collected by roadside equipment of the current road, and historical traffic flow data of the current road stored by server 200. Alternatively, vehicle 100 can also report its collected traffic flow data to server 200 or send it to other vehicles or roadside equipment through the communication system. Exemplarily, the communication system 140 can communicate with server 200, other vehicles, roadside equipment, etc., based on a vehicle-to-everything (V2X) network, which includes, but is not limited to, vehicle-to-vehicle (V2V) communication networks, vehicle-to-infrastructure (V2I) communication networks, and vehicle-to-network (V2N) communication networks.

[0106] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the corresponding functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0107] In this embodiment, server 200 obtains traffic flow information from multiple vehicles 100, or it may also obtain traffic flow information from RSUs (Roadside Units). Server 200 can obtain a road-related heat map based on the traffic flow information. This heat map indicates the number of vehicles, driving direction, vehicle type, and other information present in each lane of the road at different time periods. Furthermore, server 200 obtains lane type information based on the heat map. The lane type information can indicate the type of each lane and / or whether each lane is passable at different time periods. Server 200 can send the lane type information to vehicles 100, and vehicles 100 can control one or more of the prompting devices 130 to display lane type information; alternatively, vehicles 100 can also navigate based on their own lane and lane type information.

[0108] To facilitate understanding of the lane recognition and display system provided in this application embodiment, the following describes in detail the modules included in the system and the function of each module in conjunction with Figure 2.

[0109] Figure 2 shows another schematic diagram of the lane recognition and display system provided in this application embodiment. As shown in Figure 2, the system includes a road heat map generation module 210, a lane type recognition module 220, a traffic control module 250, and a prompting module 260. In some implementations, the system also includes a perception module 230 and / or a map information acquisition module 240. The road heat map generation module 210, lane type recognition module 220, and map information acquisition module 240 may each include one or more processors in the server 200; the traffic control module 250 may include one or more processors in the computing platform 150; the prompting module 260 may include one or more devices in the prompting device 130; and the perception module 230 may include one or more sensors in one or more vehicles 100. More specifically, the functions of each module are as follows:

[0110] (I) The road heatmap generation module 210 is used to acquire traffic flow information and then determine the road heatmap based on the traffic flow information. For example, when the traffic flow information indicates the vehicle type (i.e., each set of traffic flow data carries information about the vehicle type that generated the traffic flow), a road heatmap corresponding to that type of vehicle on the current road can be generated based on the traffic flow information. For instance, taking vehicle types as divided into motor vehicles and non-motor vehicles, a road heatmap for motor vehicles and a road heatmap for non-motor vehicles associated with the current road can be generated based on the traffic flow information. It can be understood that the road heatmap for motor vehicles indicates the distribution of motor vehicle travel paths within each lane of the road over one or more time periods; the road heatmap for non-motor vehicles indicates the distribution of non-motor vehicle travel paths within each lane of the road over one or more time periods. As another example, if motor vehicles can also be divided into buses, passenger cars, etc., a road heatmap for buses and a road heatmap for passenger cars associated with the current road can be generated based on the traffic flow information. It should be noted that the passenger vehicle involved in this application can be a vehicle mainly used for carrying passengers and their personal luggage or temporary items, and the passenger vehicle has a maximum of nine seats, including the driver's seat. Further, the road heat map generation module 210 sends the road heat map to the lane type recognition module 220.

[0111] (II) The lane type recognition module 220 generates lane type information based on a road heatmap, indicating the type of each lane in the road. In one example, for a road segment, such as road a, the lane type recognition module 220 can also obtain map vector elements of road a from the map information acquisition module 240. These map vector elements include at least the lane vectors of road a. The lane type information is then generated by combining the map vector elements of road a with the road heatmap of road a. In another example, for a road segment, such as road a, the lane type recognition module 220 can also obtain images of road a captured by a camera device or point cloud data of road a captured by radar from the perception module 230. The lane type information is then generated by combining the perception information of road a (such as images and / or point cloud data) with the road heatmap of road a. Further, the lane type recognition module 220 sends the lane type information to the planning and control module 250. For example, the lane type recognition module 220 sends lane type information to the vehicle 100 through the communication system 140, and then the gateway in the vehicle 100 forwards the lane type information to the traffic control module 250.

[0112] In some implementations, map vector elements can be generated by the map information acquisition module 240 based on traffic flow data. For example, the map information acquisition module 240 segments and clusters the traffic flow data to obtain road vectors. Further, for multiple roads intersecting at the same intersection, based on the traffic flow data and road vectors, the vector points connecting each road to the intersection are determined, and the vector points corresponding to multiple roads constitute the intersection vector. The road width is determined based on the traffic flow data, and the intersections of multiple sets of traffic flow data with the perpendicular lines of the roads are clustered. The number of lanes is determined based on the clustering results, and then the lane vectors are determined based on the road width and the number of lanes. It can be understood that lane vectors, road vectors, and intersection vectors constitute a vectorized map. Specifically, road vectors indicate the location and direction of a road segment, intersection vectors indicate the location and boundaries of an intersection, and lane vectors indicate the roadway for various vehicles to travel within the same road width. Alternatively, lane vectors can also indicate the position of each lane within a road segment.

