CN113032500B - Vehicle positioning method, device, computer equipment and storage medium - Google Patents
Vehicle positioning method, device, computer equipment and storage medium Download PDFInfo
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- CN113032500B CN113032500B CN201911357838.5A CN201911357838A CN113032500B CN 113032500 B CN113032500 B CN 113032500B CN 201911357838 A CN201911357838 A CN 201911357838A CN 113032500 B CN113032500 B CN 113032500B
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- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
The application relates to a vehicle positioning method, a vehicle positioning device, computer equipment and a storage medium. The method comprises the following steps: when the vehicle runs to the intersection, a lane mark of a current lane on which the vehicle runs is obtained through a camera; matching the lane identification with a prestored reference identification, and determining a first lane according to a matching result; determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane; the vehicle is positioned onto the connection line as the vehicle passes through the intersection. The vehicle positioning method, the vehicle positioning device, the computer equipment and the storage medium can more accurately position the vehicle.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a vehicle positioning method, a vehicle positioning device, a computer device, and a storage medium.
Background
With the development of society and economy, vehicles are increasing. In the running process of the vehicle, the vehicle is positioned to acquire the position information of the vehicle, so that whether the vehicle runs on a correct road can be judged. In particular, in some intersections, it is important to locate the vehicle at the correct position, so that the driver can be prevented from driving to the wrong intersection.
However, in the conventional vehicle positioning technology, there is a problem in that the vehicle positioning is inaccurate.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a vehicle positioning method, apparatus, computer device, and storage medium that can improve accuracy.
A vehicle positioning method, the method comprising:
when a vehicle runs to a crossing, acquiring a lane mark of a current lane on which the vehicle runs through a camera;
matching the lane identification with a prestored reference identification, and determining a first lane according to a matching result;
determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane;
positioning the vehicle onto the connection line as the vehicle passes through the intersection.
In one embodiment, the method further comprises:
when the number of the first lanes is at least two, acquiring the priority of each first lane;
determining a second lane from each first lane according to the priority of each first lane;
the positioning the vehicle onto the connection line as the vehicle passes through the intersection includes:
Positioning the vehicle onto a line connecting the current lane and the second lane as the vehicle passes the intersection.
In one embodiment, the determining the connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane includes:
determining at least two anchor points according to the position of the current lane and the position of the first lane;
and determining the connecting line of the current lane and the first lane through the at least two anchor points.
In one embodiment, after the obtaining, by the camera, the lane identifier of the current lane on which the vehicle is traveling when the vehicle is traveling to the intersection, the method further includes:
acquiring a reference lane of the vehicle in a vehicle positioning system and a reference lane mark of the reference lane;
and when the reference lane identification is different from the lane identification of the current lane, positioning the vehicle on the current lane in a vehicle positioning system.
In one embodiment, the method further comprises:
after the vehicle passes through the intersection, acquiring the type of each lane in front of the vehicle through the camera;
Determining a third lane of the vehicle based on the type of each lane;
positioning the vehicle onto the third lane when the first lane is different from the third lane.
In one embodiment, before the obtaining, by the camera, the lane identifier of the current lane on which the vehicle is traveling when the vehicle is traveling to the intersection, the method further includes:
determining a first position of a vehicle in a vehicle positioning system in real time;
determining a second distance between a vehicle in a vehicle positioning system and a target line of an intersection according to a first position of the vehicle in the vehicle positioning system;
when the second distance is smaller than or equal to the first threshold value, road information in front of the vehicle is obtained in real time through the camera; the road information includes a first distance between the vehicle and a target line of an intersection; correcting a first position of a vehicle in the vehicle positioning system based on the first distance when the first distance is different from the second distance.
In one embodiment, the method further comprises:
after the vehicle passes through the intersection, acquiring the type of each lane in front of the vehicle through the camera;
Determining a third lane of the vehicle based on the type of each lane;
positioning the vehicle onto the third lane when the first lane is different from the third lane.
In one embodiment, the positioning the vehicle onto the third lane when the first lane is different from the third lane includes:
counting the number of times that the third lane is different from the target lane when the first lane is different from the third lane;
and positioning the vehicle to the third lane when the number of times reaches a number of times threshold.
