CN109435940A - A kind of recognition methods of road driveway, apparatus and system - Google Patents
A kind of recognition methods of road driveway, apparatus and system Download PDFInfo
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- CN109435940A CN109435940A CN201811371775.4A CN201811371775A CN109435940A CN 109435940 A CN109435940 A CN 109435940A CN 201811371775 A CN201811371775 A CN 201811371775A CN 109435940 A CN109435940 A CN 109435940A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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Abstract
The invention discloses a kind of recognition methods of road driveway, apparatus and system, this method comprises: obtaining the corresponding lane sum of current vehicle position；Image data based on vehicle front determines the lane line information of left and right vehicle wheel adjacent lane；Based on lane line information and lane sum, the current lane of vehicle is determined.High-accuracy position system is not necessarily in the present invention, it will not be limited to weather and influence of the vehicle-surroundings environment to satellite-signal, the current lane of vehicle is determined from there through the identification to lane line in image data, thus to improve the accuracy for determining vehicle current lane.
Description
Technical field
The present invention relates to intelligent driving technical field more particularly to a kind of recognition methods of road driveway, apparatus and system.
Background technique
Currently, in order to judge vehicle on highway in which lane, it usually needs be vehicle configuration high-precision difference RTK
(Real-time kinematic) GPS (Global Positioning System, global positioning system) or GPS+IMU
(Inertial measurement unit, Inertial Measurement Unit) integrated navigation and location system.
And it is limited to weather and vehicle-surroundings environment, such as rainy days, mansion, tunnel, overline bridge block the feelings of satellite-signal
Condition, positioning signal are easily lost, even if then high-accuracy position system is still unable to judge accurately out current lane where vehicle.
Summary of the invention
In view of this, the present invention provides a kind of recognition methods of road driveway, apparatus and system, to solve the prior art
The poor technical problem of the judgment accuracy of current lane where middle vehicle.
The present invention provides a kind of recognition methods of road driveway, comprising:
Obtain the corresponding lane sum of current vehicle position；
Based on the image data of the vehicle front, the lane line information of the left and right vehicle wheel adjacent lane is determined；
Based on the lane line information and lane sum, the current lane of the vehicle is determined.
The above method, it is preferred that based on the lane line information and lane sum, determine the vehicle works as front truck
Road, comprising:
Based on the lane line information, judge the lane line of the left and right adjacent lane of the current vehicle position for solid line or
Dotted line；
If the left lane line that the left lane line of the current vehicle position is solid line and the left side is nothing, determine described in
The current lane of vehicle is left side first lane；
If the left lane line that the left lane line of the current vehicle position is dotted line and the left side is solid line, institute is determined
The current lane for stating vehicle is left side second lane；
If the right lane line that the right lane line of the current vehicle position is solid line and the right is nothing, determine described in
The current lane of vehicle is the left side lane N, and N is the lane sum；
If the right lane line that the right lane line of the current vehicle position is dotted line and the right is solid line, institute is determined
The current lane for stating vehicle is the left side lane N-1.
The above method, it is preferred that if the left lane line of the current vehicle position, the left lane line on the left side, the right side
Side lane line and the right lane line on the right are dotted line or are solid line, the method also includes:
The image data before current time based on the vehicle front obtains target point and the vehicle on the vehicle
Left lane line between first distance variable condition, and obtain the right lane line of the target point Yu the vehicle
Between second distance variable condition；
Variable condition based on the first distance and the second distance, determine the vehicle whether changing Lane；
If the vehicle changing Lane determines the current lane of the vehicle based on the lane before the vehicle lane change.
The above method, it is preferred that if the left lane line of the current vehicle position, the left lane line on the left side, the right side
Side lane line and the right lane line on the right are dotted line or are solid line, the method also includes:
The image data after current time based on the vehicle front obtains target point and the vehicle on the vehicle
Left lane line between first distance variable condition, and obtain the right lane line of the target point Yu the vehicle
Between second distance variable condition；
Variable condition based on the first distance and the second distance, determine the vehicle whether changing Lane；
If the vehicle changing Lane, the image data again based on the vehicle front is returned, determines the vehicle
The lane line information of left and right adjacent lane, the lane after determining the vehicle lane change；
Lane based on the lane after the lane change, before determining the vehicle lane change.
