CN109816980A - The method and relevant apparatus in lane locating for a kind of determining vehicle - Google Patents
The method and relevant apparatus in lane locating for a kind of determining vehicle Download PDFInfo
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- CN109816980A CN109816980A CN201910127023.1A CN201910127023A CN109816980A CN 109816980 A CN109816980 A CN 109816980A CN 201910127023 A CN201910127023 A CN 201910127023A CN 109816980 A CN109816980 A CN 109816980A
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Abstract
This application discloses the methods and relevant apparatus in lane locating for a kind of determining vehicle, this method comprises: obtaining the position of current vehicle in the Traffic Information and positioning map including at least terrain vehicle diatom information of road locating for current vehicle；The position of terrain vehicle diatom in vehicle axis system is determined based on current vehicle and terrain vehicle diatom information；Relationship based on map coordinates system and vehicle axis system is obtained the position of terrain vehicle diatom in map coordinates system by the position of terrain vehicle diatom in vehicle axis system；In conjunction with the position of terrain vehicle diatom in the position of current vehicle in map coordinates system and map coordinates system, target lane locating for current vehicle is determined.It can be seen that, the terrain vehicle diatom of locating road is obtained by vehicle, it is combined based on terrain vehicle diatom with positioning map, it can be accurately positioned lane locating for vehicle, so that positioning is more accurate, it is applicable in the higher vehicle drive scene of positioning accuracy request completely, it is accurate to assist vehicle drive and promote driving experience sense, use feeling.
Description
Technical field
This application involves the methods and phase in lane locating for Data Analysis Services technical field more particularly to a kind of determining vehicle
Close device.
Background technique
With the fast development of science and technology, vehicle is more more and more universal in daily life, work, more and more users' selection
Vehicle driving.All loaded in general vehicle vehicle-bone global positioning system (English: Car Global Positioning System,
The position of vehicle in the driving direction of navigation guide vehicle, and positioning vehicle travel process referred to as: vehicle GPS) is carried out to vehicle
It sets.
At this stage, vehicle GPS only carries out rough positioning to vehicle location in vehicle travel process, that is, can only position
Road locating for vehicle is obtained, so which road the clear current vehicle of user is on.However, being generally included on a road
A plurality of lane under certain vehicle drive scenes, needs clear current vehicle to be on which lane of which road.
Inventor has found that vehicle GPS in the prior art can not be accurately positioned lane locating for vehicle,
Road locating for vehicle is only positioned, causes to position inaccurate, the higher vehicle of certain positioning accuracy requests can not be applicable in and driven
Scene is sailed, to influence vehicle drive, causes driving experience sense, use feeling poor.
Summary of the invention
Technical problems to be solved in this application are to provide the method and relevant apparatus in lane locating for a kind of determining vehicle,
It can be accurately positioned lane locating for vehicle, so that positioning is more accurate, be applicable in the higher vehicle drive of positioning accuracy request completely
Scene not only can accurately assist vehicle drive, but also can promote driving experience sense, use feeling.
In a first aspect, the embodiment of the present application provides a kind of method in lane locating for determining vehicle, this method comprises:
Obtain the position of current vehicle in the Traffic Information and positioning map of road locating for current vehicle, the road
Traffic information includes at least terrain vehicle diatom information；
The position of terrain vehicle diatom in vehicle axis system is determined based on the current vehicle and the terrain vehicle diatom information,
The vehicle axis system is established based on the current vehicle；
The position of terrain vehicle diatom described in coordinate system, the vehicle axis system and the vehicle axis system according to the map,
The position of terrain vehicle diatom described in the map coordinates system is obtained, the map coordinates system is the coordinate of the positioning map
System；
According to road track described in the position of current vehicle described in the map coordinates system and the map coordinates system
The position of line determines target lane locating for the current vehicle.
Optionally, the Traffic Information for obtaining road locating for current vehicle, comprising:
Obtain the road traffic image of road locating for current vehicle；
Identify the Traffic Information in the road traffic image.
