CN109785667B - Lane departure recognition method, apparatus, device, and storage medium - Google Patents
Lane departure recognition method, apparatus, device, and storage medium Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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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
- G01C21/28—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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- 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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The embodiment of the invention discloses a lane departure identification method, a lane departure identification device, lane departure identification equipment and a storage medium, wherein the lane departure identification method comprises the following steps: determining a target driving line of the vehicle according to the map data, the target navigation data and the vehicle positioning data; determining a predicted lane line according to the incidence relation between the driving line and the lane line based on the target driving line, wherein the incidence relation is determined by fitting the historical actual-measured lane line and the historical driving line; and determining lane departure information of the vehicle according to the current vehicle position and the predicted lane line. According to the technical scheme of the embodiment of the invention, the lane departure information is determined through the map data, the target navigation data and the vehicle positioning data, the dependence of the lane departure information generation process on the image recognition technology is reduced, and the potential safety hazard of vehicle driving can be reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent driving, in particular to a lane departure recognition method, a lane departure recognition device, lane departure recognition equipment and a storage medium.
Background
With the advent of the 5G era, the automatic driving technology is inevitably rapidly developed, and lane departure determination, which is an important function in the field of automatic driving, is a hot spot of research in the industry.
In the prior art, in order to realize lane departure determination, a positioning technology is often used to identify a vehicle position, and then an actual lane where the vehicle is located is determined based on an image recognition technology to determine whether the vehicle departs from a current lane. On the basis, the vehicle offset is predicted by using data such as the vehicle speed and the steering wheel angle, and the vehicle is warned of the lane departure.
However, in the above solution, when the lane departure determination is performed, the lane line needs to be identified, and due to weather or road conditions, when the lane line cannot be identified, it is difficult to generate lane departure information, and a lane departure warning cannot be issued in time, so that there is a potential safety hazard in vehicle driving.
Disclosure of Invention
The embodiment of the invention provides a lane departure recognition method, a lane departure recognition device, lane departure recognition equipment and a storage medium, which are used for reducing the dependency of a lane departure information generation process on lane line image recognition and improving the safety of an intelligent driving technology.
In a first aspect, an embodiment of the present invention provides a lane departure recognition method, including:
determining a target driving line of the vehicle according to the map data, the target navigation data and the vehicle positioning data;
determining a predicted lane line according to the incidence relation between the driving line and the lane line based on the target driving line, wherein the incidence relation is determined by fitting the historical actual-measured lane line and the historical driving line;
and determining lane departure information of the vehicle according to the current vehicle position and the predicted lane line.
In a second aspect, an embodiment of the present invention further provides a lane departure recognition apparatus, including:
the driving line determining module is used for determining a target driving line of the vehicle according to the map data, the target navigation data and the vehicle positioning data;
the prediction module is used for determining a predicted lane line according to the incidence relation between the driving line and the lane line based on the target driving line, wherein the incidence relation is determined by fitting the historical measured lane line and the historical driving line;
and the early warning module is used for determining lane departure information of the vehicle according to the current vehicle position and the predicted lane line.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the lane departure recognition method according to any one of the embodiments of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the lane departure recognition method according to any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, the target driving line of the vehicle is determined by using the map data, the target navigation data and the vehicle data, the predicted lane line is determined by using the correlation between the driving line and the lane line of the target driving line, and the lane departure information of the vehicle is determined by using the current vehicle position and the predicted lane line, so that the generation process of the lane departure information does not need to identify the image of the lane line, the generation failure of the lane departure information caused by the fact that the lane line cannot be identified is prevented, and the driving safety of the vehicle is enhanced.
