CN110967026A - Lane line fitting method and system - Google Patents
Lane line fitting method and system Download PDFInfo
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- CN110967026A CN110967026A CN201811154078.3A CN201811154078A CN110967026A CN 110967026 A CN110967026 A CN 110967026A CN 201811154078 A CN201811154078 A CN 201811154078A CN 110967026 A CN110967026 A CN 110967026A
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- 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
- G01C21/30—Map- or contour-matching
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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
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Abstract
The invention relates to the field of intelligent transportation and provides a lane line fitting method and system. The lane line fitting method comprises the following steps: obtaining map information and navigation information aiming at the current position of the vehicle, wherein the map information comprises road types, lane number, road width, road characteristic points, and line points and lane widths of lane lines on two sides of the vehicle; determining the actual road working condition of the vehicle according to the map information and/or the navigation information, and correspondingly determining the lane line fitting state triggered by the actual road working condition; determining a lane line deviation reference according with the fitting state of the lane line by combining map information and navigation information; generating a plurality of lane lines of the host vehicle based on the lane line offset reference offset; and performing curve fitting on the generated set of line points on the plurality of lane lines to obtain a corresponding lane line equation. The lane line fitting method solves the problems of numerous and relatively complex lane lines extracted in the prior art.
Description
Technical Field
The invention relates to the field of intelligent traffic, in particular to a lane line fitting method and system.
Background
At present, vehicles with an Automatic Driving System (ADS) are gradually brought to the market, and the development of intelligent transportation is greatly promoted. The ADS senses the surrounding environment in real time by using an environment sensing system installed on the vehicle, and determines the driving area of the vehicle according to data returned by a sensor. The context-aware content may be divided into two major parts, road information and target information. The lane line information in the road information can provide driving path information for the vehicle, and is convenient for lateral control to realize functions of lane changing, lane keeping and the like. In addition, the lane line information may also provide a benchmark for screening targets in the road in the context awareness system.
Therefore, it is known that lane line detection is crucial to ADS, and in order to ensure driving safety of an autonomous vehicle, the prior art requires an environment sensing system to acquire as much lane line information around the vehicle as possible while sensing the surrounding environment. However, when the road is changed by bifurcation, intersection, etc., the lane lines directly output by the sensors may have a plurality of and relatively complex lane lines, and cannot be directly used for decision and control of the vehicle behavior.
Disclosure of Invention
In view of the above, the present invention is directed to a lane line fitting method, so as to solve the technical problem that a plurality of lane lines extracted in the prior art are relatively complex.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a lane line fitting method, comprising: obtaining map information and navigation information aiming at the current position of the vehicle, wherein the map information comprises road types, lane number, road width, road characteristic points, and line points and lane widths of lane lines on two sides of the vehicle; determining the actual road working condition of the vehicle according to the map information and/or the navigation information, and correspondingly determining the lane line fitting state triggered by the actual road working condition; determining a lane line deviation reference according with the lane line fitting state by combining the map information and the navigation information; generating a plurality of lane lines of the vehicle based on the lane line offset reference offset; and performing curve fitting on the generated set of line points on the plurality of lane lines to obtain a corresponding lane line equation.
Further, the actual road condition and the corresponding triggered lane line fitting state thereof include at least one of: the method comprises the following steps that a first road working condition and a default lane line fitting state triggered correspondingly are achieved, wherein the width and the number of lanes under the first road working condition are unchanged, and the vehicle enters the default lane line fitting state under the condition that no other road working condition is triggered; the method comprises the following steps that under a second road working condition and a driving-off expressway line fitting state triggered correspondingly, the road type of a current road is a main expressway under the second road working condition, and navigation information prompts an own off-ramp; a third road working condition and a corresponding triggered narrowing lane line fitting state at one side of the main road, wherein under the third road working condition, the road type of the current road is the high-speed main road, and the navigation information prompts the narrowing of the road; a fourth road working condition and a ramp merging lane line fitting state, a ramp narrowing lane line fitting state or a ramp intersection lane line fitting state triggered correspondingly by the fourth road working condition, wherein under the fourth road working condition, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the number of lanes of a lower road is less than that of the current road; the method comprises the following steps that a fifth road working condition and a corresponding ramp main road intersection lane line fitting state are achieved, wherein under the fifth road working condition, the road type of a current road is an entrance ramp, an exit ramp or a connecting ramp, and the road type of a lower road is a high-speed main road; and a lane line fitting state under a sixth road working condition and corresponding lane number change, wherein under the sixth road working condition, the road width of the current road is unchanged, the number of lanes is increased or decreased, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the road type of the lower road is a high-speed main road.