The above method, it is preferred that for the first distance less than 0, the second distance is greater than 0；
Wherein, the size variation state based on the first distance and the second distance, determines whether the vehicle becomes
It changes trains, comprising:
If the first distance and the second distance become larger, vehicle lane change to the left is determined；
If the first distance and the second distance become smaller, vehicle lane change to the right is determined.
The above method, it is preferred that the first distance is greater than 0, and the second distance is greater than 0；
Wherein, the size variation state based on the first distance and the second distance, determines whether the vehicle becomes
It changes trains, comprising:
If the first distance becomes smaller and the second distance becomes larger, vehicle lane change to the left is determined；
If the first distance becomes larger and the second distance becomes smaller, vehicle lane change to the right is determined.
The above method, it is preferred that the lane based on the lane after the lane change, before determining the vehicle lane change, comprising:
If vehicle lane change to the left, the lane after the lane change is added one as the lane before the vehicle lane change；
If vehicle lane change to the right, the lane after the lane change is subtracted one as the lane before the vehicle lane change.
The above method, it is preferred that obtain the corresponding lane sum of current vehicle position, comprising:
Obtain the corresponding map datum in current location and the current location of vehicle；
Based on the map datum, the corresponding lane sum in the current location is determined.
The present invention also provides a kind of identification devices of road driveway, comprising:
Total acquiring unit, for obtaining the corresponding lane sum of current vehicle position；
Lane line determination unit determines the adjacent vehicle of the left and right vehicle wheel for the image data based on the vehicle front
The lane line information in road；
Lane determination unit, for determining the current of the vehicle based on the lane line information and lane sum
Lane.
The present invention also provides a kind of identifying systems of road driveway, comprising:
Position indicator, for obtaining the corresponding lane sum of current vehicle position and the current location；
Image collecting device, for acquiring the image data of the vehicle front；
Processor determines the lane of the left and right vehicle wheel adjacent lane for the image data based on the vehicle front
Line information determines the current lane of the vehicle based on the lane line information and lane sum.
It can be seen from the above technical proposal that a kind of recognition methods of road driveway disclosed by the invention, apparatus and system,
While lane sum corresponding by acquisition current vehicle position, left and right vehicle wheel phase is determined using the image data of vehicle front
The lane line information in adjacent lane, to be assured that vehicle based on lane sum and then identifying to lane line information
Current lane.As it can be seen that be not necessarily to high-accuracy position system in the present invention, weather and vehicle-surroundings environment will not be limited to defending
The influence of star signal determines the current lane of vehicle from there through the identification to lane line in image data, thus to improve
Determine the accuracy of vehicle current lane.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the recognition methods for road driveway that the embodiment of the present invention one provides；
Fig. 2 and Fig. 3 is respectively the application exemplary diagram of the embodiment of the present invention；
Fig. 4 is another flow chart of the embodiment of the present invention one；
Figure 5-8 is respectively the another application exemplary diagram of the embodiment of the present invention；
Fig. 9 is the another flow chart of the embodiment of the present invention one；
Figure 10-14 is respectively the another application exemplary diagram of the embodiment of the present invention；
Figure 15 is another flow chart of the embodiment of the present invention one；
Figure 16 is a kind of structural schematic diagram of the identification device of road driveway provided by Embodiment 2 of the present invention；
Figure 17 is a kind of structural schematic diagram of the identifying system for road driveway that the embodiment of the present invention three provides；
Figure 18 is that the another of the embodiment of the present invention applies exemplary diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is a kind of implementation flow chart of the recognition methods for road driveway that the embodiment of the present invention one provides, this reality with reference to Fig. 1
The method in example is applied suitable for the vehicle being located on highway, to obtain to current lane of the vehicle on highway, such as
Shown in Fig. 2.