A vehicle positioning device, the device comprising:
the lane identification acquisition module is used for acquiring a lane identification of a current lane of the vehicle through a camera when the vehicle runs to a crossing;
the matching module is used for matching the lane identification with a prestored reference identification and determining a first lane according to a matching result;
the connecting line determining module is used for determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane;
and the positioning module is used for positioning the vehicle to the connecting line when the vehicle passes through the intersection.
A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the above method when executing the computer program.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method described above.
According to the vehicle positioning method, the vehicle positioning device, the computer equipment and the storage medium, when a vehicle runs to a crossing, a lane mark of a current lane of the vehicle is obtained through the camera; the lane identification is matched with a prestored reference identification, and a first lane can be determined according to a matching result, namely, a first lane which is driven by a vehicle after passing through an intersection can be predicted and obtained through the lane identification of the current lane; determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane, wherein the connecting line can represent a track of a vehicle passing through the intersection; when the vehicle passes through the intersection, the vehicle is positioned on the connecting line, so that the vehicle can be positioned more accurately. In addition, a smoother connecting line can be determined according to the position of the current lane and the position of the first lane, so that the track of the vehicle is smoother when the vehicle passes through the intersection.
Drawings
FIG. 1 is a flow chart of a method of vehicle positioning in one embodiment;
FIG. 2 is a schematic diagram of positioning a vehicle when the vehicle is traveling to a crossing in one embodiment;
FIG. 3 is a flow chart of a method of locating a vehicle in another embodiment;
FIG. 4 is a schematic flow chart of a vehicle positioning when the number of first lanes is at least two according to one embodiment;
FIG. 5 is a flow chart of a method of locating a vehicle in another embodiment;
FIG. 6 is a schematic illustration of a vehicle being positioned at an intersection in one embodiment;
FIG. 7 is a flow chart of a method of locating a vehicle in another embodiment;
FIG. 8 is a block diagram of a vehicle positioning device in one embodiment;
fig. 9 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In one embodiment, as shown in fig. 1, there is provided a vehicle positioning method including the steps of:
Step 102, when the vehicle runs to the intersection, the lane identification of the current lane on which the vehicle runs is obtained through the camera.
An intersection refers to an intersection where at least two roads cross each other. The range of the intersection can be 150 meters in square and round with the midpoint of the intersection as the center; or within 100 meters from the traffic lights, etc., the range of a specific intersection can be set according to the needs of users.
A lane mark (lane mark) is used to identify the type of lane. For example, the lane mark may be a left turn lane mark, a straight lane mark, a right turn lane mark, a turn around lane mark, a straight and right turn merging lane mark, a turn around and left turn merging lane mark, or the like, without being limited thereto. When the lane mark is a left turning lane mark, the lane mark is used for guiding the vehicle to turn left; the lane marker is used for guiding the vehicle to make a right turn when the lane marker is a right turn lane marker, and is used for guiding the vehicle to make a straight or right turn when the lane marker is a straight and right turn combined lane marker.
It can be understood that a camera is installed on the vehicle, and other rational information can be obtained through the camera by using the lane identification of the current lane on which the vehicle is driven. For example, the road information may include a distance between the vehicle and the intersection, the number of lanes in front of the vehicle, the number of lines, the type of lines, and the like. Further, the camera may be used to photograph a road behind the vehicle, or may be used to photograph a road to the left and right of the vehicle, but is not limited thereto.
And 104, matching the lane identification with a prestored reference identification, and determining a first lane according to a matching result.
In a storage device of a vehicle, each reference mark and a lane corresponding to each reference mark are stored in advance. The lane corresponding to the reference mark refers to a lane where the vehicle guided by the reference mark runs after passing through the intersection. The first lane refers to a lane in which a vehicle guided by a lane identification of a current lane travels after passing through an intersection.
Specifically, lane identifiers are matched with each prestored reference identifier one by one, and a lane corresponding to the successfully matched reference identifier is used as a first lane. For example, if the lane identifier of the current lane matches with the reference identifier "left-turn lane identifier", the lane into which the vehicle corresponding to the "left-turn lane identifier enters after turning left is used as the first lane.