Drawings
Fig. 1 is a flowchart of a lane departure recognition method according to an embodiment of the present invention;
fig. 2 is a flowchart of a lane departure recognition method according to a second embodiment of the present invention;
FIG. 3 is a schematic illustration of an offset distance improvement of the second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a lane departure recognition apparatus according to a third embodiment of the present invention;
fig. 5 is a functional block diagram of a lane departure recognition apparatus according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of a lane departure recognition method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle using an intelligent driving technology recognizes a lane departure, and the method may be executed by a lane departure recognition apparatus, which may be implemented in a hardware and/or software manner and may be generally integrated in a control system of an intelligent driving vehicle, and referring to fig. 1, the method according to an embodiment of the present invention includes:
The map data can be data which is stored in a digital form and used for representing geographic position relation, and can comprise traffic map data, geographic map data and the like, and the specific form of the map data can be a map database, can be stored in a cloud server or a vehicle local place, can be a high-precision map, and can also be a common map; the target navigation data can be relevant information for representing a vehicle destination, and can comprise longitude and latitude, doorplate number and other information of the destination, or other data capable of reflecting the final driving destination or the driving destination of the next stage of the vehicle; the vehicle positioning data may be vehicle position data determined by a positioning technology, and may include current position data of a vehicle and historical position data of the vehicle, the vehicle positioning data may be a set of vehicle positioning data in a period of time, and the vehicle positioning data may be acquired by an existing vehicle positioning technology, for example, laser radar positioning, satellite positioning, mobile base station positioning, and the like; the target travel line is a line that is calculated based on the vehicle navigation data to determine a predicted travel route of the vehicle, can be accurate to the order of the number of travel lanes of the vehicle, is negligible in width compared to the lanes, and can be considered to be composed of specific coordinate points in the travel lanes.
Specifically, the vehicle positioning data may be acquired by using an existing positioning technology, the vehicle positioning data may be used as a starting point and the target navigation data may be used as an ending point in combination with the map data, a position point may be randomly selected, and a target driving line of the vehicle may be determined based on the position point. The manner of selecting the location point may be selected from the map data. The position accuracy of different map data is different, and the modes of representing the position interest points such as roads and buildings are also different. For example, a straight road in a vector map is typically characterized by a plurality of latitude and longitude coordinate points along the line that fall within the confines of the actual road. The coordinate points are used as position points, which may be center lines of roads or edge lines, and are generally distributed at preset intervals. For a particular location, such as an intersection, a curved road, etc., the road is typically characterized by a plurality of maneuver points, such as center points, curb cross-lights, curved road-following points, etc. The position points can be all or part of coordinate points in a straight road, and can also be part or all maneuvering points in a special road such as a curved road. And then determining a target driving line by position point calculation. It is understood that the vehicle positioning data may change in real time as the vehicle travels, and the target travel line may also change as the vehicle travel line changes.
And 102, determining a predicted lane line according to the incidence relation between the driving line and the lane line based on the target driving line, wherein the incidence relation is determined by fitting the historical measured lane line and the historical driving line.
The driving line can be an estimated route of the vehicle and can be determined by the vehicle positioning data; the lane line may be a road traffic marking line drawn by a dotted line or a solid line in the road surface for guiding the vehicle to run, and may be measured by a camera or a sensor, and the association relationship may be a relationship between an actual running route of the vehicle and the lane line, and may include a relationship such as a distance relationship and a position relationship, for example; parallel relation, intersection relation, and the like, and the association relation represents the continuous position relation between the driving line and the lane line. When the lane line cannot be acquired through the image recognition mode, the lane line can be acquired in a prediction mode. The predicted lane line may be a lane line predicted according to the association relationship; the historical measured lane line may be a lane line determined by an image recognition technology during the driving of the vehicle, for example, the identified lane line may be stored as the historical measured lane line during the historical driving of the vehicle in which the vehicle can identify the lane line; the historical driving route may be a trajectory line formed by the position points of the navigation route calculated and determined in the aforementioned manner.
Specifically, the correlation between the travel line and the lane line may be expressed as a functional relationship, and the position of the predicted lane line may be inversely derived based on the data of the target travel line and the known correlation.
And 103, determining lane departure information of the vehicle according to the current vehicle position and the predicted lane line.
The lane departure information may be information used for representing whether the vehicle departs from a lane, and may include information such as a distance from the vehicle to a lane line and a time for the vehicle to reach the lane line; the current vehicle position may be a vehicle position at which the vehicle performs lane departure recognition, and may be obtained by a positioning technique.