[0113] (III) The control module 250 controls the prompting module 260 to prompt at least one of the following based on the lane type information: the type of each lane in the road where the vehicle is currently located, or the information on permitted passage in each lane. In one example, the control module 250 can control the prompting module 260 to prompt the information on permitted passage in each lane in the road where the vehicle is currently located, based on the lane type information and the type of the vehicle. For example, if the lane type information indicates that the current road includes a bus lane and a non-motorized vehicle lane, and the vehicle is a passenger car, then the prompting module 260 can prompt that the bus lane and the non-motorized vehicle lane are lanes where passage is not permitted. In another example, the control module 250 can control the prompting module 260 to prompt the information on permitted passage in each lane in the road where the vehicle is currently located, based on the lane type information and the current time period of the vehicle. For example, if the lane type information indicates that the current road includes a tidal flow lane, and the current time period of the vehicle is a time period during which the tidal flow lane does not allow the vehicle to travel in its direction of travel, then the control prompt module 260 will prompt that the tidal flow lane is not allowed to pass; if the current time period of the vehicle is a time period during which the tidal flow lane allows the vehicle to travel in its direction of travel, then the control prompt module 260 will prompt that the tidal flow lane is allowed to pass.

[0114] In some implementations, the planning and control module 250 can also plan a driving path for the vehicle 100 based on lane type information and control the vehicle to drive along the planned driving path. For example, when the lane type information indicates that there is a non-driving lane (such as a non-motorized vehicle lane, an activated tidal lane, etc.) on the road where the vehicle is currently located, the planning and control module 250 can plan a driving path for the vehicle 100 to avoid the aforementioned non-driving lane.

[0115] It should be understood that the above modules are only an example, and in actual applications, these modules may be added or removed as needed. For example, in the system architecture shown in Figure 2, the road heat map generation module 210 and the lane type recognition module 220 can be merged into one module; or, the road heat map generation module 210, the lane type recognition module 220, and the map information acquisition module 240 can be merged into one module.

[0116] The above describes the lane recognition and display system architecture provided in the embodiments of this application. The following details the process of implementing the lane recognition method and lane prompting method provided in the embodiments of this application based on the system architecture shown in Figures 1 and 2.

[0117] Figure 3 shows a schematic flowchart of the lane recognition method provided in an embodiment of this application. This method can be executed by server 200; exemplarily, it can be executed by the road heatmap generation module 210 and lane type recognition module 220 shown in Figure 2. Specifically, steps S301 and S302 can be executed by the road heatmap generation module 210, and step S303 can be executed by the lane type recognition module 220. More specifically, the method 300 includes:

[0118] S301, Obtain traffic flow information corresponding to the first road. The traffic flow information includes multiple sets of traffic flow data. Each set of traffic flow data includes multiple traffic flow points. Each traffic flow point indicates a coordinate in a vehicle's driving trajectory, the time when the vehicle arrives at the coordinate, and the vehicle's orientation at the coordinate.

[0119] In practical implementation, multiple roads can exist in a real-world scenario. Any two adjacent roads can be directly connected, meaning there is no intersection between them; alternatively, any two adjacent roads can be connected by an intersection. For example, the directions of any two adjacent roads can be the same, such as both running north-south or both running east-west; or their directions can be different. Furthermore, any one of the roads can be a one-way road or a two-way road.

[0120] It is understandable that, in actual implementation, the road heatmap generation module 210 can obtain the traffic flow information corresponding to each of the aforementioned multiple roads. The traffic flow information corresponding to a road includes traffic flow data generated by one or more vehicles traveling on that road. The first road in this application can be one of the aforementioned multiple roads. The following uses the first road as an example to explain in detail the specific implementation of determining lane type information for each of the multiple roads. In addition, for a more specific description of traffic flow information, please refer to the description in the foregoing embodiments, which will not be repeated here.

[0121] For example, the traffic flow information corresponding to the first road can be traffic flow information within a certain time period. The certain time period can be the period before the current time, and the duration of the certain time period can be 24 hours, 48 ​​hours, or other durations. That is to say, the traffic flow information corresponding to the first road can be updated in real time to ensure the freshness of the determined lane type information.

[0122] S302, Generate a road heat map of the first road based on traffic flow information. The road heat map indicates the number of vehicles traveling in each lane of at least one lane of the first road and the supported travel directions.

[0123] For example, traffic flow points from multiple sets of traffic flow data are projected onto a BEV coordinate system. The origin of this BEV coordinate system can be a point on the first road. The vertical axis of the BEV coordinate system can be parallel to the longitudinal direction of the road (i.e., the direction of vehicle travel), and the horizontal axis can be perpendicular to the longitudinal direction of the road. Further, traffic flow data within a certain range in the BEV coordinate system can be taken from the traffic flow information corresponding to the first road. The traffic flow points in this data are projected onto the BEV coordinate system, and a sub-road heatmap corresponding to this range is generated at a certain resolution. For example, the aforementioned certain range can be a range formed by a straight line perpendicular to the vertical axis, symmetrical about the origin of the BEV coordinate system, and 50 meters from the origin, and a straight line perpendicular to the horizontal axis, symmetrical about the origin of the BEV coordinate system, and 40 meters from the origin; the certain resolution can be 0.2 meters * 0.2 meters; then the sub-road heatmap can be an image composed of 500 pixels * 400 pixels, where the pixel value of each pixel is the number of trajectory points within the range represented by that pixel. In some implementations, pixel values ​​can be normalized, meaning the maximum value for each pixel is 255. It should be noted that in practice, the aforementioned range and resolution can also be other values.

[0124] S303 determines lane type information based on a road heat map, and the lane type information indicates the type of each lane in at least one lane.

[0125] In some implementations, the road heatmap indicates the number of vehicles traveling in at least one lane over multiple time periods, and the direction of travel in at least one lane over multiple time periods, wherein the at least one lane includes a first lane; determining lane type information based on the road heatmap includes: determining the type of the first lane based on the changes in the number of vehicles traveling in the first lane over different time periods, and / or determining the type of the first lane based on the changes in the direction of travel supported by the first lane over different time periods.