It is understood that when the number of lanes corresponding to the reference identifier matched with the lane identifier of the current lane is at least two, the number of the first lanes is at least two. For example, the reference identifier matched with the lane identifier of the current lane is a "left turn and left turn combined lane identifier", and the first lane may be a lane where the vehicle enters in a left turn or a lane where the vehicle enters in a turn around.
And 106, determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane.
The connecting line refers to the predicted trajectory of the vehicle from the current lane to the first lane.
And when the number of the first lanes is at least two, determining connecting lines between the positions of the current lanes and the positions of the first lanes respectively.
Specifically, at least two anchor points can be determined from between the position of the current lane and the position of the first lane, the current lane and the first lane are connected through the at least two anchor points, and a connecting line of the current lane and the first lane is generated.
Step 108, positioning the vehicle onto the connection line as the vehicle passes the intersection.
When a vehicle passes through an intersection, the positioning of the vehicle is prone to error because the intersection has no line. Therefore, when the vehicle passes through the intersection, the vehicle is positioned on the connecting line, and the vehicle can be positioned more accurately.
According to the vehicle positioning method, when the vehicle runs to the intersection, the lane identification of the current lane of the vehicle is obtained through the camera; the lane identification is matched with a prestored reference identification, and a first lane can be determined according to a matching result, namely, a first lane which is driven by a vehicle after passing through an intersection can be predicted and obtained through the lane identification of the current lane; determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane, wherein the connecting line can represent a track of a vehicle passing through the intersection; when the vehicle passes through the intersection, the vehicle is positioned on the connecting line, so that the vehicle can be positioned more accurately. In addition, a smoother connecting line can be determined according to the position of the current lane and the position of the first lane, so that the track of the vehicle is smoother when the vehicle passes through the intersection.
In one embodiment, as shown in FIG. 2, when a vehicle 202 travels to an intersection, a lane identification 206 of a current lane 204 in which the vehicle is traveling is obtained by a camera; matching the lane mark 206 with a pre-stored reference mark, and determining a first lane 208 if the lane mark 206 is known to represent a left-turn lane mark according to a matching result; determining a connecting line 210 of the current lane and the first lane according to the position of the current lane 204 and the position of the first lane 208; as the vehicle passes through the intersection, the vehicle is positioned onto the junction line 210.
In one embodiment, as shown in FIG. 3, step 302 is performed to determine whether the vehicle is traveling to a crossing; when the judgment is yes, executing step 304, and determining a first lane according to the lane identification; and when the judgment is negative, ending.
In one embodiment, as shown in fig. 4, the method further includes:
in step 402, when the number of first lanes is at least two, the priority of each first lane is obtained.
For example, when the lane identifier of the current lane is the "combined straight and left turn lane identifier", the corresponding first lane may be the lane where the vehicle enters straight, or may be the lane where the vehicle enters left turn.
In one embodiment, the priority of each first lane may be set according to a traffic rule of the road. For example, the lane identifier of the current lane is a combined straight and right turn lane identifier, and the corresponding first lane may be a lane where the vehicle enters straight or a lane where the vehicle enters right turn. According to the traffic rules of the road, the priority of the lane where the lane enters by turning right is set to be high, and the priority of the lane where the vehicle enters by turning straight is set to be low.
In another embodiment, the priority of each first lane may also be set according to the guiding route. In the positioning system of the vehicle, the destination of the user and the guide route along which the vehicle travels can be acquired, the priority of the first lane located on the guide route is set high, and the priority of the first lane not located on the guide route is set low.
When the number of first lanes is at least two, the priority of each first lane may be acquired. The higher the priority of the first lane, the higher the probability that the vehicle will travel into that lane.
Step 404, determining a second lane from each first lane according to the priority of each first lane.
Alternatively, the priorities of the first lanes are compared, and the first lane with the highest priority can be determined as the second lane; the first lane having the highest priority may be determined as the second lane, but is not limited thereto.
Positioning a vehicle onto a connection line as the vehicle passes through an intersection, comprising:
step 406, positioning the vehicle to a junction of the current lane and the second lane when the vehicle passes the intersection.
And acquiring a connecting line of the current lane and the second lane, and positioning the vehicle to the connecting line of the current lane and the second lane when the vehicle passes through the intersection.