Further, the determining, by combining the map information and the navigation information, a lane line deviation reference that meets the lane line fitting state includes: selecting one of two lane lines of a current lane where the vehicle is located as the lane line offset reference according to navigation information in the fitting state of the default lane line; determining whether the vehicle is in a target lane according to the number of lanes of the target lane and the number of lanes of the current lane in the fitted state of the driving-away high-speed lane, if so, taking a lane line on the right side of the vehicle as a lane line deviation reference, and if not, determining the lane line deviation reference according to the fitted state of the default lane line; judging the lane width between the lane lines on the left side and the right side of a preset distance in front of the vehicle in a state of narrowing the lane line on one side of the main road, and if the lane width is smaller than a set threshold value, taking the lane line with smaller curvature or no curvature in the lane lines on the two sides of the vehicle as the lane line deviation reference; under the state of fitting the combined lane lines of the ramp, the state of fitting the narrowed lane lines of the ramp or the state of fitting the intersection lane lines of the ramp, judging the number of line points of the lane lines on two sides of the vehicle in real time, and selecting the lane line on one side which can meet the number of line points of the lane lines with the preset length as the lane line deviation reference; judging the lane width between lane lines on two sides of the vehicle in real time under the fitting state of the intersection lane lines of the main lane of the ramp, and if the lane width is smaller than the width of an emergency lane, taking the lane line on the left side as the lane line deviation reference; and judging the number of line points of the lane lines on two sides of the vehicle under the state of the lane line fitting state with the changed number of the lanes, and taking the lane line on one side with the large number of the line points as the lane line deviation reference.
Further, in any lane line fitting state, if the vehicle passes through a road feature point which is related in the corresponding road working condition and represents a road end point, determining the lane line deviation reference according to the default lane line fitting state.
Further, the first road working conditions comprise a conventional main road working condition, a separated type road bed main road working condition, a main road widening working condition, a conventional ramp working condition, a ramp bifurcation working condition and a ramp widening working condition.
Further, the generating a plurality of lane lines of the host vehicle based on the lane line offset reference offset includes: calculating a course angle at each line point on the lane line deviation datum; and offsetting the preset lane width leftwards and/or rightwards based on the coordinate, the course angle and the preset lane width corresponding to each line point on the lane line offset reference to generate a plurality of lane lines of the vehicle.
Compared with the prior art, the lane line fitting method has the following advantages: the lane line fitting method can accurately extract the road information required by the lane line fitting from the map information, and fit and output effective lane line information according to the navigation information, thereby solving the problems of numerous and relatively complex lane lines extracted in the prior art.
Another objective of the present invention is to provide a lane line fitting system to solve the technical problem of the prior art that a plurality of lane lines are extracted and are relatively complex.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a lane line fitting system comprising: the information acquisition unit is used for respectively acquiring map information and navigation information aiming at the current position of the vehicle from a map system and a navigation system of the vehicle, and the map information comprises road types, lane numbers, road widths, road characteristic points, and line points and lane widths of lane lines on two sides of the vehicle; a lane line fitting unit electrically connected to the information acquisition unit and configured to include: the lane line fitting state determining module is used for determining the actual road working condition of the vehicle according to the map information and/or the navigation information and correspondingly determining the lane line fitting state triggered by the actual road working condition; the lane line deviation benchmark determining module is used for determining the lane line deviation benchmark which accords with the fitting state of the lane line by combining the map information and the navigation information; a lane line generation module configured to generate a plurality of lane lines of the host vehicle based on the lane line offset reference offset; and the lane line equation fitting module is used for performing curve fitting on the generated set of line points on the plurality of lane lines to obtain the corresponding lane line equation.