Specifically, the calculation may be performed based on the position of the current vehicle and the predicted lane line, the relationship between the position of the current vehicle and the predicted lane line may be determined, and the determined relationship may be used as the lane departure information of the vehicle, for example, the position of the current vehicle is outside the predicted lane line, and then the lane departure information may already depart from the lane. Further, on the basis of the above embodiment, the determined lane departure information may be prompted to the driver of the vehicle in a voice or graphic manner or the vehicle may be operated in an auxiliary manner according to the lane departure information, so as to increase the safety guarantee of the vehicle driving and further enhance the safety of the vehicle.
According to the technical scheme of the embodiment of the invention, a target driving line of a vehicle is determined through map data, target navigation data and vehicle data, a predicted lane line is determined according to the incidence relation between the driving line and the lane line based on the target driving line, and lane departure information of the vehicle is determined according to the relation between the current vehicle position and the predicted lane line; the method has the advantages that the lane departure is identified by utilizing a positioning technology, the dependence on the lane line graph identification is reduced, the failure of lane departure identification caused by the fact that the lane line cannot be identified is prevented, and the potential safety hazard of vehicle driving can be reduced.
Optionally, on the basis of the above embodiment, before determining the predicted lane line according to the association relationship between the driving line and the lane line based on the target driving line, the method further includes:
acquiring a current vehicle position, a historical actual measurement lane line and a historical driving line; determining a first relationship between the current vehicle position and a historical measured lane line and a second relationship between the current vehicle position and a historical driving line; and fitting based on the first relation and the second relation to generate an association relation between the driving line and the lane line.
The first relation may be a relation for representing a current vehicle position and a historical measured lane line position, and may be a distance value or a direction vector, and the second relation may be a relation for representing a current vehicle position and a historical driving line position, and may be a distance value or a direction vector, and the like.
Specifically, in the driving process where the lane line can be identified by an image, the current vehicle position may be obtained by a positioning technique, the actual measurement lane line and the current driving line may be obtained, and the first relationship between the current vehicle position and the actual measurement lane line and the second relationship between the current vehicle position and the driving line may be calculated, where the calculation may include making tangent lines to the historical actual measurement lane line and the historical driving line through the current vehicle position, respectively, and taking the corresponding tangent line lengths as the first relationship and the second relationship, respectively, and may also calculate the closest distance between the current vehicle position and the historical actual measurement lane line and the historical driving line as the first relationship and the second relationship, and the association relationship between the driving line and the lane line may be generated by a fitting manner using the calculated first relationship and the calculated second relationship, it may be understood that the manner of generating the association relationship between the driving line and the lane line by the first relationship and the second relationship is not limited to the fitting manner, a gradient descending manner may also be used, for example, a functional relationship corresponding to the association relationship, and the first relationship and the second relationship are used as parameters of gradient descending to gradually modify the function corresponding to the association relationship until a functional relationship corresponding to the association relationship meeting the requirement, that is, the association relationship meeting the requirement, is obtained.
The process of determining the association relationship can be completed in the process of image recognition of the lane line, and function updating is continuously performed. When the situation that the lane line cannot be identified by the image appears in the driving process, the mode of estimating the position of the lane line by using the association relation is used. The two modes may alternate.
Example two
Fig. 2 is a flowchart of a lane departure recognition method according to a second embodiment of the present invention, which is embodied on the basis of the second embodiment, and correspondingly, referring to fig. 2, the method according to the second embodiment of the present invention includes:
and step 201, generating a standard navigation route by taking the vehicle positioning data and the target navigation data as a starting point and an end point respectively.
The standard navigation route may be a navigation route determined based on an existing accuracy level of the map data, for example, the current map data may be accurate to a road, and the standard navigation route may be a navigation route with the accuracy of the road.
Specifically, the existing method for generating the navigation route may be used to generate the navigation route from the vehicle positioning data and the target navigation data as the starting point and the ending point, respectively, which are marked as the standard navigation route.