[0126] For example, multiple time periods may include four time periods: 8:00 to 10:00, 10:00 to 18:00, 18:00 to 20:00, and 20:00 to 8:00 the next day. In one example, because ordinary vehicles (such as passenger cars) are not allowed to travel in the bus lane when it is activated (i.e., for buses only), the number of vehicles traveling in the bus lane is less during the activated time periods than in other time periods. Therefore, if the number of vehicles in the first lane is significantly reduced during the time periods of 8:00 to 10:00 and 18:00 to 20:00, then the first lane can be determined to be a bus lane, and the activated time periods for the bus lane are 8:00 to 10:00 and 18:00 to 20:00. In another example, since the driving direction (or direction of travel) supported by the tidal flow lane when it is active is different from that when it is inactive, if the driving direction of vehicles in the first lane is different in any two of the aforementioned four time periods, the first lane can be determined to be a tidal flow lane. Then, based on the driving direction of vehicles in the tidal flow lane, the activation time period of the tidal flow lane (i.e., the time period when the driving direction in the tidal flow lane is opposite to the driving direction supported by other lanes in its sub-road) can be determined.

[0127] In some implementations, multiple time periods include a first time period and a second time period. The type of the first lane is determined based on the changes in the driving direction supported by the first lane in different time periods. For example, when the driving direction supported by the first lane is the first direction in the first time period and the driving direction supported by the first lane is the second direction in the second time period, the first lane is determined to be a tidal flow lane.

[0128] For example, the first time period can be the aforementioned 8:00 to 10:00 or 18:00 to 20:00, and the second time period can be the aforementioned 10:00 to 18:00 or 20:00 to 8:00 the next day. The first direction and the second direction are opposite. For example, the first direction is opposite to the travel direction of other lanes in the sub-road containing the first lane, and the second direction is the same as the travel direction of other lanes in the sub-road containing the first lane.

[0129] In some implementations, multiple time periods include a third time period and a fourth time period. The type of the first lane is determined based on the changes in the number of vehicles traveling in the first lane during different time periods. This includes determining the first lane as a time-segmented dedicated lane when the number of vehicles traveling in the first lane during the third time period is the first number, the number of vehicles traveling in the first lane during the fourth time period is the second number, and the difference between the first number and the second number is greater than or equal to the first number threshold.

[0130] For example, the third time period can be the aforementioned 8:00 to 10:00 or 18:00 to 20:00, and the fourth time period can be the aforementioned 10:00 to 18:00 or 20:00 to 8:00 the next day.

[0131] In one example, the first quantity is less than the second quantity, and the first quantity is less than or equal to a third quantity threshold. When the aforementioned conditions are met and the first road is a highway, the first lane can be determined as an emergency lane.

[0132] In another example, the first quantity is less than the second quantity, and the first quantity is greater than the third quantity threshold. When the aforementioned conditions are met and the first road is an urban road, the first lane can be determined to be a dedicated bus lane.

[0133] For example, the third quantity threshold can be a value between 3 and 5, or it can be any other value.

[0134] For example, the first quantity threshold can be a value between 10 and 20, or it can be other values. In actual implementation, the first quantity threshold can be determined according to the actual traffic conditions of the first road. For example, the first quantity threshold can increase as the road traffic volume (or vehicle flow) increases.

[0135] In some implementations, at least one lane also includes a second lane. Determining the first lane as a time-limited dedicated lane includes: determining the first lane as a time-limited dedicated lane when the difference between the number of vehicles traveling in the first lane and the number of vehicles traveling in the second lane during a third time period is greater than or equal to a second quantity threshold, and the difference between the number of vehicles traveling in the first lane and the number of vehicles traveling in the second lane during a fourth time period is less than the second quantity threshold.

[0136] For example, the first lane and the second lane are contained within the same sub-road of the first road. For instance, Figure 4 shows a rendering result of the driving directions supported by each lane, obtained from a road heatmap of the first road. The heatmap lines constitute the road heatmap, indicating the driving directions of vehicles on the road and the number of vehicles at different locations on the road. More specifically, light gray arrows (pointing downwards) indicate the driving directions supported by one sub-road of the first road, and black arrows (pointing upwards) indicate the driving directions supported by another sub-road of the first road. The first lane and the second lane can be lanes within either of the two sub-roads shown in Figure 4.

[0137] It should be noted that the rendering result of the road heatmap shown in Figure 4 is only an illustrative example. In actual implementation, the directions can be quantified (for example, each 45° is grouped into one direction, i.e., a total of 8 directions), and each direction can be rendered with a different color. The directions of all trajectory points within the range represented by each pixel in the road heatmap are statistically analyzed using a histogram. The final main direction is the direction of that pixel, and then the direction of that pixel is rendered with the corresponding color.

[0138] Understandably, because regular vehicles are not allowed to travel in bus lanes when they are activated, the number of vehicles traveling in bus lanes is less than the number of vehicles traveling in other lanes of the same sub-road when they are activated. Therefore, if the number of vehicles traveling in the first lane is less than the number of vehicles traveling in the second lane during the two time periods of 8:00 to 10:00 and 18:00 to 20:00, then the first lane can be identified as a bus lane, and the activation time periods for the bus lane are 8:00 to 10:00 and 18:00 to 20:00.

[0139] In some implementations, traffic flow information also indicates the type of vehicle associated with each set of traffic flow data. The road heatmap includes multiple sub-heatmaps, each indicating the number of one type of vehicle that has traveled in at least one lane of the first road.

