CN110967025A - Lane line screening method and system - Google Patents
Lane line screening method and system Download PDFInfo
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- CN110967025A CN110967025A CN201811154065.6A CN201811154065A CN110967025A CN 110967025 A CN110967025 A CN 110967025A CN 201811154065 A CN201811154065 A CN 201811154065A CN 110967025 A CN110967025 A CN 110967025A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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Abstract
The invention relates to the field of intelligent transportation and provides a lane line screening method and a lane line screening system. The lane line screening method comprises the following steps: acquiring map information and navigation information aiming at the current position of the vehicle; according to the map information and the navigation information, carrying out lane line fitting aiming at the current position of the vehicle so as to output a plurality of lane lines; judging the relative position of the vehicle relative to the current road according to the current lane where the vehicle is located and the current total number of lanes by combining the map information; and according to the relative position of the vehicle relative to the current road, completely or partially removing the lane lines outside the road boundary of the current road from the plurality of lane lines. According to the invention, the lane lines are removed or reserved according to the relative position of the vehicle relative to the current road, so that the lane line information suitable for different road scenes can be output, the lane line processing efficiency is improved, and the effectiveness of the finally fitted lane lines is ensured.
Description
Technical Field
The invention relates to the field of intelligent transportation, in particular to a lane line screening method and a lane line screening system.
Background
At present, vehicles with an Automatic Driving System (ADS) are gradually brought to the market, and the development of intelligent transportation is greatly promoted. The ADS senses the surrounding environment in real time by using an environment sensing system installed on the vehicle, and determines the driving area of the vehicle according to data returned by a sensor. The context-aware content may be divided into two major parts, road information and target information. The lane line information in the road information can provide driving path information for the vehicle, and is convenient for lateral control to realize functions of lane changing, lane keeping and the like. In addition, the lane line information may also provide a benchmark for screening targets in the road in the context awareness system.
Therefore, it is known that lane line detection is crucial to ADS, and in order to ensure driving safety of an autonomous vehicle, the prior art requires an environment sensing system to acquire as much lane line information around the vehicle as possible while sensing the surrounding environment. However, when the road is changed by bifurcation, intersection and the like, the lane lines directly output by the sensors may be multiple and relatively complex, and the output lane lines are probably out of the road boundary, so that the fitting is invalid.
Disclosure of Invention
In view of this, the present invention is directed to a lane line screening method, so as to solve the technical problems of multiple lane lines extracted in the prior art and invalid fitting.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a lane line screening method includes: acquiring map information and navigation information aiming at the current position of the vehicle; according to the map information and the navigation information, carrying out lane line fitting aiming at the current position of the vehicle so as to output a plurality of lane lines; judging the relative position of the vehicle relative to the current road according to the current lane where the vehicle is located and the current total number of lanes by combining the map information, wherein the relative position of the vehicle relative to the current road comprises that the vehicle is located in the leftmost lane of the road, the vehicle is located in the rightmost lane of the road, the vehicle is located in the second rightmost lane of the road and the vehicle is located in other lanes; and combining the map information and the navigation information, and completely or partially removing the lane lines outside the road boundary of the current road from the plurality of lane lines according to the relative position of the vehicle relative to the current road.
Further, the removing, in whole or in part, lane lines outside the road boundary of the current road from the plurality of lane lines includes: when the vehicle is positioned in the leftmost lane of the road, completely or partially removing the lane line which is towards the left by taking the left lane line of the vehicle as a reference from the plurality of lane lines; when the vehicle is positioned in the rightmost lane of the road, all lane lines which are rightwards by taking the lane line on the right side of the vehicle as a reference are removed from the plurality of lane lines; when the vehicle is positioned on the second right lane of the road, reserving all the lane lines or partially removing the lane lines which are left by taking the lane line on the left side of the vehicle as a reference from the lane lines; and when the vehicle is positioned in other lanes, reserving all the lane lines.
Further, when the vehicle is located in the leftmost lane of the road, the removing, wholly or partially, lane lines to the left with reference to the lane line on the left side of the vehicle from the plurality of lane lines includes: when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information does not prompt, all lane lines which are left by taking the lane line on the left side of the vehicle as a reference are removed from the plurality of lane lines; and when the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information does not prompt, removing the part before the road characteristic points and reserving the part after the road characteristic points for the left lane line taking the left lane line of the vehicle as a reference.