The position point may be coordinate data for indicating a position in the map data, and the position point may be coordinate data of an interior of a road in the map data, including a center point and an edge point of the road, and the like.
Specifically, the position points belonging to the inside of the road may be selected from the map data based on the standard navigation route.
And step 203, performing interpolation fitting on each position point to determine a target driving line of the vehicle.
Specifically, if the position points are usually spaced at a large interval, interpolation fitting may be performed on the selected position points, and a function generated by fitting may be used as a target driving line of the vehicle, so as to improve the accuracy of the target driving line and the density of the continuous points.
And step 204, acquiring the current vehicle position, the actually measured lane line and the driving line.
And step 205, calculating the lane central line according to the actually measured lane line.
The lane center line may be a connection line used for representing the position of the lane line, and may be determined according to the actually measured lane center point.
Specifically, the center points corresponding to the actual measurement lane lines can be calculated according to the actual measurement lane lines, and the center lines of the lanes can be obtained by fitting and calculating the center points.
And step 206, calculating the transverse distance between the vehicle positioning data and the center line of the lane, and recording the transverse distance as a first relation.
Fig. 3 is a schematic diagram of an offset distance according to a second embodiment of the present invention, referring to fig. 3, wherein the lane center line 22 may be a line formed by midpoints of the lane lines 21, and the lateral distance 23 may be a lateral distance between the vehicle and the lane center line 22.
Specifically, the current position of the vehicle may be determined from the vehicle positioning data, the lateral distance between the current position and the lane center line 22 may be calculated, and the calculated lateral distance may be used as the first relationship.
And step 207, calculating the transverse distance between the vehicle positioning data and the driving line, and recording the transverse distance as a second relation.
Specifically, the current position of the vehicle may be determined according to the vehicle positioning data, the lateral distance between the position and the driving line may be calculated, and the calculated lateral distance may be used as the second relationship.
And step 208, fitting is carried out based on the first relation and the second relation so as to generate an association relation between the driving line and the lane line.
Optionally, on the basis of the above embodiment, the association relationship may be a first-order function or a second-order function, and of course, the association relationship may also determine a high-order function according to a relationship between actual lines.
Specifically, the association relationship may be y ═ x + b, and the association function may be y ═ ax + b for correcting the error of the predicted lane line, or may be a quadratic function, for example, y ═ ax2+ bx + c, may be in the fittingAnd generating the incidence relation in the form of a quadratic function by using a quadratic function fitting formula.
And 209, determining the current second relationship according to the current vehicle position and the target driving line.
The current second relationship may be a relationship between the current vehicle and the target driving line when the vehicle performs lane departure recognition, and may include a distance relationship, a position relationship, and the like.
Specifically, the lateral distance may be calculated from the position where the current vehicle is located when lane departure recognition is performed and the target travel line, and the lateral distance may be used as the current second relationship.
And 210, substituting the current second relation into the incidence relation to determine a current first relation.
Specifically, the calculated lateral distance between the current vehicle position and the target travel line may be substituted into the association relationship to calculate the lateral distance between the predicted lane line and the current vehicle position as the first relationship.
And step 211, determining a predicted lane line according to the current vehicle position and the current first relation.
Specifically, the position of the predicted lane line can be obtained by combining the reverse thrust of the current vehicle position on the basis of the lateral distance between the predicted lane line and the current vehicle position, and the determination of the predicted lane line is realized.
And step 212, acquiring an early warning threshold value of the vehicle.
The early warning threshold value may be a minimum value representing a departure of the vehicle from the lane, and may be a value related to a lane width or a value set in advance.
Specifically, the average value of the lane width can be calculated according to the historical actual measurement lane lines, and half of the average value of the lane width can be used as the early warning threshold value, so that the early warning threshold value is updated in real time along with the running of the vehicle, and lane departure can be accurately identified conveniently in the running process of the vehicle.
Wherein the offset distance may be a lateral distance of the current vehicle position from the predicted lane line.
Specifically, the lateral distance between the current vehicle position and the predicted lane line when the vehicle performs lane departure recognition may be calculated, and the lateral distance may be used as the offset distance between the current vehicle position and the predicted lane line.