[0140] In some implementations, lane type information also indicates the location of the lane for first type of vehicles in the first road. Determining lane type information based on a road heatmap includes: determining the location of the lane for first type of vehicles in the first road based on each sub-heatmap.

[0141] In some implementations, the first type of vehicle is any of the following: motor vehicle, non-motor vehicle, passenger car, or bus.

[0142] In one example, traffic flow information indicates that each set of traffic flow data is associated with motor vehicles or non-motor vehicles. Therefore, a sub-heatmap associated with motor vehicles and a sub-heatmap associated with motor vehicles can be generated based on the traffic flow information. Then, based on the distribution of vehicles in each lane indicated by the aforementioned two sub-heatmaps, the positions of the lanes used for motor vehicles and non-motor vehicles in the first road are determined. In another example, traffic flow information indicates that each set of traffic flow data is associated with buses, passenger cars, or non-motor vehicles. Therefore, a sub-heatmap associated with buses, passenger cars, and motor vehicles can be generated based on the traffic flow information. Then, based on the distribution of vehicles in each lane indicated by the aforementioned three sub-heatmaps, the positions of the lanes used for buses, passenger cars, and non-motor vehicles in the first road are determined.

[0143] It should be noted that this application only uses vehicle types including motor vehicles, non-motor vehicles, passenger cars, buses, etc. as examples for illustration. In actual implementation, vehicle types can be further divided into more categories, such as buses, trucks, etc.

[0144] In some implementations, the method further includes: acquiring vehicle perception information corresponding to the first road, wherein the vehicle perception information is acquired by the vehicle's perception system and the vehicle perception information indicates the lane line position of at least one lane and / or the boundary of the first road; and determining lane type information based on a road heat map, including: determining lane type information based on the road heat map and the vehicle perception information.

[0145] For example, vehicle perception information may include, but is not limited to, images captured by the vehicle's camera device and laser point clouds collected by LiDAR. Determining lane type information based on the road heatmap and vehicle perception information can be further refined as follows: processing the vehicle perception information, projecting the vehicle perception information onto the BEV coordinate system, and then fusing the road heatmap and the vehicle perception information projected onto the BEV coordinate system to determine the lane type information.

[0146] In practical implementation, traffic flow for different vehicle types can be rendered separately. For example, traffic flow for ordinary vehicles (such as passenger cars), buses, and non-motorized vehicles can be rendered separately to obtain three sub-heatmaps. The three sub-heatmaps and vehicle perception information are simultaneously input into the neural network model for fusion processing to obtain lane type information.

[0147] For example, a neural network model can be used to process vehicle perception results to project them onto the BEV coordinate system. For instance, the neural network model may include a sensor backbone network, a projector, and a BEV backbone network. Taking vehicle perception information including images captured by a forward-looking camera as an example, processing the vehicle perception information using the aforementioned neural network model to obtain relevant results may include the following three steps:

[0148] (1) After the image is input into the sensor backbone network, two-dimensional image features, namely the visual image features of the vehicle's forward-looking perspective, can be output. In addition, the image can be input into the depth decoder to obtain the depth information of the pixels in the image.

[0149] (2) By inputting the image features and the depth information of the corresponding pixels into the projector, the features of the image coordinate system can be mapped to the BEV coordinate system. It is understood that each sensor in the vehicle has its own coordinate system, and their output data or perception results are eventually aggregated into the vehicle's overall coordinate system for processing. The mapping relationship between the overall coordinate system and the image coordinate system can be determined based on the extrinsic and intrinsic parameter matrices of each camera device. For the scene corresponding to the image obtained from the forward-looking camera device, the purpose of the projector is to determine the rasterized representation of the scene in the BEV coordinate system. For example, taking the projector as LSS (lift, splat, shoot), each of the four image features can be a two-dimensional image feature. Then, LSS first performs an outer product operation on the two-dimensional image features and the depth information of the corresponding pixels to obtain a three-dimensional image feature that can be processed by CNN. Then, the three-dimensional image features are summed and pooled (such as z-accumulation, flattening) to achieve dimensionality reduction. Finally, the dimensionality-reduced features are stitched together to obtain the BEV features. It should be noted that the above explanation uses LSS as the projector. In actual implementation, the projector can also be other algorithms, such as Cam2BEV, PyrOccNet, etc.

[0150] (3) Inputting BEV features into the BEV backbone network can yield at least one of the following: the location of one or more lane boundaries in the road, the location of the road boundary, and the guidance of each lane at the intersection.

[0151] For example, as shown in Figure 5, a sub-road within the first road includes a first lane. This sub-road includes the road boundary shown, multiple lane boundaries, and multiple road signs, where the road signs indicate the direction of each lane at the intersection. Taking vehicle perception information as laser point clouds as an example, fusing the road heat map and the vehicle perception information projected onto the BEV coordinate system yields the processing result shown in Figure 6. In Figure 6, road sign point clouds 1 to 3 correspond one-to-one with road signs 1 to 3 in Figure 5. Lanes 1 to 3 in Figure 6 represent three lanes of one sub-road within the first road, and lanes 4 to 7 represent four lanes of another sub-road within the first road. If the heat map lines are all generated based on traffic flow data from motor vehicles, the distribution of these heat map lines within the first road indicates that the number of motor vehicles traveling in lanes 1 and 7 is relatively small. Furthermore, based on the road sign point cloud, since lane 7 lacks road signs indicating driving directions at the intersection, it can be determined that lane 7 is a non-motorized vehicle lane. Since lane 1 has driving direction signs at the intersection, it can be determined that lane 1 is a motorized vehicle lane. However, due to the small number of vehicles traveling in lane 1 (only one heat-based indicator line), lane 1 can be determined as a roadside parking lane. It is understandable that the first lane could be one of lanes 4 to 7, or it could be one of lanes 1 to 3.