Further, when the vehicle is located in the second right lane of the road, the step of retaining all of the lane lines or partially removing the lane line to the left with the lane line on the left side of the vehicle as a reference from the lane lines includes: when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information is not prompted, all lane lines are reserved; and when the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information is prompted, reserving a part before the road characteristic points and removing a part after the road characteristic points for a left lane line taking a left lane line of the vehicle as a reference.
Further, when the leftmost lane of the road and the second-right lane of the road are the same lane, the priority of lane line screening according to the situation that the vehicle is located in the leftmost lane of the road is higher than that of the vehicle located in the second-right lane of the road.
Compared with the prior art, the lane line screening method has the following advantages: according to the lane line screening method, the lane lines are removed or reserved according to the relative position of the vehicle relative to the current road, so that the lane lines outside the boundary of the actual road are removed, lane line information suitable for different road scenes can be output, the calculation amount of a related lane line processing algorithm is effectively reduced, the lane line processing efficiency is improved, and the effectiveness of the finally-fitted lane lines is guaranteed.
The invention further aims to provide a lane line screening system, which solves the technical problems that in the prior art, a plurality of lane lines are extracted and invalid fitting exists.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a lane line screening system comprising: the information acquisition unit is used for acquiring map information and navigation information aiming at the current position of the vehicle; the lane line fitting unit is electrically connected with the information acquisition unit and used for performing lane line fitting aiming at the current position of the vehicle according to the map information and the navigation information so as to output a plurality of lane lines; the lane line screening unit is electrically connected with the information acquisition unit and the lane line fitting unit and is used for judging the relative position of the vehicle relative to the current road according to the current lane of the vehicle and the current total number of lanes by combining the map information, wherein the relative position of the vehicle relative to the current road comprises the leftmost lane of the vehicle, the rightmost lane of the vehicle, the second rightmost lane of the vehicle and other lanes of the vehicle; and combining the map information and the navigation information, and completely or partially removing the lane lines outside the road boundary of the current road from the plurality of lane lines according to the relative position of the vehicle relative to the current road.
Further, the lane line screening unit includes: the first screening module is used for completely or partially removing the lane lines which are leftwards by taking the lane line on the left side of the vehicle as a reference from the plurality of lane lines when the vehicle is positioned on the leftmost lane of the road; the second screening module is used for completely removing the lane lines which are rightward by taking the lane lines on the right side of the vehicle as a reference from the plurality of lane lines when the vehicle is positioned on the rightmost lane of the road; the third screening module is used for reserving all the lane lines or partially removing the lane lines which are left by taking the lane line on the left side of the vehicle as a reference from the lane lines when the vehicle is positioned on the secondary right lane of the road; and the fourth screening module is used for reserving all the lane lines when the vehicle is positioned in other lanes.
Further, the first screening module is configured to, when the vehicle is located in a leftmost lane of the road, completely or partially remove, from the plurality of lane lines, a lane line that is left with reference to a lane line on the left side of the vehicle, and includes: when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information does not prompt, all lane lines which are left by taking the lane line on the left side of the vehicle as a reference are removed from the plurality of lane lines; and when the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information does not prompt, removing the part before the road characteristic points and reserving the part after the road characteristic points for the left lane line taking the left lane line of the vehicle as a reference.
Further, the third screening module is configured to, when the vehicle is located in a second right lane of the road, leave all of the lane lines or partially remove, from the lane lines, lane lines that are left based on a lane line on the left side of the vehicle, and includes: when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information is not prompted, all lane lines are reserved; and when the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information is prompted, reserving a part before the road characteristic points and removing a part after the road characteristic points for a left lane line taking a left lane line of the vehicle as a reference.
Further, the priority of the first screening module is higher than that of the third screening module under the condition that the leftmost lane of the road and the second right lane of the road are the same lane.