Further, the actual road condition determined by the lane line fitting state determination module and the lane line fitting state triggered correspondingly by the actual road condition comprise at least one of the following conditions: the method comprises the following steps that a first road working condition and a default lane line fitting state triggered correspondingly are achieved, wherein the width and the number of lanes under the first road working condition are unchanged, and the vehicle enters the default lane line fitting state under the condition that no other road working condition is triggered; the method comprises the following steps that under a second road working condition and a driving-off expressway line fitting state triggered correspondingly, the road type of a current road is a main expressway under the second road working condition, and navigation information prompts an own off-ramp; a third road working condition and a corresponding triggered narrowing lane line fitting state at one side of the main road, wherein under the third road working condition, the road type of the current road is the high-speed main road, and the navigation information prompts the narrowing of the road; a fourth road working condition and a ramp merging lane line fitting state, a ramp narrowing lane line fitting state or a ramp intersection lane line fitting state triggered correspondingly by the fourth road working condition, wherein under the fourth road working condition, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the number of lanes of a lower road is less than that of the current road; the method comprises the following steps that a fifth road working condition and a corresponding ramp main road intersection lane line fitting state are achieved, wherein under the fifth road working condition, the road type of a current road is an entrance ramp, an exit ramp or a connecting ramp, and the road type of a lower road is a high-speed main road; and a lane line fitting state under a sixth road working condition and corresponding lane number change, wherein under the sixth road working condition, the road width of the current road is unchanged, the number of lanes is increased or decreased, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the road type of the lower road is a high-speed main road.
Further, the determining module for lane line deviation reference, configured to combine the map information and the navigation information, to determine a lane line deviation reference that meets the fitting state of the lane line, includes: selecting one of two lane lines of a current lane where the vehicle is located as the lane line offset reference according to navigation information in the fitting state of the default lane line; determining whether the vehicle is in a target lane according to the number of lanes of the target lane and the number of lanes of the current lane in the fitted state of the driving-away high-speed lane, if so, taking a lane line on the right side of the vehicle as a lane line deviation reference, and if not, determining the lane line deviation reference according to the fitted state of the default lane line; judging the lane width between the lane lines on the left side and the right side of a preset distance in front of the vehicle in a state of narrowing the lane line on one side of the main road, and if the lane width is smaller than a set threshold value, taking the lane line with smaller curvature or no curvature in the lane lines on the two sides of the vehicle as the lane line deviation reference; under the state of fitting the combined lane lines of the ramp, the state of fitting the narrowed lane lines of the ramp or the state of fitting the intersection lane lines of the ramp, judging the number of line points of the lane lines on two sides of the vehicle in real time, and selecting the lane line on one side which can meet the number of line points of the lane lines with the preset length as the lane line deviation reference; judging the lane width between lane lines on two sides of the vehicle in real time under the fitting state of the intersection lane lines of the main lane of the ramp, and if the lane width is smaller than the width of an emergency lane, taking the lane line on the left side as the lane line deviation reference; and judging the number of line points of the lane lines on two sides of the vehicle under the state of the lane line fitting state with the changed number of the lanes, and taking the lane line on one side with the large number of the line points as the lane line deviation reference.
Further, in any lane line fitting state, if the vehicle has passed through a road feature point indicating a road end point involved in a corresponding road condition, the lane line offset reference determining module determines the lane line offset reference according to the default lane line fitting state.