In this embodiment, when the number of first lanes is at least two, the priority of each first lane is obtained, a more accurate second lane can be determined according to the priority of each first lane, and when the vehicle passes through the intersection, the vehicle is positioned to the connection line between the current lane and the second lane, so that the vehicle can be positioned more accurately.
In one embodiment, the position of the vehicle is detected in real time as the vehicle passes through the intersection; and when the position of the vehicle deviates from the connecting line of the current lane and the second lane, re-determining the second lane based on the position of the vehicle, and positioning the vehicle to the connecting line of the current lane and the re-determined second lane.
When the position of the vehicle deviates from the connecting line of the current lane and the second lane, the lane which is indicated to enter by the vehicle passing through the intersection is not the second lane, and the second lane is redetermined based on the position of the vehicle; and acquiring a connecting line of the current lane and the redetermined second lane, and positioning the vehicle to the connecting line of the current lane and the redetermined second lane.
In one embodiment, determining the junction of the current lane and the first lane based on the location of the current lane and the location of the first lane comprises: determining at least two anchor points according to the position of the current lane and the position of the first lane; and determining the connecting line of the current lane and the first lane through at least two anchor points.
An anchor point refers to a point for connecting the current lane and the first lane.
Specifically, a target range is determined according to the position of the current lane and the position of the first lane, and at least two anchor points are determined from the target range. The target range may be one of a rectangular area, a circular area, a triangular area, other regular areas, or an irregular area formed by the position of the current lane and the position of the first lane. It will be appreciated that the greater the number of anchor points determined within the target range, the smoother the connection lines generated by each anchor point, the more accurate the location of the vehicle as it passes through the intersection.
In one embodiment, the smoothed connecting line may be generated based on bezier curves. Bezier curves are applied to mathematical curves for two-dimensional graphics applications. The general vector graphic software can accurately draw a curve through the vector graphic software, the Bezier curve consists of a line segment and a node, the node is a draggable fulcrum, and the line segment is like a telescopic rubber band.
In one embodiment, when the vehicle travels to the intersection, after the lane identification of the current lane in which the vehicle travels is obtained by the camera, the method further comprises: acquiring a reference lane identifier of a vehicle in a vehicle positioning system; when the reference lane identification is different from the lane identification of the current lane, the vehicle is positioned onto the current lane in the vehicle positioning system.
The reference lane refers to the lane in which the vehicle is positioned in the vehicle positioning system. When the reference lane identification is different from the lane identification of the current lane, the vehicle is identified to be positioned on the wrong lane, and the vehicle is positioned on the current lane in the vehicle positioning system.
For example, the current lane is a left lane, the identification of the current lane is a left-turn lane identification, the reference lane of the vehicle in the vehicle positioning system is a middle lane, the reference lane identification of the reference lane is a straight lane identification, and the reference lane identification is different from the lane identification of the current lane, so that the vehicle is positioned on the current lane, namely the left lane in the vehicle positioning system.
In this embodiment, the positioning of the vehicle in the vehicle positioning system is corrected by the lane identifier of the current lane, so that the vehicle can be positioned more accurately.
In one embodiment, the method further comprises: after the vehicle passes through the intersection, the position of each vehicle line in front of the vehicle relative to the vehicle is obtained through the camera; determining a third lane of the vehicle based on the position of each lane relative to the vehicle; when the first lane is different from the third lane, the vehicle is positioned onto the third lane.
It will be appreciated that there is no line in the middle of the intersection, which may result in the vehicle being positioned on the wrong lane when the vehicle changes lanes in the middle of the intersection.
Therefore, after the vehicle passes through the intersection, the position of each lane in front of the vehicle relative to the vehicle is acquired through the camera; a third lane of the vehicle may be determined based on the position of each lane relative to the vehicle.
For example, the lane in front of the vehicle is acquired by the camera, and the lane a, the lane B, the lane C, and the lane D are respectively found from left to right according to the position of each lane relative to the vehicle, the lane a is the lane on the left side of the vehicle, the lane B, the lane C, and the lane D are respectively found on the right side of the vehicle, and therefore the third lane of the vehicle is the leftmost lane.