Specifically, the method in the present embodiment may comprise steps of:
Step 101: obtaining the corresponding lane sum of current vehicle position.
For example, can determine current total vehicle by the road information in the positioning of vehicle and high-precision map in the present embodiment
Road number, is denoted as N, and N is the positive integer more than or equal to 1.
Specifically, the corresponding map number in current location and current location of acquisition vehicle can be passed through in the present embodiment
According to, then it is based on map datum, determine the corresponding lane sum in current location.For example, according to single-point GPS to vehicle in the present embodiment
Coarse localization is carried out, the current location of vehicle can be obtained, it is fixed based on this after obtaining high-precision map from server or cloud
Position inquires the road information near current vehicle position, predominantly current lane total number information, i.e. lane sum N.
Step 102: the image data based on vehicle front determines the lane line information of left and right vehicle wheel adjacent lane.
Wherein, lane line information refers to that lane line is dotted line or solid line information.Before can be by vehicle in the present embodiment
The image data of side parses vehicle current lane left lane line, the left lane line on the left side, the right lane line and the right
The right lane line lane line information, as shown in Figure 3, identified lane line information includes that vehicle is current in the present embodiment
Lane left lane line, the left lane line on the left side, the right lane line and the right lane line on the right respectively whether be dotted line or
The information of solid line.
Step 103: based on lane line information and lane sum, determining the current lane of vehicle.
Wherein, analysis and distinguishing can be carried out in the present embodiment to lane line information, and combines lane sum, to determine vehicle
Current lane.
As shown from the above technical solution, the recognition methods for a kind of road driveway that the embodiment of the present invention one provides, by obtaining
While taking current vehicle position corresponding lane sum, left and right vehicle wheel adjacent lane is determined using the image data of vehicle front
Lane line information, to be assured that the current of vehicle based on lane sum and then identifying to lane line information
Lane.As it can be seen that being not necessarily to high-accuracy position system in the present embodiment, weather and vehicle-surroundings environment will not be limited to, satellite is believed
Number influence, the current lane of vehicle is determined from there through the identification to lane line in image data, to determine to improve
The accuracy of vehicle current lane.
In one implementation, step 103 can be realized by following steps, as shown in Figure 4:
Step 401: be based on lane line information, judge the lane line of the left and right adjacent lane of current vehicle position for solid line or
Dotted line, correspondingly, determining the current lane of vehicle based on judging result.
Specifically, being executed if the left lane line that the left lane line of current vehicle position is solid line and the left side is nothing
Step 402, the current lane for determining vehicle is left side first lane.As shown in Figure 5, the left lane line of current vehicle position
For solid line, the left lane line on the left side is nothing, shows not being lane on the left of current vehicle position, then vehicle can be characterized
Current lane is left side first lane.
If the left lane line that the left lane line of current vehicle position is dotted line and the left side is solid line, step is executed
403, determine that the current lane of vehicle is left side second lane.As shown in Figure 6, the left lane line of lane current location is void
The left lane line on line and the left side is solid line, shows that vehicle left side lane is left side first lane, then vehicle current lane is
Left side second lane.
If the right lane line that the right lane line of current vehicle position is solid line and the right is nothing, step 404 is executed,
The current lane for determining vehicle is the left side lane N, i.e. rightmost side lane.As shown in Figure 7, the right vehicle of current vehicle position
Diatom is that the right lane line on solid line and the right is nothing, shows that the right side of current vehicle position is not lane, then can characterize
Vehicle current lane is rightmost side lane, i.e. the left side lane N.
If the right lane line that the right lane line of current vehicle position is dotted line and the right is solid line, step is executed
405, determine that the current lane of vehicle is the left side lane N-1, i.e. right side second lane.As shown in Figure 8, current vehicle position
The right lane line be dotted line and the right lane line on the right is solid line, show that the right-hand lane of current vehicle position is right side the
One lane, then can characterize vehicle current lane is right side second lane, i.e. left side N-1 lane.