The lane line screening system and the lane line screening method have the same advantages compared with the prior art, and are not described herein again.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a lane line screening method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a preferred lane line fitting process in an embodiment of the present invention;
FIG. 3(a) is an exemplary diagram illustrating a first operating condition of a vehicle in a leftmost lane of a road according to an embodiment of the present invention;
FIG. 3(b) is an exemplary diagram of a second operating condition of the present invention in which the host vehicle is located in the leftmost lane of the road;
FIG. 4 is an exemplary illustration of a host vehicle positioned in a right-most lane of a roadway in an embodiment of the present invention;
FIG. 5(a) is an exemplary diagram illustrating a first condition in which the host vehicle is located in a next-right lane of the road in an embodiment of the present invention;
FIG. 5(b) is a schematic diagram illustrating a second exemplary condition in which the host vehicle is located in the next right lane of the road in the embodiment of the present invention;
fig. 6 is a schematic structural diagram of a lane line screening system according to an embodiment of the present invention; and
fig. 7 is a schematic structural diagram of a lane line fitting unit according to an embodiment of the present invention.
Description of reference numerals:
1. an information acquisition unit; 2. a lane line screening unit; 21. a lane screening state determination module; 22. a lane line deviation reference determination module; 23. a lane line generation module; 24. a lane line equation fitting module; 3. a lane line screening unit; 31. a first screening module; 32. a second screening module; 33. A third screening module; 34. and a fourth screening module.
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
In embodiments of the present invention, "electrically connected" is used to describe signal connections, such as control signals and feedback signals, between two components, as well as electrical power connections between two components. In addition, the "connection" related in the embodiments of the present invention may be a wired connection or a wireless connection, and the "electrical connection" related in the embodiments of the present invention may be a direct electrical connection between two components or an indirect electrical connection through other components.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic flow chart of a lane line screening method for automatically driving a vehicle according to an embodiment of the present invention. As shown in fig. 1, the lane line screening method includes:
in step S110, map information and navigation information for the current position of the vehicle are acquired.
The map information comprises road types, lane number, road width, road characteristic points, line points of lane lines on two sides of the vehicle and lane width. The road feature points are points that may represent specific positions of roads in a road scene, such as the start point and the end point of a certain road segment.
The map information is preferably high-precision map information, and those skilled in the art can know that the high-precision map information can show information such as the road type, the number of lanes, the road width, the road feature points, and the line points and lane widths of the lane lines on both sides of the vehicle. The high-precision map divides the road into a set of map points of one section, the map output can divide the road from the position where the road changes, and meanwhile, the related map information of the current road and the lower section of road can be provided.
In addition, the navigation information is obtained, for example, by a vehicle navigation system with a GPS positioning function, and is used to prompt a user of road conditions, such as whether to set off the ramp ahead or not.
And step S120, according to the map information and the navigation information, performing lane line fitting on the current position of the vehicle to output a plurality of lane lines.
Fig. 2 is a schematic flow chart of performing lane line fitting in the embodiment of the present invention. As shown in fig. 2, the following steps may be included:
step S210, determining the actual road condition of the vehicle according to the map information and/or the navigation information, and correspondingly determining the lane line screening state triggered by the actual road condition.
The actual road condition of the vehicle can be obtained through various methods, for example, navigation information directly prompts that the vehicle is about to drive away from a highway, and for example, a lower section road is displayed in map information to enter the highway, or the navigation information and the map information are combined to determine the actual road condition.
In addition, in the embodiment of the invention, the actual road condition triggers the lane line screening state, and different lane line screening states correspond to different lane line screening situations. Therefore, it can be understood that the lane line screening state refers to a variety of lane line screening situations divided according to actual road conditions in the embodiment of the present invention.
Step S220, determining a lane line deviation reference according with the lane line screening status by combining the map information and the navigation information.
In this case, it is known that the lane line screening state refers to a plurality of lane line screening situations divided according to actual road conditions in the embodiment of the present invention, and it can be understood that the determination of the lane line deviation reference performed herein is based on the actual road conditions.
In addition, in the embodiment of the present invention, the lane line offset reference is an important basis for fitting the lane line, and after the lane line offset reference is determined, the left lane line L1, the right lane line R1, the left lane line L2, the right lane line R2, and the like of the host vehicle may be generated by being offset to the left and right based on the lane line offset reference.
In step S230, left and right lane lines of the host vehicle are generated based on the lane line offset reference offset.