Optionally, terrain vehicle described in the coordinate system according to the map, the vehicle axis system and the vehicle axis system
The position of diatom obtains the position of terrain vehicle diatom described in the map coordinates system, comprising:
Determine the transformational relation between the vehicle axis system and the map coordinates system；
It is converted using position of the transformational relation to terrain vehicle diatom described in the vehicle axis system, obtains institute
State the position of terrain vehicle diatom described in map coordinates system.
Optionally, the Traffic Information also wraps each road sign.
Optionally, further includes:
The corresponding target road mark in the target lane is determined from each road sign；
Determine the corresponding target road traffic prompt information of the target road mark；
Prompt the target road traffic prompt information.
Optionally, the target road mark includes target lane type code and/or target lane speed(-)limit sign.
Optionally, the prompt target road traffic prompt information, specifically:
Prompt target lane type information and/or target lane speed-limiting messages.
Second aspect, the embodiment of the present application provide a kind of device in lane locating for determining vehicle, which includes:
First obtains unit works as front truck in the Traffic Information and positioning map for obtaining road locating for current vehicle
Position, the Traffic Information include at least terrain vehicle diatom information；
First determination unit, for being determined in vehicle axis system based on the current vehicle and the terrain vehicle diatom information
The position of terrain vehicle diatom, the vehicle axis system are established based on the current vehicle；
Second obtaining unit is used for according to the map described in coordinate system, the vehicle axis system and the vehicle axis system
The position of terrain vehicle diatom, obtains the position of terrain vehicle diatom described in the map coordinates system, and the map coordinates system is institute
State the coordinate system of positioning map；
Second determination unit, position and the map reference for the current vehicle according to the map coordinates system
The position of terrain vehicle diatom described in system determines target lane locating for the current vehicle.
The third aspect, the embodiment of the present application provide a kind of terminal device, which is characterized in that the terminal device includes processing
Device and memory:
Said program code is transferred to the processor for storing program code by the memory；
The processor is used for described in any item really according to the above-mentioned first aspect of instruction execution in said program code
Determine the method in lane locating for vehicle.
Fourth aspect, the embodiment of the present application provide a kind of computer readable storage medium, this is described computer-readable to deposit
Storage media is for storing program code, and said program code is for executing the described in any item determining vehicle institutes of above-mentioned first aspect
Locate the method in lane.
Compared with prior art, the application has at least the following advantages:
Using the technical solution of the embodiment of the present application, firstly, road locating for acquisition current vehicle includes at least terrain vehicle
The position of current vehicle in the Traffic Information and positioning map of diatom information；Secondly, being based on current vehicle and road track
Line information determines the position of terrain vehicle diatom in vehicle axis system；Then, the relationship based on map coordinates system and vehicle axis system,
The position of terrain vehicle diatom in map coordinates system is obtained by the position of terrain vehicle diatom in vehicle axis system；Finally, in conjunction with map
In coordinate system in the position of current vehicle and map coordinates system terrain vehicle diatom position, determine target carriage locating for current vehicle
Road.It can be seen that obtaining the terrain vehicle diatom of locating road by vehicle, combined based on terrain vehicle diatom with positioning map,
It can be accurately positioned lane locating for vehicle, so that positioning is more accurate, be applicable in the higher vehicle drive of positioning accuracy request completely
Scene not only can accurately assist vehicle drive, but also can promote driving experience sense, use feeling.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to required in the embodiment of the present application description
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only more as described in this application
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is system framework schematic diagram involved in application scenarios a kind of in the embodiment of the present application；
Fig. 2 is the flow diagram of the method in lane locating for a kind of determining vehicle provided by the embodiments of the present application；
Fig. 3 is the flow diagram of another method for determining lane locating for vehicle provided by the embodiments of the present application；
Fig. 4 is the structural schematic diagram of the device in lane locating for a kind of determining vehicle provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
In general, vehicle GPS, which positions vehicle, can only position to obtain road locating for vehicle in vehicle travel process
Road, so which road the clear current vehicle of user is on.However, generally including a plurality of lane, Mou Xieche on a road
Under Driving Scene, for example, automatic Pilot scene etc., needs current vehicle to be on which lane of which road.But it is existing
There is the vehicle GPS in technology that can not be accurately positioned to lane locating for vehicle, only position road locating for vehicle, it is fixed to cause
Position is inaccurate, and can not be applicable in the higher vehicle drive scene of certain positioning accuracy requests causes to drive to influence vehicle drive
It is poor to sail experience sense, use feeling.