And 214, if the offset distance is larger than the early warning threshold value, determining that the vehicle deviates from the lane.
Specifically, the offset distance may be compared with an early warning threshold, and if the offset distance is greater than the early warning threshold, it may be determined that the vehicle deviates from the lane; if the offset distance is less than or equal to the early warning threshold, it may be determined that the vehicle is still traveling in the lane.
Optionally, on the basis of the foregoing embodiment, after determining the lane departure information of the vehicle according to the current vehicle position and the predicted lane line, the method further includes:
and acquiring the vehicle running speed and the steering wheel angle of the vehicle, and performing lane departure early warning according to the vehicle running speed, the steering wheel angle and the lane departure information.
Specifically, the vehicle running speed and the steering wheel angle of the vehicle may be acquired, and the lane departure may be early-warned by using the lane departure information calculated in the above embodiment, for example, the time when the vehicle exits the lane may be calculated according to the offset distance between the current vehicle position and the predicted lane line under the precondition of the current vehicle running speed and the steering wheel angle, and the vehicle may be early-warned for departure according to the time when the vehicle exits the lane.
The technical scheme includes that a standard navigation route is determined through vehicle positioning data and target navigation data, position points are selected based on map data and the standard navigation route, interpolation fitting is conducted on the position points to generate a target driving line with higher precision, the vehicle positioning data, a historical actual measurement lane line and a historical driving line are used for determining the transverse distances between the vehicle positioning data and the historical actual measurement lane line and the historical driving line respectively, an association relation is determined through the transverse distances, a current second relation is obtained through calculation according to the current vehicle position and the target driving line, a predicted lane line is determined through the current second relation and the association relation, the offset distance between the current vehicle position and the predicted lane line is calculated, and if the offset distance is larger than an early warning threshold value, the vehicle is determined to deviate from a lane; the method has the advantages that the high-precision target driving line is determined by utilizing the existing map data, the cost of lane departure recognition is reduced, the incidence relation is determined by utilizing the current vehicle position, the transverse distance between the historical actual measurement lane line and the historical driving line, the calculation complexity is low, the delay of lane departure recognition can be reduced, and the driving safety of the vehicle is further improved.
Optionally, on the basis of the foregoing embodiment, selecting a location point in the map data along the standard navigation route includes: dividing roads corresponding to the standard navigation route into navigation road sections according to map data; determining the road state of the navigation road section according to the map data; and if the road state is a straight road, selecting position points with linear threshold quantity in the corresponding navigation road section, otherwise, selecting maneuvering points with non-linear threshold quantity in the corresponding navigation road section and recording the maneuvering points as the position points.
The navigation road section can be a road corresponding to a standard navigation route divided into road sections; the road state may be a road state determined from the map data, and may include a straight road, a curve, an intersection, and the like; the threshold number of straight lines may be a threshold number of locations points selected from the map data on a straight line, and the threshold number of non-straight lines may be a threshold number of locations points selected from the map data on a non-straight line.
Specifically, the road corresponding to the standard navigation route may be divided into navigation segments according to the map data, and it may be determined whether each navigation segment is a straight road, if the navigation segment is a straight road, a smaller number of location points may be obtained in the corresponding navigation segment, if the navigation segment is not a straight road, a larger number of location points may be obtained in the corresponding navigation segment, and a location point in the navigation segment not corresponding to a straight road may be marked as a maneuvering point.
Optionally, before determining the target driving line of the vehicle according to the map data, the target navigation data and the vehicle positioning data, the method further includes: determining the road state of a road within a preset distance in front of the vehicle according to the map data; and if the road state is a non-linear road, stopping lane departure recognition.