Preferably, the step S230 may include the steps of: calculating a course angle at each line point on the lane line deviation datum; and based on the coordinates, the course angle and the preset lane width corresponding to each line point on the lane line deviation reference, deviating the preset lane width leftwards and/or rightwards to generate left and right side lane lines of the vehicle. The calculation formula is illustrated as follows:
an original point: (x (1), x (2), x (3), … …, x (n); y (1), y (2), y (3), … …, y (n)).
And calculating course angle information:
yaw(1)＝atan2((y(1))，x(1)))*180/pi；
yaw(2)＝atan2((y(2)-y(1))，(x(2)-x(1)))*180/pi；
yaw(3)＝atan2((y(3)-y(2))，(x(3)-x(2)))*180/pi；.
yaw(n)＝atan2((y(n)-y(n-1))，(x(n)-x(n-1)))*180/pi；
the formula of the deviation of the points on the lane line (rightward deviation) is as follows:
X(i)＝x(i)+LaneWidth_m*sin(yaw(i))；
Y(i)＝y(i)-LaneWidth_m*cos(yaw(i))；
where lanewadth _ m denotes lane width (typically a default lane width of 3.75 m).
In step S240, a curve fitting is performed on the generated set of line points on the left and right lane lines to obtain and correspond to a lane line equation.
Preferably, the fitted lane line equation is used, the error of the fitted lane line is large due to the error caused by the fitting of the fitted lane line equation, and the original high-precision map lane line information is also given in a continuous point form, so that the operation in a point form is kept in the intelligent lane line shifting process, the equidistant shifting is ensured, and the fitting cubic equation operation is not carried out until the lane line information is finally given, and the driving of the cubic equation parameters is given.
The obtained lane line equations refer to a plurality of lane lines output, for example, four lane lines L1, L2, R1, and R2, and the lane lines output in the form of cubic equation parameters may include lane line numbers, equation coefficients of the lane lines in different coordinate systems, lane widths, lane line types, lane speed limits, lane line start points and end points, and the like.
Step S130, determining the relative position of the vehicle with respect to the current road according to the current lane where the vehicle is located and the current total number of lanes by combining the map information.
The relative positions of the vehicle relative to the current road are mainly four, including: the vehicle is located in the leftmost lane of the road, the vehicle is located in the rightmost lane of the road, the vehicle is located in the second rightmost lane of the road, and the vehicle is located in other lanes.
Step S140, combining the map information and the navigation information, and according to the relative position of the host vehicle with respect to the current road, completely or partially removing the lane lines outside the road boundary of the current road from the plurality of lane lines.
According to the difference of the relative position of the host vehicle with respect to the current road, for step S140, there may be four lane line screening schemes corresponding to different relative positions, specifically as follows.
First, when the vehicle is located in the leftmost lane of the road.
When the host vehicle is located in the leftmost lane of the road, it may be preferable for step S140 to include: and completely or partially removing the lane line which is leftwards by taking the lane line on the left side of the vehicle as a reference from the plurality of lane lines.
In a preferred embodiment, the vehicle is located in the leftmost lane of the road and can be divided into two working conditions: 1) the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and no prompt is given to the navigation information; 2) the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information is not prompted.
The following describes the lane line elimination scheme under these two working conditions with an example.
The first working condition is as follows: and removing all the lane lines which are left by taking the lane line on the left side of the vehicle as a reference from the plurality of lane lines.
Fig. 3(a) is an exemplary schematic diagram of a first operating condition in which the host vehicle is located in the leftmost lane of the road in the embodiment of the present invention. In the example, the host vehicle is located at the leftmost side of the road, and the host vehicle is shifted to the left by 3.75m and generates L2 with reference to the left lane line L1 of the host vehicle in the lane line fitting, and is shifted to the right by 3.75m and generates R2 with reference to R1. Since the host vehicle is on the leftmost side of the road, the lane line to the left of the L1 is L2, and obviously the L2 is already outside the boundary, so that all parameters of the L2 are set to 0, that is, the L2 is completely eliminated, and all parameters of the R2 are reserved. If there is a lane line L3 that is fitted to the left of L2, all the lane lines should be removed.