[0152] In some implementations, the first road connects to the first intersection, and the vehicle perception information also indicates the driving direction of at least one lane at the first intersection. Based on the road heat map and the vehicle perception information, the lane type information is determined, including: determining the lane type information based on the driving direction and the road heat map.

[0153] For example, referring to Figure 6, the road heat map indicates that there are more vehicles traveling in lane 2, and there are road signs indicating driving directions at the intersection of lane 2. Therefore, lane 2 can be identified as a motor vehicle lane. The road heat map indicates that there are fewer vehicles traveling in lane 7, and there are no road signs indicating driving directions at the intersection of lane 7. Therefore, lane 7 can be identified as a non-motor vehicle lane.

[0154] In some implementations, it can also be determined whether a lane is a reversible lane based on the traffic guidance at the intersection and the road heat map. For example, if the traffic guidance of a lane at the intersection is different at different times, the lane can be determined to be a reversible lane.

[0155] In some implementations, the method further includes: obtaining map vector elements corresponding to the first road, the map vector elements including the road vector of the first road and / or the lane vector corresponding to each lane in at least one lane; determining lane type information based on the road heatmap, including: determining lane type information based on the map vector elements and the road heatmap.

[0156] For example, the map vector elements can be the output of the neural network model in the aforementioned implementation, or the map vector elements can be determined by other means, as described in the foregoing embodiments, and will not be repeated here. It is understood that, based on the map vector elements, the matching relationship between the traffic flow indicated by the traffic flow information and the lanes and / or roads can be accurately determined, thereby realizing the matching of the lane type identification result and the lane position in the road.

[0157] It is understood that the lane types defined in the foregoing embodiments include regular lanes (such as lanes that can be used by most vehicles), tidal flow lanes, time-limited dedicated lanes (such as bus lanes and emergency lanes), reversible lanes, and non-motorized vehicle lanes as examples. In actual implementation, other types of lanes can also be determined based on traffic flow information, such as U-shaped turn lanes and temporary parking lanes.

[0158] The lane recognition method provided in this application can determine the type of at least one lane on a road based on traffic flow information, without relying on manual labeling or with minimal reliance on the perception capabilities of vehicle-mounted sensors, thus helping to reduce the cost of lane type recognition. Furthermore, determining the lane type through traffic flow information helps ensure the freshness of lane types, thereby improving vehicle driving safety.

[0159] Figure 7 shows a schematic flowchart of the lane guidance method provided in an embodiment of this application. This method can be executed by a vehicle 100; exemplarily, it can be executed by the lane control module 250 shown in Figure 2. More specifically, the method 700 includes:

[0160] S701, Obtain lane type information matching the road where the vehicle is located. The lane type information indicates the type of each lane in at least one lane of the road.

[0161] For example, the method for determining lane type information can be referred to the description in method 300, and will not be repeated here.

[0162] S702, based on lane type information, the vehicle control device indicates at least one of the following: the non-traveling lane of at least one lane, or the type of each lane.

[0163] For example, the prompting device may include one or more of the vehicle's display device, sound device, and light device.

[0164] In some implementations, S702 can be further refined as follows: based on the vehicle's current time period and lane type information, the control prompting device prompts the lanes that cannot be driven, and / or the control prompting device prompts the type of each lane.

[0165] In some implementations, at least one lane includes a first lane, and lane type information indicates that the first lane supports a first direction of travel in a first time period and a second direction of travel in a second time period; based on the vehicle's current time period and lane type information, the control prompting device prompts for lanes that are not drivable, and / or, the control prompting device prompts for the type of each lane, including: when the vehicle's direction of travel is the first direction and the vehicle's current time period is the second time period, the control prompting device prompts that the first lane is a lane that is not drivable.

[0166] The current time period of the vehicle can be understood as the time period during which the vehicle is traveling on the road. This time period can be a time period predicted based on the vehicle's speed and position, or it can be determined by other methods.

[0167] To facilitate understanding of the lane indication method in this implementation, a detailed description is provided below with reference to Figure 8, which shows a schematic diagram of a graphical user interface (GUI) provided in an embodiment of this application. Taking an example where the road where the vehicle is currently located includes four lanes, and the leftmost lane relative to the vehicle's forward direction is a tidal flow lane, the aforementioned leftmost lane can be regarded as an example of the first lane.

[0168] In one example, if the tidal flow lane is active during the periods (i.e., an example of the aforementioned second time period) from 8:00 to 10:00 and from 18:00 to 20:00, and the vehicle is currently in a time period between 8:00 and 10:00 or between 18:00 and 20:00, for example, the vehicle is currently in a time period between 9:00 and 9:02, then the vehicle's central control screen can display the GUI shown in Figure 8(a). This GUI includes the vehicle's icon 801 and information 820 "Tidal Flow Lane Prohibited," indicating the type and status of the tidal flow lane. Furthermore, the GUI may also include icons indicating the positions of other road users relative to the vehicle. As can be seen from Figure 8(a), lanes where vehicles are not permitted can be marked in gray to alert the driver and passengers; lanes where vehicles are permitted can be marked without a special color, for example, only the background color can be used.