In addition, if the left lane line of current vehicle position, the left lane line on the left side, the right lane line and the right
The right lane line is dotted line, then vehicle among highway and in the lane of changing lane, can not determine current lane；
Alternatively, if the right lane of the left lane line of current vehicle position, the left lane line on the left side, the right lane line and the right
Line is dotted line, then vehicle is among highway and can not can not determine current lane in the lane of changing Lane, at this point,
It can also include the following steps in the present embodiment, as shown in Figure 9:
Step 406: the image data before current time based on vehicle front obtains target point and vehicle on vehicle
The variable condition of first distance between left lane line, and obtain between target point and the right lane line of vehicle second away from
From variable condition.
Wherein, the image data before current time of vehicle front, it can be understood as in front of current time forward vehicle
Image data in image data of lane state at the time of change.Target point can be acquisition image data on vehicle
Location point, such as the location point of camera image collecting device, image data of the image collecting device to acquire vehicle front.
By carrying out picture depth parsing to image data in the present embodiment, and then monitor the location point of acquisition image data apart from vehicle
The variation of the variable condition of first distance between left lane line and the second distance between lane line on the right of vehicle
Whether state, as shown in Figure 10, the size variation characterization vehicle of first distance move to left, and the size variation of second distance characterizes vehicle
Whether move to right.
Step 407: the variable condition based on first distance and second distance, determine vehicle whether changing Lane, if vehicle
Changing Lane executes step 408.
Wherein, can be using current vehicle position as X axis coordinate origin in the present embodiment, first distance is less than 0, second at this time
Distance is greater than 0, and the absolute value of first distance shows the distance between left lane line and target point, the absolute value table of second distance
The distance between bright the right lane line and target point；
Correspondingly, if monitoring that first distance and second distance become larger in step 407, so that it may determine vehicle to the left
Lane change, and if monitoring that first distance and second distance become smaller, it can determine vehicle lane change to the right, to the left such as Figure 11
Lane change and Figure 12 are to the right shown in lane change.
Alternatively, first distance is greater than 0, and second distance is also greater than 0 using current vehicle position as origin in the present embodiment
, first distance shows the distance between left lane line and target point, second distance show the right lane line and target point it
Between distance；
Correspondingly, if monitoring that first distance becomes smaller and second distance becomes larger in step 407, so that it may determine vehicle to
Left lane change, if monitoring that first distance becomes larger and second distance becomes smaller, so that it may determine vehicle lane change to the right, to the left such as Figure 13
Lane change and Figure 14 are to the right shown in lane change.
Step 408: based on the lane before vehicle lane change, determining the current lane of vehicle.
Wherein, before vehicle lane change being obtained by scheme shown in hereinbefore Fig. 1 and related content in the present embodiment
Lane, specifically, can determine left and right vehicle wheel adjacent lane based on the image data of vehicle front of the vehicle before lane change
Lane line information, and then lane of the vehicle before lane change is determined based on these lane line information and lane sum.Later, it is based on vehicle
Lane before lane change, determines the current lane of vehicle, specifically, in the present embodiment, if vehicle is lane change to the left,
Lane before vehicle lane change can be used subtracts one as the current lane after vehicle lane change, if vehicle is lane change to the right,
Can the lane before user's vehicle lane change add one as the current lane after vehicle lane change.
In another implementation, in the current lane that can not determine vehicle, at this point, can also include in the present embodiment with
Lower step, as shown in Figure 15:
Step 409: the image data after current time based on vehicle front obtains target point and vehicle on vehicle
The variable condition of first distance between left lane line, and obtain between target point and the right lane line of vehicle second away from
From variable condition.
Wherein, the image data after current time of vehicle front, it can be understood as current time vehicle front backward
Image data in image data of lane state at the time of change.Target point can be acquisition image data on vehicle
Location point, such as the location point of camera image collecting device, image data of the image collecting device to acquire vehicle front.