The second working condition is as follows: and for the left lane line by taking the left lane line of the vehicle as a reference, eliminating the part before the road characteristic point and reserving the part after the road characteristic point.
Fig. 3(b) is an exemplary diagram of a second operating condition in which the host vehicle is located in the leftmost lane of the road in the embodiment of the present invention. In the example, the host vehicle is located on the leftmost side of the road, and the lower road is an acceleration lane, and similarly, L2 is generated by shifting to the left by 3.75m and R2 is generated by shifting to the right by 3.75m and R1 in the lane line fitting with reference to the left lane line L1 of the host vehicle. Then, according to the distance between the host vehicle and the starting point of the acceleration lane (i.e. the road characteristic point in this example, in other examples, the corresponding road characteristic point may also be a ramp junction starting point or a ramp merging starting point), all line points before the starting point of the acceleration lane of the L2 lane line are outside the boundary, so that the parameters should be set to 0, while the line points after the starting point of the acceleration lane of the L2 lane line may reflect the real lane, so that all the parameters thereof should be kept, and all the parameters of R2 should be kept. Accordingly, the road feature points are divided, and the portion before the road feature point of the left lane line L2 with respect to the vehicle-side lane line L1 is removed and the portion after the road feature point is left, which mainly reflects the change in the length information of the lane line in the finally output lane line.
And secondly, when the vehicle is positioned on the rightmost lane of the road.
When the host vehicle is located in the rightmost lane of the road, for step S140, the method may include: and all lane lines which are rightward by taking the lane line on the right side of the vehicle as a reference are removed from the plurality of lane lines.
Fig. 4 is an exemplary schematic diagram of the vehicle located in the rightmost lane of the road in the embodiment of the present invention. In the example, the host vehicle is positioned at the rightmost side of the road (possibly an emergent lane), and the left side lane line L1 of the host vehicle is used as a reference in lane line fitting, the left side lane line is shifted by 3.75m to generate L2, and the right side lane line L1 is used as a reference to be shifted by 3.75m to generate R2. Since the host vehicle is already at the rightmost side of the road and is rightwards based on the right lane line R1, it is easy to know that the R2 is already outside the boundary, so that all the parameters of the R2 are set to be 0, namely all the L2 is eliminated, and all the parameters of the L2 are reserved.
And thirdly, when the vehicle is positioned in the next right lane of the road.
When the host vehicle is located in the next right lane of the road, it may be preferable for step S140 to include: and reserving all the lane lines or partially removing the lane lines which are leftward by taking the lane line on the left side of the vehicle as a reference from the lane lines.
In a preferred embodiment, the vehicle is located in the next right lane of the road and can be divided into two working conditions: 1) the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and no prompt is given to the navigation information; 2) and the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information is prompted.
The following describes the lane line elimination scheme under these two working conditions with an example.
The first working condition is as follows: and reserving all lane lines.
Fig. 5(a) is an exemplary schematic diagram of a first operating condition in which the host vehicle is located in the next right lane of the road in the embodiment of the present invention. In the example, the host vehicle is located on the second right side of the road, and the host vehicle is shifted to the left by 3.75m and generates L2 with reference to the left lane line L1 of the host vehicle in the lane line fitting, and is shifted to the right by 3.75m and generates R2 with reference to R1. In this condition, the vehicle is located on the second right side of the road, which indicates that the left and right sides of the vehicle have additional lanes, so that other lane lines fitted with the left and right side lane lines L1 and R1 of the vehicle as references should be reserved.
The second working condition is as follows: and for the left lane line by taking the left lane line of the vehicle as a reference, reserving the part before the road characteristic point and removing the part after the road characteristic point.