[0169] In another example, if the tidal flow lane is activated between 8:00 and 10:00 and between 18:00 and 20:00, and the vehicle's current time period is not between 8:00 and 10:00 or between 18:00 and 20:00, for example, if the vehicle's current time period is between 11:00 and 11:02, then the vehicle's central control screen can display the GUI shown in Figure 8(b). This GUI includes the vehicle's icon 801 and icons indicating the positions of other road users relative to the vehicle. The GUI shown in Figure 8(b) can be understood as follows: for the vehicle, all lanes in the sub-road where the vehicle is currently located are accessible.

[0170] In some implementations, S702 can be further refined as follows: based on vehicle type and lane type information, the control prompting device prompts the non-drivable lane; and / or based on vehicle type and lane type information, the control prompting device prompts the type of each lane.

[0171] In some implementations, at least one lane includes a first lane, lane type information indicating that the first lane is a time-limited dedicated lane, the first lane is a dedicated lane for a first type of vehicle during a fifth time period, and the first lane allows other types of vehicles to travel during other time periods outside the fifth time period; based on the vehicle's current time period and lane type information, the control prompting device prompts for lanes that are not allowed to travel, and / or, the control prompting device prompts for the type of each lane, including: when the vehicle's current time period is in the fifth time period and the vehicle is not a first type of vehicle, the control prompting device prompts that the first lane is a time-limited dedicated lane, and / or, the control prompting device prompts that the first lane is a lane that is not allowed to travel.

[0172] To facilitate understanding of the lane indication method in this implementation, a detailed description is provided below with reference to Figure 9, which shows another schematic diagram of the GUI provided in this embodiment. Taking an example where the road where the vehicle is currently located includes four lanes, and the second lane from the right relative to the vehicle's forward direction is a bus lane, and the rightmost lane relative to the vehicle's forward direction is a non-motorized vehicle lane, then the bus lane can be regarded as an example of a time-limited dedicated lane, and the aforementioned second lane from the right can be regarded as an example of the first lane.

[0173] In one example, if the bus lane is active during the periods (i.e., an example of the aforementioned fifth time period) from 8:00 to 10:00 and from 18:00 to 20:00, and the vehicle is not a bus, and the vehicle's current time period is between 8:00 and 10:00 or between 18:00 and 20:00 (e.g., 9:00 to 9:02), then the vehicle's central control screen can display the GUI shown in Figure 9(a). This GUI includes a vehicle icon 801 and information 830 indicating the type of bus lane, "Bus Lane." Furthermore, the GUI may also include icons indicating the positions of other road users relative to the vehicle. In Figure 9(a), colors 1, 2, and 3 are used to mark the motor vehicle lane, bus lane, and non-motor vehicle lane, respectively. The GUI shown in Figure 9(a) can be understood as follows: for the vehicle, the two left lanes of the sub-road where the vehicle is currently located are traversable, while the two right lanes are not traversable. For example, color 1, color 2, and color 3 can be yellow, green, and gray, respectively, or in actual implementation, color 1, color 2, and color 3 can be other colors.

[0174] In another example, if the bus lane is activated during the periods (i.e., an example of the aforementioned fifth time period) from 8:00 to 10:00 and from 18:00 to 20:00, and the vehicle is a bus, and the vehicle is currently in a time period between 8:00 and 10:00 or between 18:00 and 20:00, for example, the vehicle is currently in a time period between 9:00 and 9:02, since all three lanes on the left side of the road are motor vehicle lanes for buses and can be used by all of them, there is no need to specifically inform the driver and passengers of the bus lane information. The vehicle's central control screen can then display the GUI shown in Figure 9(b), which includes the vehicle icon 801 and icons indicating the positions of other road users relative to the vehicle. The GUI shown in Figure 9(b) can be understood as: for the vehicle, all three lanes on the left side of the sub-road in which the vehicle is currently located are accessible.

[0175] In some implementations, the prompting device includes a display device, and the control of the prompting device to indicate the type of each lane includes: controlling the display device to display lanes of at least one color, each of the at least one color indicating a lane type.

[0176] For example, at least one color may include one or more of color 1, color 2, and color 3 shown in FIG9, or at least one color may also include other colors.

[0177] In some implementations, the control display device indicates the type of each lane, including: when the vehicle is of type 2, the control display device displays a third lane of a first color, the third lane being a lane where type 2 vehicles are permitted to travel; or, when the vehicle is of type 3, the control display device displays a fourth lane of a first color, the fourth lane being a lane where type 3 vehicles are permitted to travel.

[0178] For example, taking a vehicle of type 2 as a motor vehicle, type 3 as a non-motor vehicle, and color 1 in Figure 9 as the first color, the third lane may include the two left lanes shown in Figure 9(a), and the fourth lane may be the rightmost lane shown in Figure 9(a). That is, when the vehicle is a non-motor vehicle and has a display device, the GUI displayed on the display device differs from that in Figure 9(a) in that color 1 is used to mark the rightmost lane, and color 3 is used to mark the two left lanes.

[0179] In some implementations, the lane type indicator lane is either a drivable lane or a non-drivable lane. For example, as shown in Figure 9(b), different lane type indicator lanes are either drivable lanes or non-drivable lanes for private vehicles. Alternatively, the lane type indicator lane is a lane that allows one or more types of vehicles to travel. For example, as shown in Figure 8(a) or Figure 9(a), different lane type indicator lanes are regular lanes (i.e., lanes that passenger cars can use), tidal flow lanes, time-limited dedicated lanes, etc.

[0180] It should be noted that the above example using a display device as a prompting device has been described. In actual implementation, lane type prompts can also be provided in other ways. For example, when a non-driving lane or an unconventional lane appears on the road, a voice message can be played to provide a prompt; or, when a vehicle enters a non-driving lane or an unconventional lane, a voice message can be played and / or a warning light can be emitted. Furthermore, vehicle users can customize the prompt information, for example, by defining the colors of the various road types mentioned above.