In order to solve this problem, in the embodiment of the present application, firstly, obtaining including at least for road locating for current vehicle
The position of current vehicle in the Traffic Information and positioning map of terrain vehicle diatom information；Secondly, being based on current vehicle and road
Road car diatom information determines the position of terrain vehicle diatom in vehicle axis system；Then, map coordinates system and vehicle axis system are based on
Relationship, by vehicle axis system terrain vehicle diatom position obtain map coordinates system in terrain vehicle diatom position；Finally, knot
The position for closing the position of current vehicle and terrain vehicle diatom in map coordinates system in map coordinates system, determines mesh locating for current vehicle
Mark lane.It can be seen that obtaining the terrain vehicle diatom of locating road by vehicle, mutually tied based on terrain vehicle diatom with positioning map
It closes, can be accurately positioned lane locating for vehicle, so that positioning is more accurate, is applicable in the higher vehicle of positioning accuracy request completely and drives
Scene is sailed, not only can accurately assist vehicle drive, but also driving experience sense, use feeling can be promoted.
For example, one of the scene of the embodiment of the present application, can be applied in scene as shown in Figure 1, the scene
Including GPS server 101, vehicle 102, vehicle-mounted camera 103 and vehicle GPS 104, wherein vehicle-mounted camera 103 and vehicle-mounted
GPS104 is loaded on vehicle 102.The road traffic image that vehicle-mounted camera 103 shoots around vehicle 102 is sent to GPS service
Device 101.GPS server 101 obtains the Traffic Information of road locating for current vehicle based on road traffic image, and combines vehicle
The position that GPS104 obtains current vehicle in positioning map is carried, Traffic Information includes at least terrain vehicle diatom.GPS server
101 determine the position of terrain vehicle diatom in vehicle axis system based on current vehicle and terrain vehicle diatom information, and vehicle axis system is
It is established based on current vehicle.The terrain vehicle in coordinate system, vehicle axis system and vehicle axis system according to the map of GPS server 101
The position of diatom obtains the position of terrain vehicle diatom in map coordinates system, and map coordinates system is the coordinate system of positioning map.GPS
Server 101 according to the map in coordinate system in the position of current vehicle and map coordinates system terrain vehicle diatom position, determination works as
Target lane locating for vehicle in front.Target lane is sent to vehicle GPS 104 and is shown to user by GPS server 101.
It is understood that in above-mentioned application scenarios, although the action description of the application embodiment is serviced by GPS
Device 101 executes, but these movements can also be executed by vehicle GPS 104, or can also partially be executed by vehicle GPS 104,
Part is executed by GPS server 101.The application is unrestricted in terms of executing subject, as long as performing the application embodiment
Disclosed movement.
It is understood that above-mentioned scene is only a Sample Scenario provided by the embodiments of the present application, the embodiment of the present application
It is not limited to this scene.
With reference to the accompanying drawing, the method that lane locating for vehicle is determined in the embodiment of the present application is described in detail by embodiment
And the specific implementation of relevant apparatus.
Illustrative methods
Referring to fig. 2, a kind of flow diagram of the method in lane locating for determining vehicle in the embodiment of the present application is shown.?
In the present embodiment, the method for example be may comprise steps of:
Step 201: the position of current vehicle in the Traffic Information and positioning map of road locating for current vehicle is obtained,
The Traffic Information includes at least terrain vehicle diatom information.
It is understood that vehicle GPS can only position to obtain road locating for vehicle in the prior art, existing can not be accurate
The problem of positioning lane locating for vehicle, then in order to solve this problem, in present application example, vehicle GPS and GPS server are carried out
On the basis of positioning obtains positioning map, the position of the current vehicle in addition to obtaining original positioning map at least also needs to obtain
The terrain vehicle diatom information of road locating for current vehicle, these terrain vehicle diatom information are the road of road locating for current vehicle
Traffic information.