FIG. 5(b) is an exemplary diagram of a second operating condition in which the host vehicle is located in the next right lane of the road in the embodiment of the present invention. In the example, the host vehicle is located on the second right side of the road, the lower road is a deceleration lane, and the left lane line L1 of the host vehicle is used as a reference in lane line fitting, the left lane line is shifted by 3.75m to the left, so that L2 is generated, and the right lane line is shifted by 2.8m to the R1, so that R2 is generated. Then, according to the distance between the host vehicle and the deceleration lane end point (i.e. the road characteristic point in this example, in other examples, the corresponding road characteristic point may also be the ramp bifurcation end point or the main lane bifurcation end point), all the line points after the deceleration lane end point of the L2 lane line are outside the boundary, so that the parameters should be set to 0, the line points before the acceleration lane start point of the L2 lane line may reflect the real lane, so that all the parameters thereof should be retained, and all the parameters of R2 should be retained. Accordingly, the road feature points are divided, and the portion after the road feature point of the left lane line L2 with the vehicle-side lane line L1 as a reference is removed and the portion before the road feature point is left, which mainly reflects the change in the length information of the lane line in the finally output lane line. It should be noted that the length of the portion of the L2 to be removed is related to the range of the lane line detection for the current position of the host vehicle, for example, if the range of the lane line detection is 200 meters ahead of the host vehicle and 80 meters behind the host vehicle, the portion of the L2 to be removed should be at least less than 200 meters.
And fourthly, when the vehicle is positioned in other lanes.
Here, the other lanes refer to lanes other than the leftmost side of the road, the rightmost side of the road, and the second rightmost side of the road. In the embodiment of the invention, when the vehicle is positioned in other lanes, all the lane lines are reserved.
This situation is similar to the first situation when the host vehicle is located on the second right side of the road, i.e. there are lanes on both left and right sides of the host vehicle, so that referring to fig. 5(a), all the parameters for generating R2, L2 and R2 are retained, where L1 on the left side of the host vehicle is used as the reference in lane line fitting, and L2 is generated by shifting 3.75m to the left and R1 is used as the reference.
Further, for the above four lane line screening schemes, there may be a case where the leftmost lane of the road and the next right lane of the road are the same lane. In this case, the priority of lane line screening performed when the host vehicle is located in the leftmost lane of the road is higher than that of the lane line screening performed when the host vehicle is located on the second right side of the road, that is, the lane line screening performed when the host vehicle is located in the leftmost lane of the road is prioritized.
In summary, the lane line screening method provided in the embodiment of the present invention removes or retains the lane line according to the relative position of the vehicle with respect to the current road, so that the lane line outside the boundary of the actual road is removed, thereby outputting lane line information suitable for different road scenes, effectively reducing the amount of calculation of the related lane line processing algorithm, improving the efficiency of lane line processing, and ensuring the validity of the finally fitted lane line.
Fig. 6 is a schematic structural diagram of a lane line screening system according to an embodiment of the present invention, which is based on the same inventive concept as the above-described embodiment of the lane line screening method. As shown in fig. 6, the lane line screening system may include: an information acquisition unit 1 for acquiring map information and navigation information for a current position of a host vehicle; the lane line fitting unit 2 is electrically connected with the information acquisition unit and used for performing lane line fitting aiming at the current position of the vehicle according to the map information and the navigation information so as to output a plurality of lane lines; the lane line screening unit 3 is electrically connected with the information acquisition unit and the lane line fitting unit and is used for judging the relative position of the vehicle relative to the current road according to the current lane of the vehicle and the current total number of lanes by combining the map information, wherein the relative position of the vehicle relative to the current road comprises the leftmost lane of the vehicle, the rightmost lane of the vehicle, the second rightmost lane of the vehicle and other lanes of the vehicle; and combining the map information and the navigation information, and completely or partially removing the lane lines outside the road boundary of the current road from the plurality of lane lines according to the relative position of the vehicle relative to the current road.
Fig. 7 is a schematic structural diagram of a lane line fitting unit according to an embodiment of the present invention. As shown in fig. 7, the lane line fitting unit 2 includes: the lane line screening state determining module 21 is configured to determine an actual road condition of the vehicle according to the map information and/or the navigation information, and correspondingly determine a lane line screening state triggered by the actual road condition; a lane line offset reference determining module 22, configured to determine, in combination with the map information and the navigation information, a lane line offset reference that meets the lane line screening state; a lane line generation module 23 configured to generate left and right lane lines of the host vehicle based on the lane line offset reference offset; and a lane line equation fitting module 24, configured to perform curve fitting on the generated set of line points on the left and right lane lines to obtain a corresponding lane line equation.
The map information is derived from a map system of the autonomous vehicle, such as a high-precision map system, and the navigation information is derived from a navigation system of the autonomous vehicle.