Specifically, before the lane departure recognition is performed on the vehicle, whether the front of the vehicle is a straight road or not can be determined according to the map data, if the front of the vehicle is not a straight road, the lane departure recognition can be no longer performed on the vehicle, optionally, when the distance between the current vehicle position and a maneuvering point in the target driving line is less than a set distance, the lane departure recognition is no longer performed, for example, when the distance between the vehicle and an intersection is less than 30 meters, the vehicle is no longer subjected to the lane departure recognition, so that the vehicle is not subjected to the lane departure recognition in the non-straight road, and the lane departure recognition error caused by the inaccuracy of the lane line of the non-straight road is avoided.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a lane departure recognition apparatus provided in the third embodiment of the present invention, which is capable of aligning the lane departure recognition method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. The device can be implemented by software and/or hardware, and specifically comprises: a driving line determination module 301, a prediction module 302 and an early warning module 303.
The driving line determining module 301 is configured to determine a target driving line of a vehicle according to map data, target navigation data, and vehicle positioning data;
the prediction module 302 is configured to determine a predicted lane line according to an association relationship between a driving line and a lane line based on the target driving line, where the association relationship is determined by fitting a historical measured lane line and a historical driving line;
and the early warning module 303 is configured to determine lane departure information of the vehicle according to the current vehicle position and the predicted lane line.
According to the technical scheme of the embodiment of the invention, the target form line of the vehicle is determined by using the map data, the target navigation data and the vehicle data through the driving line determining module, the prediction module determines the predicted lane line by using the incidence relation between the driving line and the lane line based on the target driving line, and the early warning module determines the lane departure information of the vehicle according to the current vehicle position and the predicted lane line, so that the lane departure information is generated without image recognition of the lane line, the generation error of the lane departure information caused by the fact that the lane line cannot be recognized is prevented, the driving safety of the vehicle is improved, and the potential safety hazard of the vehicle is reduced.
On the basis of the above embodiment, the driving line determining module 301 specifically includes:
and the standard navigation unit is used for generating a standard navigation route by taking the vehicle positioning data and the target navigation data as a starting point and an end point respectively.
And the position point selecting unit is used for selecting position points in the map data along the standard navigation route.
And the fitting unit is used for performing interpolation fitting on each position point to determine a target driving line of the vehicle.
On the basis of the above embodiment, the location point selecting unit specifically includes:
and the dividing subunit is used for dividing the road corresponding to the standard navigation route into navigation road sections according to the map data.
And the state determining subunit is used for determining the road state of the navigation road section according to the map data.
And the selecting subunit is used for selecting the position points with the linear threshold quantity in the corresponding navigation section if the road state is a linear road, or selecting the maneuvering points with the non-linear threshold quantity in the corresponding navigation section and recording the maneuvering points as the position points.
On the basis of the above embodiment, the lane departure recognition apparatus further includes:
and the parameter acquisition module is used for acquiring the current vehicle position, the historical actual measurement lane line and the historical driving line.
A relationship determination module to determine a first relationship between the current vehicle position and a historical measured lane line and a second relationship between the current vehicle position and a historical driving line.
And the incidence relation module is used for fitting based on the first relation and the second relation to generate the incidence relation between the driving line and the lane line.
On the basis of the above embodiment, the correlation is a linear function or a quadratic function.
On the basis of the above embodiment, the relationship determining module specifically includes:
and the central line unit is used for calculating the central line of the lane according to the historical actual measurement lane line.
And the first relation unit is used for calculating the transverse distance between the vehicle positioning data and the center line of the lane and recording the transverse distance as a first relation.
And the second relation unit is used for calculating the transverse distance between the vehicle positioning data and the historical driving line and recording the transverse distance as a second relation.
On the basis of the foregoing embodiment, the prediction module 302 specifically includes:
and the relation calculation unit is used for determining a current second relation according to the current vehicle position and the target driving line.
And the relationship determining unit is used for substituting the current second relationship into the incidence relationship to determine a current first relationship.
And the predicted lane line unit is used for determining a predicted lane line according to the current vehicle position and the current first relation.
On the basis of the above embodiment, the early warning module 303 specifically includes:
and the early warning threshold unit is used for acquiring the early warning threshold of the vehicle.
And the offset distance unit is used for calculating the offset distance between the current vehicle position and the predicted lane line.