[0181] It should also be noted that, in actual implementation, the prompt information can be rendered in advance based on the navigation route planned for the vehicle, so that the prompt device can provide timely prompts when the vehicle enters the relevant road.

[0182] The lane indication method provided in this application indicates the inaccessible lanes or the type of each lane in at least one lane by controlling the vehicle's indication device. In human-driven scenarios, it can reduce the probability of a vehicle entering an inaccessible lane, thereby reducing the probability of traffic violations and improving driving safety. In autonomous driving or human-machine co-driving scenarios, it can inform the vehicle's occupants of the reasons why certain lanes are inaccessible, thereby improving the driving experience for occupants.

[0183] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0184] The methods provided by the embodiments of this application have been described in detail above with reference to Figures 1 to 9. The apparatus provided by the embodiments of this application will now be described in detail with reference to Figures 10 and 11. It should be understood that the descriptions of the apparatus embodiments correspond to the descriptions of the method embodiments; therefore, any content not described in detail can be referred to the method embodiments above, and for the sake of brevity, will not be repeated here.

[0185] Figure 10 shows a schematic block diagram of an apparatus 2000 provided in an embodiment of this application. The apparatus 2000 may include units for executing the methods described in the foregoing embodiments. Furthermore, each unit in the apparatus 2000 implements a corresponding process of the above method embodiments. The apparatus 2000 includes an acquisition unit 2010, which can be used to implement corresponding data acquisition or transmission / reception functions. The apparatus 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.

[0186] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit so that the device can perform the relevant actions in the aforementioned method embodiments.

[0187] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0188] It should also be understood that the device 2000 described herein is embodied in the form of a functional unit. The terms “module” or “unit” may refer to application-specific ASICs, electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components that support the described functions.

[0189] The apparatus in this embodiment has the function of implementing the corresponding steps in the aforementioned method. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0190] For example, when the device 2000 is used to execute method 300, the acquisition unit 2010 and the processing unit 2020 can be located in the server 200 shown in FIG. 1, or they can also be located in the system shown in FIG. 2. More specifically, the acquisition unit 2010 and the processing unit 2020 can be located in the lane type recognition module 220. When the device 2000 is used to execute method 700, the acquisition unit 2010 and the processing unit 2020 can be located in the vehicle 100 shown in FIG. 1, or they can also be located in the system shown in FIG. 2. More specifically, the acquisition unit 2010 and the processing unit 2020 can be located in the traffic control module 250. For example, the operations performed by the acquisition unit 2010 and the processing unit 2020 can be performed by a single processor, or they can be performed by different processors. In specific implementation, the one or more processors can be processors located in the server 200 or the vehicle 100 shown in FIG. 1; or, the device 2000 can be a chip located in the server 200 or the vehicle 100.

[0191] In the specific implementation process, the units in the above device can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0192] Figure 11 is another schematic block diagram of the apparatus provided in an embodiment of this application. The apparatus 2100 shown in Figure 11 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal interconnection paths. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0193] It should be noted that the transceiver 2120 mentioned above may include, but is not limited to, transceiver devices such as input / output interfaces, to realize communication between device 2100 and other devices or communication networks.

[0194] Memory 2130 can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes various forms such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0195] Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0196] This application also provides a server, which includes the device 2000 or device 2100 in the above embodiments.

[0197] This application also provides a vehicle that includes the device 2000 or device 2100 described in the above embodiments.

[0198] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.

[0199] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.

[0200] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0201] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0202] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0203] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0204] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0205] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0206] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0207] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0208] The above description is merely a specific 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.

Claims

1. A lane recognition method, characterized in that, include: Obtain traffic flow information corresponding to the first road. The traffic flow information includes multiple sets of traffic flow data. Each set of traffic flow data includes multiple traffic flow points. Each traffic flow point indicates a coordinate in a vehicle's driving trajectory, the time when the vehicle arrives at the coordinate, and the vehicle's orientation at the coordinate. A road heat map of the first road is generated based on the traffic flow information. The road heat map indicates the number of vehicles traveling in each lane of at least one lane of the first road and the supported travel directions. Lane type information is determined based on the road heat map, and the lane type information indicates the type of each lane in the at least one lane.

2. The method according to claim 1, characterized in that, The road heat map indicates the number of vehicles that have traveled through the at least one lane in multiple time periods, and the direction of travel of the at least one lane in multiple time periods, wherein the at least one lane includes a first lane; The process of determining lane type information based on the road heatmap includes: Based on the changes in the number of vehicles traveling in the first lane during different time periods across the plurality of time periods, the type of the first lane is determined, and / or, The type of the first lane is determined based on the changes in the driving direction supported by the first lane during different time periods in the plurality of time periods.

3. The method according to claim 2, characterized in that, The multiple time periods include a first time period and a second time period. Determining the type of the first lane based on the changes in the driving direction supported by the first lane within different time periods includes: When the driving direction supported by the first lane is the first direction during the first time period and the driving direction supported by the first lane is the second direction during the second time period, the first lane is determined to be a tidal lane.

4. The method according to claim 2, characterized in that, The multiple time periods include a third time period and a fourth time period. Determining the type of the first lane based on the changes in the number of vehicles traveling in the first lane during different time periods includes: When the number of vehicles passing through the first lane during the third time period is a first number, the number of vehicles passing through the first lane during the fourth time period is a second number, and the difference between the first number and the second number is greater than or equal to a first number threshold, the first lane is determined to be a time-segmented dedicated lane.