In another embodiment, the method further comprises: the type of each lane in front of the vehicle can be obtained through the camera, and a third lane is determined based on the type of each lane; when the second lane is different from the target lane, the vehicle is positioned onto the target lane.
The types of vehicle lines may include solid lines and broken lines. Generally, the left-most and right-most lines on the road are solid lines, and the lines in the middle of the road may be solid lines or broken lines. When the types of the vehicle lines in front of the vehicle are acquired through the camera, the solid line, the dotted line and the solid line are respectively known from left to right according to the types of the vehicle lines, and the vehicle lines on two sides of the vehicle are all the dotted lines, so that the middle lane of the third lane can be determined.
Positioning the vehicle onto the third lane when the second lane is different from the third lane; and when the second lane is the same as the third lane, indicating that the positioning of the vehicle is accurate.
In one embodiment, as shown in fig. 5, before the vehicle travels to the intersection and the lane identification of the current lane on which the vehicle travels is obtained by the camera, the method further includes:
step 502, a first location of a vehicle in a vehicle positioning system is determined in real time.
In a vehicle, a vehicle positioning system is mounted, and information such as a lane in which the vehicle is located, a road condition in the vicinity of the vehicle, and the like can be acquired by the vehicle positioning system.
Step 504 determines a second distance between the vehicle in the vehicle positioning system and a target line of the intersection based on a first position of the vehicle in the vehicle positioning system.
An intersection refers to an intersection where at least two roads cross each other. The range of the intersection can be 150 meters in square and round with the midpoint of the intersection as the center; or within 100 meters from the traffic lights, etc., the range of a specific intersection can be set according to the needs of users.
The second distance refers to a distance between the vehicle and a target line of the intersection in the vehicle positioning system.
Specifically, a reference position of a target line of the intersection ahead of the vehicle in the vehicle positioning system may be determined, and a second distance between the vehicle and the target line of the intersection in the vehicle positioning system is determined based on the reference position and the first position.
For example, a reference position of a target line of an intersection ahead of the vehicle in the vehicle positioning system is determined, and a second distance of 55m is determined from the reference position and the first position.
Step 506, when the second distance is smaller than or equal to the first threshold value, acquiring road information in front of the vehicle in real time through the camera; the road information includes a first distance between the vehicle and a target line of the intersection.
The first threshold may be set according to user needs. For example, the first threshold is 100 meters, and the second distance between the vehicle and the target line of the intersection in the vehicle positioning system is 98 meters according to the first position of the vehicle in the vehicle positioning system, and when the second distance is smaller than or equal to the first threshold of 100 meters, road information in front of the vehicle is acquired in real time through the camera.
The first distance refers to a distance between the vehicle acquired by the camera and a target line of the intersection. The target line refers to a line in the intersection for the camera to detect a first distance of the vehicle. For example, the target line may be a stop line, a zebra line, a deceleration row line, a stop row line, or the like, but is not limited thereto.
It is understood that a camera is mounted on the vehicle, and the road in front of the vehicle can be photographed by the camera, thereby acquiring road information in front of the vehicle. For example, the road information may include a first distance between the vehicle and a target line of the intersection, and may also be the number of lanes in front of the vehicle, the number of lines, the type of line, a sign of the lane, or the like. Further, the camera may be used to photograph a road behind the vehicle, or may be used to photograph a road to the left and right of the vehicle, but is not limited thereto. The lane lines refer to road scribing lines on two sides of a lane where the vehicle runs.
Step 508 corrects the first position of the vehicle in the vehicle positioning system based on the first distance when the first distance is different from the second distance.
And when the first distance is different from the second distance, the second distance in the vehicle positioning system is inaccurate, and the first position of the vehicle in the vehicle positioning system is corrected based on the first distance acquired by the camera in real time.
According to the vehicle positioning method, when the vehicle runs to the intersection, the first position of the vehicle in the vehicle positioning system is determined in real time before the lane identification of the current lane on which the vehicle runs is obtained through the camera; determining a second distance between the vehicle in the vehicle positioning system and a target line of the intersection according to a first position of the vehicle in the vehicle positioning system; when the second distance is smaller than or equal to the first threshold value, road information in front of the vehicle is obtained in real time through the camera; the road information includes a first distance between the vehicle and a target line of the intersection; correcting a first position of the vehicle in the vehicle positioning system based on the first distance when the first distance is different from the second distance; at an intersection in front of the vehicle, the second distance in the vehicle positioning system is corrected according to the first distance acquired by the camera, so that the vehicle can be positioned to an accurate position.