The lane line fitting system and the lane line fitting method have the same advantages compared with the prior art, and are not described herein again.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a lane line fitting method according to an embodiment of the present invention;
fig. 2(a) -fig. 2(f) are schematic diagrams of lane line fitting in six default lane line fitting states corresponding to a first road condition in the embodiment of the present invention, respectively;
FIG. 3 is a schematic diagram of lane line fitting in a state of lane line fitting for a driven-off express train;
FIG. 4 is a schematic diagram of lane line fitting in a state of lane line fitting for narrowing on one side of a main lane in the embodiment of the present invention;
FIG. 5(a) is a schematic diagram of lane line fitting in a state of lane merging lane line fitting in the embodiment of the present invention;
fig. 5(b) is a schematic diagram of lane line fitting in the state of fitting the lane line narrowed by the ramp or the state of fitting the lane line intersected by the ramp according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of lane line fitting in a state of lane line fitting for intersection of main lanes on a ramp according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of lane line fitting in a state of lane line fitting with a changed number of lanes in an embodiment of the present invention; and
fig. 8 is a schematic structural diagram of a lane line fitting system according to an embodiment of the present invention.
Description of reference numerals:
1. an information acquisition unit; 2. a lane line fitting unit; 21. a lane line fitting state determination module; 22. a lane line deviation reference determination module; 23. a lane line generation module; 24. and a lane line equation fitting module.
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
In embodiments of the present invention, "electrically connected" is used to describe signal connections, such as control signals and feedback signals, between two components, as well as electrical power connections between two components. In addition, the "connection" related in the embodiments of the present invention may be a wired connection or a wireless connection, and the "electrical connection" related in the embodiments of the present invention may be a direct electrical connection between two components or an indirect electrical connection through other components.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic flow chart of a lane line fitting method for automatically driving a vehicle according to an embodiment of the present invention. As shown in fig. 1, the lane line fitting method includes:
in step S110, map information and navigation information for the current position of the vehicle are acquired.
The map information comprises road types, lane number, road width, road characteristic points, line points of lane lines on two sides of the vehicle and lane width. The road feature points are points that may represent specific positions of roads in a road scene, such as the start point and the end point of a certain road segment. The lane lines on both sides of the vehicle refer to the left lane line and the right lane line adjacent to the vehicle, and do not include the left lane line, the right lane line, and the like.
The map information is preferably high-precision map information, and those skilled in the art can know that the high-precision map information can show information such as the road type, the number of lanes, the road width, the road feature points, and the line points and lane widths of the lane lines on both sides of the vehicle. The high-precision map divides the road into a set of map points of one section, the map output can divide the road from the position where the road changes, and meanwhile, the related map information of the current road and the lower section of road can be provided.
In addition, the navigation information is obtained, for example, by a vehicle navigation system with a GPS positioning function, and is used to prompt a user of road conditions, such as whether to set off the ramp ahead or not.
Step S120, determining the actual road working condition of the vehicle according to the map information and/or the navigation information, and correspondingly determining the lane line fitting state triggered by the actual road working condition.
The actual road condition of the vehicle can be obtained through various methods, for example, navigation information directly prompts that the vehicle is about to drive away from a highway, and for example, a lower section road is displayed in map information to enter the highway, or the navigation information and the map information are combined to determine the actual road condition.
In addition, in the embodiment of the invention, the actual road condition triggers the lane line fitting state, and different lane line fitting states correspond to different lane line fitting situations. Therefore, it can be understood that the lane line fitting state refers to a plurality of lane line fitting situations divided according to actual road conditions in the embodiment of the present invention.
And step S130, determining a lane line deviation reference according with the fitting state of the lane line by combining the map information and the navigation information.
In this case, it is known that the lane line fitting state refers to a plurality of lane line fitting situations divided according to actual road conditions in the embodiment of the present invention, and it can be understood that the determination of the lane line deviation reference performed herein is based on the actual road conditions.
In addition, in the embodiment of the present invention, the lane line deviation criterion is an important basis for fitting the lane line, and after the lane line deviation criterion is determined, the left lane line, the right lane line, and the like of the host vehicle may be generated by being deviated to the left and right based on the lane line deviation criterion.
In step S140, a plurality of lane lines of the host vehicle are generated based on the lane line offset reference offset.