And the early warning unit is used for determining that the vehicle deviates from the lane if the offset distance is greater than the early warning threshold value.
On the basis of the above embodiment, the lane departure recognition apparatus further includes:
and the state determining module is used for determining the road state of the road within the preset distance in front of the vehicle according to the map data.
And the stopping module is used for stopping lane departure recognition if the road state is a nonlinear road.
On the basis of the above embodiment, the lane departure recognition apparatus further includes:
and the second early warning module is used for acquiring the vehicle running speed and the steering wheel angle of the vehicle and carrying out lane departure early warning according to the vehicle running speed, the steering wheel angle and the lane departure information.
For example, fig. 5 is a functional block diagram of a lane departure recognition apparatus according to a third embodiment of the present invention; referring to fig. 5, the lane departure recognition apparatus provided in the embodiment of the present invention may include lane line recognition 501, fusion location 502, lateral distance 503, maneuver point information 504, the system comprises a target driving line 505, a voice prompt 506 and a visual prompt 507, a camera sends the acquired lane line to a lane line recognition 501, a steering wheel corner sensor, a vehicle speed sensor and inertial navigation send the acquired number to a fusion positioning 502, the fusion positioning 502 performs fusion positioning according to the acquired data and then sends the current vehicle position to a transverse distance 203, the lane line recognition 501 sends the recognition result to a transverse distance 503, a motor point information 504 and a target driving line 505 send the target driving line to the transverse distance 503, the transverse distance 503 calculates the transverse distance according to the received current vehicle position, the target driving line and the historical measured lane line, and lane deviation information is sent to the voice prompt 506 and the visual prompt 507.
The device can execute the method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, reference may be made to the method provided in any embodiment of the present invention.
Example four
Fig. 6 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention, as shown in fig. 6, the apparatus includes a processor 60, a memory 61, an input device 62, and an output device 63; the number of processors 60 in the device may be one or more, and one processor 60 is taken as an example in fig. 6; the processor 60, the memory 61, the input device 62 and the output device 63 in the apparatus may be connected by a bus or other means, as exemplified by the bus connection in fig. 6. The apparatus provided in this embodiment is preferably a controller or control system configured in a smart driving vehicle.
The memory 61, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program modules corresponding to the lane departure recognition method in the embodiment of the present invention (for example, the driving line determination module 301, the prediction module 302, and the warning module 303 in the lane departure recognition apparatus). The processor 60 executes various functional applications of the apparatus and data processing, i.e., implements the lane departure recognition method described above, by running software programs, instructions, and modules stored in the memory 61.
The memory 61 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 61 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 61 may further include memory located remotely from the processor 60, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 62 may be used to receive entered numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 63 may include a display device such as a display screen.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a lane departure recognition method, the method including:
determining a target driving line of the vehicle according to the map data, the target navigation data and the vehicle positioning data;
determining a predicted lane line according to the incidence relation between the driving line and the lane line based on the target driving line, wherein the incidence relation is determined by fitting the historical actual-measured lane line and the historical driving line;
and determining lane departure information of the vehicle according to the current vehicle position and the predicted lane line.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the lane departure recognition method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the lane departure recognition apparatus, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A lane departure recognition method, comprising:
selecting a position point by taking the current position data as a starting point and the target navigation data as a terminal point in the map data to determine a target driving line of the vehicle;
determining a predicted lane line according to the association relationship between the driving line and the lane line based on the target driving line, wherein the association relationship is determined by fitting the historical actual measurement lane line of the vehicle and the historical driving line, and the process of determining the association relationship is completed in the process of recognizing the lane line through the image;
determining lane departure information of the vehicle according to the position relation between the current vehicle position and the predicted lane line;
wherein the selecting a location point to determine a target driving line of the vehicle using the current location data as a starting point and the target navigation data as an ending point in the map data comprises:
respectively taking the current position data and the target navigation data as a starting point and an end point to generate a standard navigation route; selecting location points in the map data along the standard navigation route; and performing interpolation fitting on each position point to determine a target driving line of the vehicle.