5. The method according to claim 4, characterized in that, The at least one lane also includes a second lane, and determining that the first lane is a time-limited dedicated lane includes: When the difference between the number of vehicles traveling in the first lane and the number of vehicles traveling in the second lane during the third time period is greater than or equal to the second quantity threshold, and the difference between the number of vehicles traveling in the first lane and the number of vehicles traveling in the second lane during the fourth time period is less than the second quantity threshold, the first lane is determined to be the time-segmented dedicated lane.

6. The method according to any one of claims 1 to 5, characterized in that, The traffic flow information also indicates the type of vehicle associated with each group of traffic flow data. The road heatmap includes multiple sub-heatmaps, each sub-heatmap indicating the number of vehicles of one type that have traveled in at least one lane of the first road.

7. The method according to claim 6, characterized in that, The lane type information also indicates the location of the lane for first type of vehicles in the first road, and the determination of lane type information based on the road heatmap includes: Based on each sub-heatmap, the location of the lane for the first type of vehicle to travel on the first road is determined.

8. The method according to claim 7, characterized in that, The first type of vehicle is any of the following: motor vehicle, non-motor vehicle, passenger car, or bus.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: Obtain vehicle perception information corresponding to the first road, wherein the vehicle perception information is obtained by the vehicle's perception system, and the vehicle perception information indicates the lane line position of the at least one lane and / or the boundary of the first road. The process of determining lane type information based on the road heatmap includes: The lane type information is determined based on the road heat map and the vehicle perception information.

10. The method according to claim 9, characterized in that, The first road connects to the first intersection, and the vehicle perception information further indicates the driving direction of the at least one lane at the first intersection. Determining the lane type information based on the road heatmap and the vehicle perception information includes: The lane type information is determined based on the driving guidance and the road heat map.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Obtain the map vector element corresponding to the first road, the map vector element including the road vector of the first road and / or the lane vector corresponding to each lane in the at least one lane; The process of determining lane type information based on the road heatmap includes: The lane type information is determined based on the map vector elements and the road heatmap.

12. A lane indication method, characterized in that, include: Obtain lane type information matching the road where the vehicle is located, wherein the lane type information indicates the type of each lane in at least one lane of the road; Based on lane type information, the vehicle's warning device is controlled to indicate the non-traveling lanes of the vehicle in at least one lane, and / or, Based on the lane type information, the prompting device is controlled to indicate the type of each lane.

13. The method according to claim 12, characterized in that, The system that controls the vehicle's prompting device to provide a prompt based on lane type information includes at least one of the following: the non-traveling lane of the vehicle in the at least one lane, or the type of each lane, including: Based on the vehicle type and lane type information, the warning device is controlled to indicate the prohibited lane; and / or, Based on the vehicle type and lane type information, the prompting device is controlled to indicate the type of each lane.

14. The method according to claim 12 or 13, characterized in that, The system that controls the vehicle's prompting device to provide a prompt based on lane type information includes at least one of the following: the non-traveling lane of the vehicle in the at least one lane, or the type of each lane, including: Based on the vehicle's current time period and the lane type information, the system controls the prompting device to indicate the inaccessible lanes, and / or controls the prompting device to indicate the type of each lane.

15. The method according to claim 14, characterized in that, The at least one lane includes a first lane, and the lane type information indicates that the first lane supports a first direction of travel in a first time period and a second direction of travel in a second time period. The step of controlling the prompting device to indicate the prohibited lanes based on the vehicle's current time period and lane type information, and / or controlling the prompting device to indicate the type of each lane, includes: When the vehicle is traveling in the first direction and the vehicle is currently in the second time period, the system controls the prompting device to indicate that the first lane is a non-driving lane.

16. The method according to claim 14 or 15, characterized in that, The at least one lane includes a first lane, and the lane type information indicates that the first lane is a time-dedicated lane, the first lane is a dedicated lane for a first type of vehicle during a fifth time period, and other types of vehicles are allowed to travel in the first lane during other time periods outside the fifth time period; The step of controlling the prompting device to indicate the prohibited lanes based on the vehicle's current time period and lane type information, and / or controlling the prompting device to indicate the type of each lane, includes: When the vehicle is currently in the fifth time period and is not a vehicle of the first type, the system controls the prompting device to indicate that the first lane is a time-limited dedicated lane, and / or controls the prompting device to indicate that the first lane is a non-driving lane.

17. The method according to any one of claims 12 to 16, characterized in that, The prompting device includes a display device, and controlling the prompting device to indicate the type of each lane includes: The display device is controlled to display lanes of at least one color, each of the at least one color indicating a lane type.

18. The method according to claim 17, characterized in that, The control of the prompting device to indicate the type of each lane includes: When the vehicle is of the second type, the display device is controlled to display a third lane in a first color, the third lane being a lane that allows vehicles of the second type to travel; or, When the vehicle is of the third type, the display device is controlled to display the fourth lane of the first color, which is a lane that allows the third type of vehicle to travel.

19. The method according to claim 17 or 18, characterized in that, The lane type indicates whether the lane is a drivable lane or a non-drivable lane, or the lane type indicates whether the lane is a lane that allows one or more types of vehicles to travel.

20. A lane recognition device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 11.

21. A lane indication device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 12 to 19.

22. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 19.

23. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 19.

24. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 19.

25. A server, characterized in that, Includes the apparatus as described in claim 20.

26. A vehicle, characterized in that, Includes the apparatus as claimed in claim 20 or 21, or the computer-readable storage medium as claimed in claim 22, or the chip as claimed in claim 23, or the vehicle is equipped with the computer program product as claimed in claim 24.

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