Preferably, the step S140 may include the steps of: calculating a course angle at each line point on the lane line deviation datum; and offsetting the preset lane width leftwards and/or rightwards based on the coordinate, the course angle and the preset lane width corresponding to each line point on the lane line offset reference to generate a plurality of lane lines of the vehicle. The lane line shifting process will be described below with reference to examples, and will not be described herein again. The plurality of lane lines include lane lines on both sides of the vehicle, and left and right lane lines, right and left lane lines, etc. on both sides of the vehicle, which are left or right.
And step S150, performing curve fitting on the generated set of line points on the plurality of lane lines to obtain a corresponding lane line equation.
Preferably, the fitted lane line equation is used, the error of the fitted lane line is large due to the error caused by the fitting of the fitted lane line equation, and the original high-precision map lane line information is also given in a continuous point form, so that the operation in a point form is kept in the intelligent lane line shifting process, the equidistant shifting is ensured, and the fitting cubic equation operation is not carried out until the lane line information is finally given, and the driving of the cubic equation parameters is given.
The lane line fitting method shown in steps S110 to S150 will be comprehensively described by way of example, in this example, the map information is a high-precision map, and the determinable actual road conditions and their corresponding triggered lane line fitting states include at least one of the following six.
First, the first road condition and the corresponding triggered default lane line fitting state.
The width of the road and the number of lanes under the first road working condition are not changed, and the vehicle enters the default lane line fitting state under the condition that no other road working conditions are triggered.
Further, in the default lane line fitting state, one of two lane lines of the current lane where the host vehicle is located may be selected as the lane line offset reference according to the navigation information, and then the lane line on the other side may be generated based on the lane line offset reference. For example, the left side of the navigation prompt is shifted by a current lane width (default lane width is 3.75m) based on a left lane line (L1) to generate a right lane line (R1), and then left and right lane lines L2 and R2 of the vehicle are generated by shifting the adjacent lane widths (3.75m) to the left and right sides according to L1 and R1, wherein the line types of the lane lines with fitting lengths of 200m ahead and 80m behind, L1 and R1 are output according to the actual situation of the high-precision map, and the line types of L2 and R2 are not output temporarily.
When other lane lines are generated by using point offset on one lane line, in order to ensure that the width of the offset lane is consistent, the course angle of each point on the reference side lane line, namely the tangential direction of each point along the lane line direction, needs to be obtained in the offset process. The calculation formula is illustrated as follows:
an original point: (x (1), x (2), x (3), … …, x (n); y (1), y (2), y (3), … …, y (n)).
And calculating course angle information:
yaw(1)＝atan2((y(1))，x(1)))*180/pi；
yaw(2)＝atan2((y(2)-y(1))，(x(2)-x(1)))*180/pi；
yaw(3)＝atan2((y(3)-y(2))，(x(3)-x(2)))*180/pi；.
yaw(n)＝atan2((y(n)-y(n-1))，(x(n)-x(n-1)))*180/pi；
the formula of the deviation of the points on the lane line (rightward deviation) is as follows:
X(i)＝x(i)+LaneWidth_m*sin(yaw(i))；
Y(i)＝y(i)-LaneWidth_m*cos(yaw(i))；
where lanewadth _ m denotes lane width (typically a default lane width of 3.75 m).
In the embodiment of the present invention, the first road condition may include six road conditions, i.e., a conventional main road condition, a separated type road bed main road condition, a main road widening condition, a conventional ramp condition, a ramp bifurcation condition, and a ramp widening condition, and by combining the above-mentioned lane line fitting process, fig. 2(a) -fig. 2(f) are lane line fitting diagrams in default lane line fitting states corresponding to the six road conditions, respectively. In fig. 2(a) -2 (f), the fitting range of the lane line is, for example, 200m in front of the vehicle and 80m behind the vehicle, the offset distance is, for example, the default lane width is 3.75m, the navigation information prompts the vehicle to turn left, and the lane line offset reference is set as the left lane line of the current lane where the vehicle is selected.
And secondly, fitting states of the driving off high-speed lane lines triggered correspondingly under the second road working conditions.
And under the second road working condition, the road type of the current road is a high-speed main road, and the navigation information prompts the own off-ramp. The navigation information specifically reminds the vehicle of going down a ramp to the left, and shows that the vehicle is about to drive away from a highway.