Wherein, it should be noted that vehicle-mounted using what is loaded on vehicle for quick, convenient acquisition Traffic Information
Camera shooting obtains the road traffic image of road locating for current vehicle, which is uploaded to GPS server,
GPS server can identify the Traffic Informations such as terrain vehicle diatom information in the road traffic image.Therefore, in the present embodiment
Some embodiments in, in the step 201 obtain current vehicle locating for road Traffic Information the step of for example may be used
With the following steps are included:
Step A: the road traffic image of road locating for current vehicle is obtained；
Step B: the Traffic Information in the road traffic image is identified.
Step 202: road track in vehicle axis system is determined based on the current vehicle and the terrain vehicle diatom information
The position of line, the vehicle axis system are established based on the current vehicle.
It is understood that can establish one based on current vehicle after step 201 obtains terrain vehicle diatom information
Vehicle axis system, the position of terrain vehicle diatom in the coordinate system can be determined by being then based on current vehicle and terrain vehicle diatom information
It sets.
Step 203: terrain vehicle diatom described in coordinate system, the vehicle axis system and the vehicle axis system according to the map
Position, obtain the position of terrain vehicle diatom described in the map coordinates system, the map coordinates system is the positioning map
Coordinate system.
It is understood that needing to obtain after the position of terrain vehicle diatom in the determining vehicle axis system of step 203
Position of the road car diatom in map coordinates system could determine current vehicle and terrain vehicle diatom in positioning map in this way.And
The basis for obtaining position of the terrain vehicle diatom in map coordinates system is to need clear vehicle axis system and map coordinates system.
It should be noted that in the specific implementation process, since vehicle axis system and map coordinates system are different coordinate
System.Vehicle axis system is established with current vehicle, for example, being established as coordinate origin using current vehicle location；Map reference
System is the coordinate system of positioning map itself.In order to be obtained in map coordinates system based on the position of terrain vehicle diatom in vehicle axis system
The position of terrain vehicle diatom, firstly, the transformational relation that vehicle axis system is converted into map coordinates system should be at least specified, then,
The position of terrain vehicle diatom in vehicle axis system is converted based on transformational relation as the position of terrain vehicle diatom in map coordinates system.Cause
This, in some embodiments of the present embodiment, the step 203 for example be may comprise steps of:
Step C: the transformational relation between the vehicle axis system and the map coordinates system is determined；
Step D: being converted using position of the transformational relation to terrain vehicle diatom described in the vehicle axis system,
Obtain the position of terrain vehicle diatom described in the map coordinates system.
Step 204: according to the position of current vehicle described in the map coordinates system and the map coordinates system
The position of terrain vehicle diatom determines target lane locating for the current vehicle.
It should be noted that in general, for road, there are terrain vehicle diatom on road, on road or road
There is also different kinds of roads marks on side, for example, carriageway type mark, lane speed(-)limit sign etc..Then shot in addition to that can identify
To road traffic image obtain terrain vehicle diatom as Traffic Information except, can also identify each road road sign therein
Will is also used as Traffic Information.Therefore, in some embodiments of the present embodiment, the Traffic Information also wraps each
Road sign.
It should be noted that the target carriage can also be specified after step 204 determines target lane locating for current vehicle
The corresponding road sign in road is handed over as target road mark to prompt the user with target road expressed by target road mark
Logical prompt information, accurately assists vehicle drive.Specifically, based on target lane from each road sign of road locating for vehicle
Filter out the target road mark in corresponding target lane；The road traffic prompt information of expression is determined based on target road mark,
Target road is corresponded to as target road traffic prompt information and is prompted to user, so that user can be mentioned based on target road traffic
Show that information abides by the traffic rules etc. of target road.Therefore, it in some embodiments of the present embodiment, such as can also wrap
Include following steps:
Step E: the corresponding target road mark in the target lane is determined from each road sign；
Step F: the corresponding target road traffic prompt information of the target road mark is determined；
Step G: the target road traffic prompt information is prompted.
It should be noted that the most common road sign is carriageway type mark and lane speed(-)limit sign etc..Carriageway type
Indicate for example including Through Lane mark, left turn lane mark, right-turn lane mark, keeping straight on and having turns to share lane markings, machine
Motor-car lane markings and public bus network dedicated Lanes etc..Lane speed(-)limit sign for example may include lane speed limit 60km/h mark
Will, lane speed limit 90km/h mark, lane speed limit 1100km/h mark and lane speed limit 120km/h mark etc..Therefore, at this
In some embodiments of embodiment, the target road mark includes target lane type code and/or target lane speed limit
Mark.