In a preferred embodiment, the lane line screening unit 3 may include: the first screening module 31 is configured to, when the vehicle is located in a leftmost lane of the road, completely or partially remove a lane line to the left with reference to the lane line on the left side of the vehicle from the plurality of lane lines; the second screening module 32 is configured to, when the vehicle is located in a right-most lane of the road, remove all lane lines that are right based on a lane line on the right side of the vehicle from the plurality of lane lines; a third screening module 33, configured to, when the vehicle is located in a second right lane of the road, reserve all of the lane lines or partially remove, from the lane lines, a lane line that is left with respect to a lane line on the left side of the vehicle; and a fourth screening module 34 for reserving all of the lane lines when the host vehicle is located in the other lanes.
More preferably, the first screening module 31 is configured to, when the host vehicle is located in the leftmost lane of the road, completely or partially remove, from the plurality of lane lines, a lane line that is left based on the lane line on the left side of the host vehicle, and includes: when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information does not prompt, all lane lines which are left by taking the lane line on the left side of the vehicle as a reference are removed from the plurality of lane lines; and when the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information does not prompt, removing the part before the road characteristic points and reserving the part after the road characteristic points for the left lane line taking the left lane line of the vehicle as a reference.
More preferably, the third screening module 33 is configured to, when the host vehicle is located in the next right lane of the road, leave all of the lane lines or partially remove, from the lane lines, a lane line that is left based on a lane line on the left side of the host vehicle, and includes: when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information is not prompted, all lane lines are reserved; and when the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information is prompted, reserving a part before the road characteristic points and removing a part after the road characteristic points for a left lane line taking a left lane line of the vehicle as a reference.
More preferably, when the leftmost lane of the road and the second rightmost lane of the road are the same lane, the first screening module 31 has a higher priority than the third screening module 33.
It should be noted that, for other implementation details and effects of the lane line screening system according to the embodiment of the present invention, reference may be made to the above-mentioned embodiment of the lane line screening method, and details are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention, such as adapting the execution sequence of steps and adjusting the connection relationship between functional modules, should be included in the protection scope of the present invention.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, various different embodiments of the present invention may be combined arbitrarily, and as long as the idea of the embodiments of the present invention is not violated, the same should be regarded as the disclosure of the embodiments of the present invention.
Claims (10)
1. A lane line screening method is characterized by comprising the following steps:
acquiring map information and navigation information aiming at the current position of the vehicle;
according to the map information and the navigation information, carrying out lane line fitting aiming at the current position of the vehicle so as to output a plurality of lane lines;
judging the relative position of the vehicle relative to the current road according to the current lane where the vehicle is located and the current total number of lanes by combining the map information, wherein the relative position of the vehicle relative to the current road comprises that the vehicle is located in the leftmost lane of the road, the vehicle is located in the rightmost lane of the road, the vehicle is located in the second rightmost lane of the road and the vehicle is located in other lanes; and
and combining the map information and the navigation information, and completely or partially removing the lane lines outside the road boundary of the current road from the plurality of lane lines according to the relative position of the vehicle relative to the current road.
2. The lane line screening method according to claim 1, wherein the eliminating, in whole or in part, lane lines outside a road boundary of a current road from the plurality of lane lines includes:
when the vehicle is positioned in the leftmost lane of the road, completely or partially removing the lane line which is towards the left by taking the left lane line of the vehicle as a reference from the plurality of lane lines;
when the vehicle is positioned in the rightmost lane of the road, all lane lines which are rightwards by taking the lane line on the right side of the vehicle as a reference are removed from the plurality of lane lines;
when the vehicle is positioned on the second right lane of the road, reserving all the lane lines or partially removing the lane lines which are left by taking the lane line on the left side of the vehicle as a reference from the lane lines; and
and when the vehicle is positioned in other lanes, all the lane lines are reserved.
3. The lane line screening method according to claim 1 or 2, wherein the removing, in whole or in part, the lane line to the left with reference to the lane line on the left side of the host vehicle from the plurality of lane lines when the host vehicle is located in the leftmost lane of the road comprises:
when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information does not prompt, all lane lines which are left by taking the lane line on the left side of the vehicle as a reference are removed from the plurality of lane lines; and
and when the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information is not provided with a prompt, removing the part before the road characteristic points and reserving the part after the road characteristic points for the left lane line taking the left lane line of the vehicle as a reference.