By carrying out picture depth parsing to image data in the present embodiment, and then monitor the location point of acquisition image data apart from vehicle
The variation of the variable condition of first distance between left lane line and the second distance between lane line on the right of vehicle
State, with reference to Figure 10, whether the size variation characterization vehicle of first distance is moved to left, and the size variation characterization vehicle of second distance is
It is no to move to right.
Step 410: the variable condition based on first distance and second distance, determine vehicle whether changing Lane, if vehicle
Changing Lane executes step 411.
Wherein, can be using current vehicle position as X axis coordinate origin in the present embodiment, first distance is less than 0, second at this time
Distance is greater than 0, and the absolute value of first distance shows the distance between left lane line and target point, the absolute value table of second distance
The distance between bright the right lane line and target point；
Correspondingly, if monitoring that first distance and second distance become larger in step 410, so that it may determine vehicle to the left
Lane change, and if monitoring that first distance and second distance become smaller, vehicle lane change to the right can be determined, such as Figure 11 and figure
Shown in 12.
Alternatively, first distance is greater than 0, and second distance is also greater than 0 using current vehicle position as origin in the present embodiment
, first distance shows the distance between left lane line and target point, second distance show the right lane line and target point it
Between distance；
Correspondingly, if monitoring that first distance becomes smaller and second distance becomes larger in step 410, so that it may determine vehicle to
Left lane change, if monitoring that first distance becomes larger and second distance becomes smaller, so that it may vehicle lane change to the right is determined, such as Figure 13 and figure
Shown in 14.
Step 411: the lane after determining vehicle lane change, the lane based on the lane after lane change, before determining vehicle lane change.
It should be noted that when determining the lane after vehicle lane change in the present embodiment, it can be using institute in above embodiments
The scheme of description.Specifically, can determine that left and right vehicle wheel is adjacent based on the image data of vehicle front of the vehicle after lane change
The lane line information in lane, and then lane of the vehicle after lane change is determined based on these lane line information and lane sum.Later,
Lane based on vehicle after lane change, the lane before determining vehicle lane change.Specifically, if vehicle lane change to the left, after lane change
Lane add one as the lane before vehicle lane change, if vehicle lane change to the right, the lane after lane change is subtracted one as vehicle and is become
Lane before road.
It is a kind of structural schematic diagram of the identification device of road driveway provided by Embodiment 2 of the present invention with reference to Figure 16, it should
Device can be set in the car, to identify to lane where vehicle, specifically, the apparatus may include following knots
Structure:
Total acquiring unit 1601, for obtaining the corresponding lane sum of current vehicle position.
Lane line determination unit 1602 determines the left and right vehicle wheel phase for the image data based on the vehicle front
The lane line information in adjacent lane.
Lane determination unit 1603, for determining the vehicle based on the lane line information and lane sum
Current lane.
As shown from the above technical solution, the identification device of a kind of road driveway provided by Embodiment 2 of the present invention, by obtaining
While taking current vehicle position corresponding lane sum, left and right vehicle wheel adjacent lane is determined using the image data of vehicle front
Lane line information, to be assured that the current of vehicle based on lane sum and then identifying to lane line information
Lane.As it can be seen that being not necessarily to high-accuracy position system in the present embodiment, weather and vehicle-surroundings environment will not be limited to, satellite is believed
Number influence, the current lane of vehicle is determined from there through the identification to lane line in image data, to determine to improve
The accuracy of vehicle current lane.
It should be noted that in the present embodiment each unit of device specific implementation can with reference to hereinbefore respective drawings and
Content description, is no longer stated herein.
It is a kind of structural schematic diagram of the identifying system for road driveway that the embodiment of the present invention three provides with reference to Figure 17, it should
System may include with flowering structure:
Position indicator 1701, for obtaining the corresponding lane sum of current vehicle position and the current location.
Image collecting device 1702, for acquiring the image data of the vehicle front.