As shown in fig. 6, 602 is a zebra stripes, 604 is a stop line, 606 is the actual position of the vehicle, and 608 is the first position of the vehicle in the vehicle positioning system. The target line of the intersection may be 602 zebra stripes or 604 stop lines. Acquiring a first distance between the vehicle and a target line of the intersection, namely a first distance between the actual position 606 of the vehicle and the target line of the intersection, through a camera; determining a second distance between the vehicle in the vehicle positioning system and a target line of the intersection based on the first position 608 of the vehicle in the vehicle positioning system; when the first distance is different from the second distance, the vehicle position in the vehicle positioning system is positioned to 606 position.
In one embodiment, as shown in FIG. 7, a first location of a vehicle in a vehicle positioning system is determined in real time; determining a second distance between the vehicle in the vehicle positioning system and a target line of the intersection according to a first position of the vehicle in the vehicle positioning system; executing step 702, determining whether the second distance is less than or equal to the first threshold; when the determination is yes, step 704 is executed to correct the position of the vehicle in the vehicle positioning system; and when the judgment is negative, ending.
In one embodiment, the method further comprises: after the vehicle passes through the intersection, the position of each vehicle line in front of the vehicle relative to the vehicle is obtained through the camera; determining a third lane of the vehicle based on the position of each lane relative to the vehicle; when the first lane is different from the third lane, the vehicle is positioned onto the third lane.
It will be appreciated that there is no line in the middle of the intersection, which may result in the vehicle being positioned on the wrong lane when the vehicle changes lanes in the middle of the intersection.
Therefore, after the vehicle passes through the intersection, the vehicle line in front of the vehicle and the position of each vehicle line relative to the vehicle are acquired through the camera; a third lane of the vehicle may be determined based on the position of each lane relative to the vehicle.
For example, the lane in front of the vehicle is acquired by the camera, and the lane a, the lane B, the lane C, and the lane D are respectively found from left to right according to the position of each lane relative to the vehicle, the lane a is the lane on the left side of the vehicle, the lane B, the lane C, and the lane D are respectively found on the right side of the vehicle, and therefore the third lane of the vehicle is the leftmost lane.
In the embodiment, before the vehicle acquires the lane identifier of the current lane on which the vehicle runs, correcting the position of the vehicle according to the first distance between the vehicle acquired by the camera and the target line of the intersection; when the vehicle runs to the intersection, positioning the vehicle to a more accurate and smoother connecting line; after the vehicle passes through the intersection, the vehicle line in front of the vehicle is acquired through the camera, and the position of the vehicle is corrected, namely, the vehicle is positioned on an accurate third lane. In this embodiment, the vehicle can be positioned more accurately before, during, and after the intersection.
In another embodiment, the method further comprises: the type of each lane in front of the vehicle can be obtained through the camera, and a third lane is determined based on the type of each lane; when the second lane is different from the target lane, the vehicle is positioned onto the target lane.
The types of vehicle lines may include solid lines and broken lines. Generally, the left-most and right-most lines on the road are solid lines, and the lines in the middle of the road may be solid lines or broken lines. When the types of the vehicle lines in front of the vehicle are acquired through the camera, the solid line, the dotted line and the solid line are respectively known from left to right according to the types of the vehicle lines, and the vehicle lines on two sides of the vehicle are all the dotted lines, so that the middle lane of the third lane can be determined.
When the second lane is different from the third lane, positioning the vehicle on the more accurate third lane; and when the second lane is the same as the third lane, indicating that the positioning of the vehicle is accurate.
It can be appreciated that, in order to save computer resources, the second lane and the third lane may be matched for a preset time period, and when the second lane is different from the third lane, the number of times that the second lane is different from the third lane is counted.
In one embodiment, positioning the vehicle onto the third lane when the first lane is different from the third lane comprises: when the first lane is different from the third lane, counting the different times of the third lane and the target lane; and when the number of times reaches the number of times threshold, positioning the vehicle on a third lane.