4. The lane line screening method according to claim 1 or 2, wherein the retaining all of the plurality of lane lines or partially removing, from the plurality of lane lines, a lane line to the left with reference to a lane line on the left side of the host vehicle when the host vehicle is located in a next right lane of the road comprises:
when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information is not prompted, all lane lines are reserved; and
when the map information shows that the road characteristic points exist within the preset distance in front of the vehicle and the navigation information is prompted, for a lane line to the left by taking a lane line on the left side of the vehicle as a reference, reserving a part before the road characteristic points and removing a part after the road characteristic points.
5. The lane line screening method according to any one of claims 1 to 4, wherein when the leftmost lane of the road and the second-right lane of the road are the same lane, the lane line screening according to the case where the host vehicle is located on the leftmost lane of the road has a higher priority than the case where the host vehicle is located on the second-right side of the road.
6. A lane line screening system, comprising:
the information acquisition unit is used for acquiring map information and navigation information aiming at the current position of the vehicle;
the lane line fitting unit is electrically connected with the information acquisition unit and used for performing lane line fitting aiming at the current position of the vehicle according to the map information and the navigation information so as to output a plurality of lane lines; the lane line screening unit is electrically connected with the information acquisition unit and the lane line fitting unit and is used for judging the relative position of the vehicle relative to the current road according to the current lane of the vehicle and the current total number of lanes by combining the map information, wherein the relative position of the vehicle relative to the current road comprises the leftmost lane of the vehicle, the rightmost lane of the vehicle, the second rightmost lane of the vehicle and other lanes of the vehicle; and combining the map information and the navigation information, and completely or partially removing the lane lines outside the road boundary of the current road from the plurality of lane lines according to the relative position of the vehicle relative to the current road.
7. The lane line screening system according to claim 6, wherein the lane line screening unit includes:
the first screening module is used for completely or partially removing the lane lines which are leftwards by taking the lane line on the left side of the vehicle as a reference from the plurality of lane lines when the vehicle is positioned on the leftmost lane of the road;
the second screening module is used for completely removing the lane lines which are rightward by taking the lane lines on the right side of the vehicle as a reference from the plurality of lane lines when the vehicle is positioned on the rightmost lane of the road;
the third screening module is used for reserving all the lane lines or partially removing the lane lines which are left by taking the lane line on the left side of the vehicle as a reference from the lane lines when the vehicle is positioned on the secondary right lane of the road; and
and the fourth screening module is used for reserving all the lane lines when the vehicle is positioned in other lanes.
8. The lane line screening system of claim 6 or 7, wherein the first screening module is configured to, when the host vehicle is located in a leftmost lane of the road, wholly or partially remove a lane line to the left with reference to a lane line on the left side of the host vehicle from the plurality of lane lines, the first screening module comprises:
when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information does not prompt, all lane lines which are left by taking the lane line on the left side of the vehicle as a reference are removed from the plurality of lane lines; and
and when the map information shows that the road characteristic points exist within a preset distance in front of the vehicle and the navigation information is not provided with a prompt, removing the part before the road characteristic points and reserving the part after the road characteristic points for the left lane line taking the left lane line of the vehicle as a reference.
9. The lane line screening system according to claim 6 or 7, wherein the third screening module is configured to, when the host vehicle is located in a next right lane of the road, leave all of the lane lines or partially remove, from the lane lines, a lane line that is left based on a lane line on a left side of the host vehicle, and includes:
when the map information shows that no road characteristic point exists within a preset distance in front of the vehicle and the navigation information is not prompted, all lane lines are reserved; and
when the map information shows that the road characteristic points exist within the preset distance in front of the vehicle and the navigation information is prompted, for a lane line to the left by taking a lane line on the left side of the vehicle as a reference, reserving a part before the road characteristic points and removing a part after the road characteristic points.
10. The lane line screening system according to any one of claims 7 to 9, wherein the first screening module has a higher priority than the third screening module in a case where the leftmost lane of the road and the second rightmost lane of the road are the same lane.
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