Wherein, image collecting device 1702 can be realized for the equipment such as camera, can be set in vehicle or headstock
On, for example, camera can be set on the position between centre rear-view mirror and windshield, the view for avoiding shielding automobile from driving
It is wild.
Processor 1703 determines the left and right vehicle wheel adjacent lane for the image data based on the vehicle front
Lane line information determines the current lane of the vehicle based on the lane line information and lane sum.
As shown from the above technical solution, the identifying system for a kind of road driveway that the embodiment of the present invention three provides, by obtaining
While taking current vehicle position corresponding lane sum, left and right vehicle wheel adjacent lane is determined using the image data of vehicle front
Lane line information, to be assured that the current of vehicle based on lane sum and then identifying to lane line information
Lane.As it can be seen that being not necessarily to high-accuracy position system in the present embodiment, weather and vehicle-surroundings environment will not be limited to, satellite is believed
Number influence, the current lane of vehicle is determined from there through the identification to lane line in image data, to determine to improve
The accuracy of vehicle current lane.
It should be noted that the specific implementation of each structure of system can be with reference to hereinbefore respective drawings and interior in the present embodiment
Hold description, no longer states herein.
Below by taking the judgement in vehicle on expressway lane as an example, the scheme in the present embodiment is illustrated:
As shown in Figure 18, the realization system being arranged in the car can realize lane judgement by following steps:
Step S1 obtains the total number of track-lines of present road according to positioning and high-precision map, and concrete methods of realizing is as follows:
It is realized according to single-point GPS and coarse localization is carried out to vehicle.According to coarse localization and high-precision map, enquiring vehicle position
Neighbouring road information, predominantly current lane total number information.According to the road information in the positioning of vehicle and high-precision map, really
Settled preceding total number of track-lines, is denoted as N.
Step S2 installs camera on headstock to detect the type of current lane and left and right adjacent lane line, root
Current lane is judged according to the actual situation and current total number of track-lines of the lane line type detected.Concrete methods of realizing is as follows:
If camera detection is solid line to left lane line, the left lane line on the left side is nothing, then it is assumed that vehicle is located at a left side 1
Lane, if camera detection is dotted line to left lane line, the left lane line on the left side is solid line, then it is assumed that vehicle is located at a left side 2
Lane, if camera detection is solid line to the right lane line, the right lane line on the right is nothing, then it is assumed that vehicle is located at the lane N,
If camera detection is dotted line to the right lane line, the right lane line on the right is solid line, then it is assumed that vehicle is located at the lane N-1.
In addition to above-mentioned condition, think not judge specific lane by actual situation line, in this way, executing following steps S3.
Step S3 judges whether vehicle occurs left lane-change and right lane-change according to the lane line information that camera exports.Specifically
Implementation method is as follows:
The camera installed need to export tested lane line away from the distance between camera, remember camera away from left-lane spacing
It is Right_d (>0) away from right lane spacing for Left_d (<0).When left lane-change occurs for vehicle, Left_d and Right_d can
It becomes larger, while when right lane-change occurs for vehicle, Left_d and Right_d can be gradually reduced.According to the above feature, judgement
Whether vehicle occurs lane-change.N is calculated as according to the lane of lane-change result and last momentk-1, k is the positive integer for being less than N greater than 1, if
Left lane-change occurs for vehicle, then current lane nk=nk-1- 1, if right lane-change, current lane n occur for vehiclek=nk-1+ 1, otherwise nk
=nk-1。
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of recognition methods of road driveway characterized by comprising
Obtain the corresponding lane sum of current vehicle position；
Based on the image data of the vehicle front, the lane line information of the left and right vehicle wheel adjacent lane is determined；
Based on the lane line information and lane sum, the current lane of the vehicle is determined.