When the number of times that the first lane is different from the third lane reaches the threshold value, the first lane is different from the third lane, so that the problem that the vehicle is positioned on the wrong lane due to the difference between the first lane and the third lane caused by errors is avoided, and the stability of vehicle positioning can be improved.
It should be understood that, although the steps in the flowcharts of fig. 1, 4, and 5 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1, 4, and 5 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 8, there is provided a vehicle positioning apparatus 800 including: a lane identification acquisition module 802, a matching module 804, a connection line determination module 806, and a positioning module 808, wherein:
The lane identifier obtaining module 802 is configured to obtain, by using the camera, a lane identifier of a current lane of the vehicle when the vehicle travels to the intersection.
The matching module 804 is configured to match the lane identifier with a pre-stored reference identifier, and determine a first lane according to a matching result.
The connection line determining module 806 is configured to determine a connection line between the current lane and the first lane according to the position of the current lane and the position of the first lane.
A positioning module 808 for positioning the vehicle onto the connection line as the vehicle passes through the intersection.
According to the vehicle positioning device, when a vehicle runs to a crossing, the lane mark of the current lane of the vehicle is obtained through the camera; the lane identification is matched with a prestored reference identification, and a first lane can be determined according to a matching result, namely, a first lane which is driven by a vehicle after passing through an intersection can be predicted and obtained through the lane identification of the current lane; determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane, wherein the connecting line can represent a track of a vehicle passing through the intersection; when the vehicle passes through the intersection, the vehicle is positioned on the connecting line, so that the vehicle can be positioned more accurately. In addition, a smoother connecting line can be determined according to the position of the current lane and the position of the first lane, so that the track of the vehicle is smoother when the vehicle passes through the intersection.
In one embodiment, the positioning module 808 is further configured to obtain the priority of each first lane when the number of first lanes is at least two; a second lane is determined from each first lane based on the priority of each first lane. Positioning a vehicle onto a connection line as the vehicle passes through an intersection, comprising: when the vehicle passes through the intersection, the vehicle is positioned on a connecting line of the current lane and the second lane.
In one embodiment, the connection determining module 806 is further configured to determine at least two anchor points according to the position of the current lane and the position of the first lane; and determining the connecting line of the current lane and the first lane through at least two anchor points.
In one embodiment, the positioning module 808 is further configured to obtain a reference lane of the vehicle in the vehicle positioning system and a reference lane identifier of the reference lane; when the reference lane identification is different from the lane identification of the current lane, the vehicle is positioned onto the current lane in the vehicle positioning system.
In one embodiment, the positioning module 808 is further configured to obtain, through a camera, a type of line in front of the vehicle after the vehicle passes through the intersection; determining a third lane of the vehicle based on the type of each lane; when the first lane is different from the third lane, the vehicle is positioned onto the third lane.
In one embodiment, the positioning module 808 is further configured to determine a first location of the vehicle in the vehicle positioning system in real time; determining a second distance between a vehicle in a vehicle positioning system and a target line of an intersection according to a first position of the vehicle in the vehicle positioning system; when the second distance is smaller than or equal to the first threshold value, road information in front of the vehicle is obtained in real time through the camera; the road information includes a first distance between the vehicle and a target line of an intersection; when the first distance is different from the second distance, a first position of the vehicle in the vehicle positioning system is corrected based on the first distance.
In one embodiment, the positioning module 808 is further configured to obtain, through a camera, a type of each lane in front of the vehicle after the vehicle passes through the intersection; determining a third lane of the vehicle based on the type of each lane; when the first lane is different from the third lane, the vehicle is positioned onto the third lane.
In one embodiment, the positioning module 808 is further configured to count the number of times the third lane is different from the target lane when the first lane is different from the third lane; and when the number of times reaches the number of times threshold, positioning the vehicle on a third lane.