Accordingly, it should be noted that when target road mark includes target lane type code, the target in step F
Road traffic prompt information is target lane type information；When target road mark includes target lane speed(-)limit sign, in step F
Target road traffic prompt information be target lane speed-limiting messages；When target road mark include target lane type code and
Target lane speed(-)limit sign, the target road traffic prompt information in step F are that target lane type information and target lane limit
Fast information.Need the actual conditions based on target road mark, Xiang Suoshu user prompt corresponding target lane type information and/
Or target lane speed-limiting messages.Therefore, in some embodiments of the present embodiment, the step G is for example specifically as follows: mentioning
Show target lane type information and/or target lane speed-limiting messages.
The various embodiments provided through this embodiment, firstly, road locating for acquisition current vehicle includes at least road
The position of current vehicle in the Traffic Information and positioning map of road car diatom information；Secondly, being based on current vehicle and road
Lane line information determines the position of terrain vehicle diatom in vehicle axis system；Then, based on map coordinates system and vehicle axis system
Relationship is obtained the position of terrain vehicle diatom in map coordinates system by the position of terrain vehicle diatom in vehicle axis system；Finally, in conjunction with
In map coordinates system in the position of current vehicle and map coordinates system terrain vehicle diatom position, determine target locating for current vehicle
Lane.It can be seen that obtaining the terrain vehicle diatom of locating road by vehicle, mutually tied based on terrain vehicle diatom with positioning map
It closes, can be accurately positioned lane locating for vehicle, so that positioning is more accurate, is applicable in the higher vehicle of positioning accuracy request completely and drives
Scene is sailed, not only can accurately assist vehicle drive, but also driving experience sense, use feeling can be promoted.
With reference to the accompanying drawing 3, it is described in detail in the embodiment of the present application in practical applications and is determined by another embodiment
The specific implementation of the method in lane locating for vehicle.
Referring to Fig. 3, the flow diagram of another method for determining lane locating for vehicle in the embodiment of the present application is shown.
In the present embodiment, the method for example may comprise steps of:
Step 301: obtaining the road traffic image of road locating for current vehicle.
Step 302: the Traffic Information in identification road traffic image, Traffic Information include at least road track
Line information.
Step 303: obtaining the position of current vehicle in positioning map.
It should be noted that in the embodiment of the present application, not limiting the execution of step 301- step 302 and step 303
Sequentially, step 301- step 302 can have both been first carried out, then has executed step 303；Step 303 can also be executed, then executes step
301- step 302；It may also be performed simultaneously step 301- step 302 and step 303.
Step 304: the position of terrain vehicle diatom in vehicle axis system is determined based on current vehicle and terrain vehicle diatom information,
Vehicle axis system is established based on current vehicle.
Step 305: determining the transformational relation between map coordinates system and map coordinates system.
Step 306: being converted using position of the transformational relation to terrain vehicle diatom in vehicle axis system, obtain map and sit
The position of terrain vehicle diatom in mark system.
Step 307: according to the map in coordinate system in the position of current vehicle and map coordinates system terrain vehicle diatom position,
Determine target lane locating for current vehicle.
The various embodiments provided through this embodiment, firstly, road locating for acquisition current vehicle includes at least road
The position of current vehicle in the Traffic Information and positioning map of road car diatom information；Secondly, being based on current vehicle and road
Lane line information determines the position of terrain vehicle diatom in vehicle axis system；Then, based on map coordinates system and vehicle axis system
Relationship is obtained the position of terrain vehicle diatom in map coordinates system by the position of terrain vehicle diatom in vehicle axis system；Finally, in conjunction with
In map coordinates system in the position of current vehicle and map coordinates system terrain vehicle diatom position, determine target locating for current vehicle
Lane.It can be seen that obtaining the terrain vehicle diatom of locating road by vehicle, mutually tied based on terrain vehicle diatom with positioning map
It closes, can be accurately positioned lane locating for vehicle, so that positioning is more accurate, is applicable in the higher vehicle of positioning accuracy request completely and drives
Scene is sailed, not only can accurately assist vehicle drive, but also driving experience sense, use feeling can be promoted.