2. The method of claim 1, wherein said selecting location points in said map data along said standard navigation route comprises:
dividing roads corresponding to the standard navigation route into navigation road sections according to map data;
determining the road state of the navigation road section according to the map data;
and if the road state is a straight road, selecting position points with linear threshold quantity in the corresponding navigation road section, otherwise, selecting maneuvering points with non-linear threshold quantity in the corresponding navigation road section and recording the maneuvering points as the position points.
3. The method according to claim 1, wherein before determining the predicted lane line in accordance with the correlation between the travel line and the lane line based on the target travel line, further comprising:
acquiring a current vehicle position, a historical actual measurement lane line and a historical driving line;
determining a first relationship between the current vehicle position and a historical measured lane line and a second relationship between the current vehicle position and a historical driving line;
and fitting based on the first relation and the second relation to generate an association relation between the driving line and the lane line.
4. The method of claim 3, wherein determining a first relationship between the current vehicle position and a historical measured lane line and a second relationship between the current vehicle position and a historical driving line comprises:
calculating lane center lines according to the historical actual measurement lane lines;
calculating the transverse distance between the vehicle positioning data and the center line of the lane, and recording as a first relation;
and calculating the transverse distance between the vehicle positioning data and the historical driving line and recording the transverse distance as a second relation.
5. The method of claim 4, wherein the correlation is a linear function or a quadratic function.
6. The method according to claim 4, wherein the determining a predicted lane line according to the association relationship between the driving line and the lane line based on the target driving line comprises:
determining a current second relation according to the current vehicle position and a target driving line;
substituting the current second relation into the incidence relation to determine a current first relation;
and determining a predicted lane line according to the current vehicle position and the current first relation.
7. The method of claim 1, wherein determining lane departure information for the vehicle based on the positional relationship of the current vehicle position to the predicted lane line comprises:
acquiring an early warning threshold value of the vehicle;
calculating an offset distance between the current vehicle position and the predicted lane line;
and if the offset distance is greater than the early warning threshold value, determining that the vehicle deviates from the lane.
8. The method of claim 1, further comprising, prior to said selecting a location point in the map data starting with the vehicle positioning data and ending with the target navigation data to determine the target lane of the vehicle:
determining the road state of a road within a preset distance in front of the vehicle according to the map data;
and if the road state is a non-linear road, stopping lane departure recognition.
9. The method according to any one of claims 1-8, further comprising, after said determining lane departure information for the vehicle based on the positional relationship of the current vehicle position to the predicted lane line:
and acquiring the vehicle running speed and the steering wheel angle of the vehicle, and performing lane departure early warning according to the vehicle running speed, the steering wheel angle and the lane departure information.
10. A lane departure recognition apparatus, comprising:
the driving line determining module is used for selecting a position point by taking the current position data as a starting point and the target navigation data as a terminal point in the map data so as to determine a target driving line of the vehicle;
the prediction module is used for determining a predicted lane line according to the incidence relation between the driving line and the lane line based on the target driving line, wherein the incidence relation is determined by fitting the historical actual measurement lane line of the vehicle and the historical driving line, the process of determining the incidence relation is completed in the process of recognizing the lane line through the image;
the early warning module is used for determining lane departure information of the vehicle according to the position relation between the current vehicle position and the predicted lane line;
the driving line determining module specifically comprises: the standard navigation unit is used for generating a standard navigation route by respectively taking the current position data and the target navigation data as a starting point and an end point; a position point selecting unit for selecting a position point in the map data along the standard navigation route; and the fitting unit is used for performing interpolation fitting on each position point to determine a target driving line of the vehicle.
11. A vehicle control apparatus, characterized by comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the lane departure recognition method of any of claims 1-9.
12. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out a lane departure recognition method according to any one of claims 1-9.
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| CN202110970102.6A CN113538919B (en) | 2019-03-11 | 2019-03-11 | Lane departure recognition method, device, equipment and storage medium |
| CN201910179797.9A CN109785667B (en) | 2019-03-11 | 2019-03-11 | Lane departure recognition method, apparatus, device, and storage medium |
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