For specific limitations on the vehicle positioning device, reference may be made to the above limitations on the vehicle positioning method, and no further description is given here. The various modules in the vehicle locating apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle positioning method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by persons skilled in the art that the architecture shown in fig. 9 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements are applicable, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory having a computer program stored therein and a processor that when executing the computer program performs the steps of the vehicle positioning method described above.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, implements the steps of the vehicle positioning method described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A vehicle positioning method, the method comprising:
when a vehicle runs to a crossing, acquiring a lane mark of a current lane on which the vehicle runs through a camera;
matching the lane mark with a prestored reference mark, and taking a lane corresponding to the successfully matched reference mark as a first lane; the first lane refers to a lane where the vehicle guided by the lane identifier of the current lane runs after passing through the intersection;
Determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane; the connecting line refers to a predicted track of the vehicle from the current lane to the first lane;
positioning the vehicle to a connecting line of the current lane and the first lane when the vehicle passes through the intersection and the number of the first lanes is one;
when the number of the first lanes is at least two, acquiring the priority of each first lane; determining a first lane with highest priority from the first lanes as a second lane; and when the vehicle passes through the intersection and the number of the first lanes is at least two, positioning the vehicle to the connecting line of the current lane and the second lane.
2. The method of claim 1, wherein the determining a junction of the current lane and the first lane based on the location of the current lane and the location of the first lane comprises:
determining at least two anchor points according to the position of the current lane and the position of the first lane;
And determining the connecting line of the current lane and the first lane through the at least two anchor points.
3. The method according to claim 1, wherein after the obtaining, by the camera, the lane identification of the current lane in which the vehicle is traveling when the vehicle is traveling to the intersection, further comprising:
acquiring a reference lane of the vehicle in a vehicle positioning system and a reference lane mark of the reference lane;
and when the reference lane identification is different from the lane identification of the current lane, positioning the vehicle on the current lane in a vehicle positioning system.
4. The method according to claim 1, wherein the method further comprises:
after the vehicle passes through the intersection, acquiring the type of each lane in front of the vehicle through the camera;
determining a third lane of the vehicle based on the type of each lane;
positioning the vehicle onto the third lane when the first lane is different from the third lane or the second lane is different from the third lane.
5. The method of claim 1, wherein the step of obtaining, by a camera, a lane identification of a current lane in which the vehicle is traveling when the vehicle is traveling to a crossing, further comprises:
Determining a first position of a vehicle in a vehicle positioning system in real time;
determining a second distance between a vehicle in a vehicle positioning system and a target line of an intersection according to a first position of the vehicle in the vehicle positioning system;
when the second distance is smaller than or equal to the first threshold value, road information in front of the vehicle is obtained in real time through the camera; the road information includes a first distance between the vehicle and a target line of an intersection; correcting a first position of a vehicle in the vehicle positioning system based on the first distance when the first distance is different from the second distance.
6. The method of claim 5, wherein the method further comprises:
after the vehicle passes through the intersection, acquiring the type of each lane in front of the vehicle through the camera;
determining a third lane of the vehicle based on the type of each lane;
positioning the vehicle onto the third lane when the first lane is different from the third lane or the second lane is different from the third lane.
7. The method of claim 4 or 6, wherein positioning the vehicle onto the third lane when the first lane is different from the third lane or the second lane is different from the third lane comprises:
Counting the number of times that the third lane is different from the first lane or the number of times that the second lane is different from the third lane when the first lane is different from the third lane or the second lane is different from the third lane;
and positioning the vehicle to the third lane when the number of times reaches a number of times threshold.
8. A vehicle positioning device, the device comprising:
the lane identification acquisition module is used for acquiring a lane identification of a current lane of the vehicle through a camera when the vehicle runs to a crossing;
the matching module is used for matching the lane identifier with a prestored reference identifier, and taking a lane corresponding to the successfully matched reference identifier as a first lane; the first lane refers to a lane where the vehicle guided by the lane identifier of the current lane runs after passing through the intersection;
the connecting line determining module is used for determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane; the connecting line refers to a predicted track of the vehicle from the current lane to the first lane;
The positioning module is used for positioning the vehicle to a connecting line of the current lane and the first lane when the vehicle passes through the intersection and the number of the first lanes is one; when the number of the first lanes is at least two, acquiring the priority of each first lane; determining a first lane with highest priority from the first lanes as a second lane; and when the vehicle passes through the intersection and the number of the first lanes is at least two, positioning the vehicle to the connecting line of the current lane and the second lane.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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