2. the method according to claim 1, wherein based on the lane line information and lane sum, really
The current lane of the fixed vehicle, comprising:
Based on the lane line information, judge the lane line of the left and right adjacent lane of the current vehicle position for solid line or void
Line；
If the left lane line that the left lane line of the current vehicle position is solid line and the left side is nothing, the vehicle is determined
Current lane be left side first lane；
If the left lane line that the left lane line of the current vehicle position is dotted line and the left side is solid line, the vehicle is determined
Current lane be left side second lane；
If the right lane line that the right lane line of the current vehicle position is solid line and the right is nothing, the vehicle is determined
Current lane be the left side lane N, N is lane sum；
If the right lane line that the right lane line of the current vehicle position is dotted line and the right is solid line, the vehicle is determined
Current lane be the left side lane N-1.
3. according to the method described in claim 2, it is characterized in that, if the left lane line of the current vehicle position, a left side
Left lane line, the right lane line and the right lane line on the right on side are dotted line or are solid line, the method also includes:
The image data before current time based on the vehicle front obtains target point and the vehicle on the vehicle
The variable condition of first distance between left lane line, and obtain between the target point and the right lane line of the vehicle
Second distance variable condition；
Variable condition based on the first distance and the second distance, determine the vehicle whether changing Lane；
If the vehicle changing Lane determines the current lane of the vehicle based on the lane before the vehicle lane change.
4. according to the method described in claim 2, it is characterized in that, if the left lane line of the current vehicle position, a left side
Left lane line, the right lane line and the right lane line on the right on side are dotted line or are solid line, the method also includes:
The image data after current time based on the vehicle front obtains target point and the vehicle on the vehicle
The variable condition of first distance between left lane line, and obtain between the target point and the right lane line of the vehicle
Second distance variable condition；
Variable condition based on the first distance and the second distance, determine the vehicle whether changing Lane；
If the vehicle changing Lane, the image data again based on the vehicle front is returned, determines the left and right vehicle wheel
The lane line information of adjacent lane, the lane after determining the vehicle lane change；
Lane based on the lane after the lane change, before determining the vehicle lane change.
5. the method according to claim 3 or 4, which is characterized in that for the first distance less than 0, the second distance is big
In 0；
Wherein, the size variation state based on the first distance and the second distance, determines whether the vehicle converts vehicle
Road, comprising:
If the first distance and the second distance become larger, vehicle lane change to the left is determined；
If the first distance and the second distance become smaller, vehicle lane change to the right is determined.
6. the method according to claim 3 or 4, which is characterized in that the first distance is greater than 0, and the second distance is big
In 0；
Wherein, the size variation state based on the first distance and the second distance, determines whether the vehicle converts vehicle
Road, comprising:
If the first distance becomes smaller and the second distance becomes larger, vehicle lane change to the left is determined；
If the first distance becomes larger and the second distance becomes smaller, vehicle lane change to the right is determined.
7. according to the method described in claim 4, it is characterized in that, determining that the vehicle becomes based on the lane after the lane change
Lane before road, comprising:
If vehicle lane change to the left, the lane after the lane change is added one as the lane before the vehicle lane change；
If vehicle lane change to the right, the lane after the lane change is subtracted one as the lane before the vehicle lane change.
8. method according to claim 1 or 2, which is characterized in that obtain the corresponding lane sum of current vehicle position, packet
It includes:
Obtain the corresponding map datum in current location and the current location of vehicle；
Based on the map datum, the corresponding lane sum in the current location is determined.
9. a kind of identification device of road driveway characterized by comprising
Total acquiring unit, for obtaining the corresponding lane sum of current vehicle position；
Lane line determination unit determines the left and right vehicle wheel adjacent lane for the image data based on the vehicle front
Lane line information；
Lane determination unit, for determining the current lane of the vehicle based on the lane line information and lane sum.
10. a kind of identifying system of road driveway characterized by comprising
Position indicator, for obtaining the corresponding lane sum of current vehicle position and the current location；
Image collecting device, for acquiring the image data of the vehicle front；
Processor determines the lane line letter of the left and right vehicle wheel adjacent lane for the image data based on the vehicle front
Breath determines the current lane of the vehicle based on the lane line information and lane sum.
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