Exemplary means
Referring to fig. 4, a kind of structural schematic diagram of the device in lane locating for determining vehicle in the embodiment of the present application is shown.?
In the present embodiment, described device for example be can specifically include:
First obtains unit 401, in the Traffic Information and positioning map for obtaining road locating for current vehicle when
The position of vehicle in front, the Traffic Information include at least terrain vehicle diatom information；
First determination unit 402, for determining vehicle coordinate based on the current vehicle and the terrain vehicle diatom information
The position of terrain vehicle diatom in system, the vehicle axis system are established based on the current vehicle；
Second obtaining unit 403, for institute in coordinate system, the vehicle axis system and the vehicle axis system according to the map
The position for stating terrain vehicle diatom, obtains the position of terrain vehicle diatom described in the map coordinates system, and the map coordinates system is
The coordinate system of the positioning map；
Second determination unit 404, position and the map for the current vehicle according to the map coordinates system
The position of terrain vehicle diatom described in coordinate system determines target lane locating for the current vehicle.
In optionally a kind of embodiment of the present embodiment, the first obtains unit 401 includes obtaining subelement and knowledge
Small pin for the case unit；
The acquisition subelement, for obtaining the road traffic image of road locating for current vehicle；
The identification subelement, for identification Traffic Information in the road traffic image.
In optionally a kind of embodiment of the present embodiment, second obtaining unit 403 includes determining subelement and obtaining
Obtain subelement；
The determining subelement, for determining the transformational relation between the vehicle axis system and the map coordinates system；
The acquisition subelement, for utilizing the transformational relation to terrain vehicle diatom described in the vehicle axis system
Position is converted, and the position of terrain vehicle diatom described in the map coordinates system is obtained.
In optionally a kind of embodiment of the present embodiment, the Traffic Information also wraps each road sign.
In optionally a kind of embodiment of the present embodiment, described device further includes third determination unit, the 4th determining list
Member and prompt unit；
The third determination unit, for determining the corresponding target track in the target lane from each road sign
Road sign will；
4th determination unit, for determining the corresponding target road traffic prompt information of the target road mark；
The prompt unit, for prompting the target road traffic prompt information.
In optionally a kind of embodiment of the present embodiment, the target road mark includes target lane type code
And/or target lane speed(-)limit sign.
In optionally a kind of embodiment of the present embodiment, the prompt unit is specifically used for:
Prompt target lane type information and/or target lane speed-limiting messages.
The various embodiments provided through this embodiment, firstly, road locating for acquisition current vehicle includes at least road
The position of current vehicle in the Traffic Information and positioning map of road car diatom information；Secondly, being based on current vehicle and road
Lane line information determines the position of terrain vehicle diatom in vehicle axis system；Then, based on map coordinates system and vehicle axis system
Relationship is obtained the position of terrain vehicle diatom in map coordinates system by the position of terrain vehicle diatom in vehicle axis system；Finally, in conjunction with
In map coordinates system in the position of current vehicle and map coordinates system terrain vehicle diatom position, determine target locating for current vehicle
Lane.It can be seen that obtaining the terrain vehicle diatom of locating road by vehicle, mutually tied based on terrain vehicle diatom with positioning map
It closes, can be accurately positioned lane locating for vehicle, so that positioning is more accurate, is applicable in the higher vehicle of positioning accuracy request completely and drives
Scene is sailed, not only can accurately assist vehicle drive, but also driving experience sense, use feeling can be promoted.
In addition, the embodiment of the present application also provides a kind of terminal devices, which is characterized in that the terminal device includes processing
Device and memory:
Said program code is transferred to the processor for storing program code by the memory；
The processor is used for the determination vehicle according to the instruction execution above method embodiment in said program code
The method any embodiment in locating lane.
In addition, the embodiment of the present application also provides a kind of computer readable storage mediums, which is characterized in that the computer
Readable storage medium storing program for executing is for storing program code, and said program code is for executing determination vehicle described in above method embodiment
The method any embodiment in locating lane.
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 scope of the present application.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
The above is only the preferred embodiment of the application, not makes any form of restriction to the application.Though
Right the application has been disclosed in a preferred embodiment above, however is not limited to the application.It is any to be familiar with those skilled in the art
Member, in the case where not departing from technical scheme ambit, all using the methods and technical content of the disclosure above to the application
Technical solution makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, it is all without departing from
The content of technical scheme, any simple modification made to the above embodiment of the technical spirit of foundation the application are equal
Variation and modification, still fall within technical scheme protection in the range of.
Claims (10)
1. a kind of method in lane locating for determining vehicle characterized by comprising
Obtain the position of current vehicle in the Traffic Information and positioning map of road locating for current vehicle, the road traffic
Information includes at least terrain vehicle diatom information；
The position of terrain vehicle diatom in vehicle axis system is determined based on the current vehicle and the terrain vehicle diatom information, it is described
Vehicle axis system is established based on the current vehicle；
The position of terrain vehicle diatom described in coordinate system, the vehicle axis system and the vehicle axis system according to the map obtains
The position of terrain vehicle diatom described in the map coordinates system, the map coordinates system are the coordinate systems of the positioning map；
According to terrain vehicle diatom described in the position of current vehicle described in the map coordinates system and the map coordinates system
Position determines target lane locating for the current vehicle.
2. the method according to claim 1, wherein the road traffic letter for obtaining road locating for current vehicle
Breath, comprising:
Obtain the road traffic image of road locating for the current vehicle；
Identify the Traffic Information in the road traffic image.
3. according to the method described in claim 2, it is characterized in that, the coordinate system according to the map, the vehicle axis system and
The position of terrain vehicle diatom described in the vehicle axis system, obtains the position of terrain vehicle diatom described in the map coordinates system
It sets, comprising:
Determine the transformational relation between the vehicle axis system and the map coordinates system；
It is converted, is obtained describedly using position of the transformational relation to terrain vehicle diatom described in the vehicle axis system
The position of terrain vehicle diatom described in figure coordinate system.
4. the method according to claim 1, wherein the Traffic Information also wraps each road sign.
5. according to the method described in claim 4, it is characterized by further comprising:
The corresponding target road mark in the target lane is determined from each road sign；
Determine the corresponding target road traffic prompt information of the target road mark；
Prompt the target road traffic prompt information.
6. according to the method described in claim 5, it is characterized in that, the target road mark includes target lane type code
And/or target lane speed(-)limit sign.
7. according to the method described in claim 6, it is characterized in that, the prompt target road traffic prompt information, tool
Body are as follows:
Prompt target lane type information and/or target lane speed-limiting messages.
8. a kind of device in lane locating for determining vehicle characterized by comprising
First obtains unit, current vehicle in the Traffic Information and positioning map for obtaining road locating for current vehicle
Position, the Traffic Information include at least terrain vehicle diatom information；
First determination unit, for determining road in vehicle axis system based on the current vehicle and the terrain vehicle diatom information
The position of lane line, the vehicle axis system are established based on the current vehicle；
Second obtaining unit, for road described in coordinate system, the vehicle axis system and the vehicle axis system according to the map
The position of lane line, obtains the position of terrain vehicle diatom described in the map coordinates system, and the map coordinates system is described fixed
The coordinate system of position map；
Second determination unit, in the position and the map coordinates system of the current vehicle according to the map coordinates system
The position of the terrain vehicle diatom determines target lane locating for the current vehicle.
9. a kind of terminal device, which is characterized in that the terminal device includes processor and memory:
Said program code is transferred to the processor for storing program code by the memory；
The processor is used for according to the described in any item determining vehicles of instruction execution claim 1-7 in said program code
The method in locating lane.
10. a kind of computer readable storage medium, which is characterized in that the computer readable storage medium is for storing program generation
Code, the method that said program code requires lane locating for the described in any item determining vehicles of 1-7 for perform claim.
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| CN111667545A (en) * | 2020-05-07 | 2020-09-15 | 东软睿驰汽车技术（沈阳）有限公司 | High-precision map generation method and device, electronic equipment and storage medium |
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| CN114252082A (en) * | 2022-03-01 | 2022-03-29 | 苏州挚途科技有限公司 | Vehicle positioning method and device and electronic equipment |
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Application publication date: 20190528 |