Further, in the state of fitting the driving-away lane line, whether the vehicle is in the target lane is determined according to the number of lanes of the target lane and the number of lanes of the current lane, if the vehicle is in the target lane, the lane line on the right side of the vehicle is used as the lane line offset reference, and if the vehicle is not in the target lane, the lane line offset reference is determined according to the default lane line fitting state.
Fig. 3 is a schematic diagram of lane line fitting in a state of lane line fitting for a driving-off express lane in the embodiment of the present invention. As shown in fig. 3, if the vehicle is already in the target lane but does not pass through the deceleration lane end, the right lane line R1 is used as the lane line deviation reference, the line point information of the right lane line of the vehicle output from the high-precision map is fitted to generate the right lane line R1, the left lane line L1 is generated by deviation with the right lane line R1 as the reference, and then the two lane lines R2 and L2 are generated by deviation, respectively. Among them, for example, a 2.8m (emergency lane width) shift from R1 to the right generates R2, a 3.75m shift to the left generates L1, and a 3.75m shift to the left generates L1.
And if the vehicle is not in the target lane or passes through the terminal point of the deceleration lane, determining the lane line deviation reference according to the default lane line fitting state corresponding to the first road condition.
And thirdly, the third road condition and the corresponding triggered narrowing lane line fitting state at one side of the main road.
Under the third road condition, the road type of the current road is a high-speed main road, and the navigation information prompts the road to be narrowed down.
Further, in a state of fitting the narrowed lane line on the main road side, determining a lane width between lane lines on the left and right sides of a preset distance in front of the vehicle, and if the lane width is smaller than a set threshold, using a lane line with a smaller curvature or no curvature in the lane lines on the two sides of the vehicle as the lane line deviation reference;
fig. 4 is a schematic diagram of lane line fitting in a state of fitting a narrowed lane line on the main lane side in the embodiment of the present invention, which will be described below with reference to fig. 4. As shown in fig. 4, the lane widths W between the left and right lane lines L1 and R1 at a preset distance (e.g., 50m) ahead are determined in real time, if W is smaller than a set threshold, the fitted lane line with a larger curvature is not reliable, the lane line with a smaller curvature or no curvature is used as the reliable lane line as the lane line deviation reference to deviate (e.g., deviate the emergency lane width) to generate another lane line, so as to form a front area, and when W is again larger than the set threshold, the reliable lane line is replaced by the true fitted lane line.
And fourthly, a fourth road working condition and a ramp merging lane line fitting state, a ramp narrowing lane line fitting state or a ramp intersection lane line fitting state which are correspondingly triggered.
Under the fourth road working condition, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the number of lanes of the lower road is less than that of the current road.
Further, under the state of fitting the combined lane line of the ramp, the state of fitting the narrowed lane line of the ramp or the state of fitting the intersection lane line of the ramp, the number of line points of lane lines on both sides of the vehicle is judged in real time, and the lane line on one side which can meet the number of line points of the lane line with the preset length in the fitting mode is selected as the lane line deviation reference.
Fig. 5(a) is a schematic diagram of lane line fitting in a state where a ramp merges with a lane line in the embodiment of the present invention, and fig. 5(b) is a schematic diagram of lane line fitting in a state where the ramp narrows or the ramp merges in the embodiment of the present invention.
As shown in fig. 5(a) and 5(b), the rules of fitting the merging ramp, the narrowing ramp lane lines and the intersection ramp lane lines are the same, and according to the fitting of the high-precision maps (L1 and R1) on both sides, whether the number of line points (i.e., the number of fitted points) of the lane lines on both sides of the vehicle can meet the requirement of fitting a lane line with a preset length or not is determined, if one line point is not enough to fit a 200m lane line and the other side can meet the requirement of fitting a 200m lane line, the high-precision point on one side which can meet the requirement of fitting a 200m lane line is fitted to serve as a lane line deviation reference, and then L1 or R1 is generated by deviation according to the reference, and then L2 and R2 are generated by deviation. And if the vehicle passes through the road characteristic point end point, fitting according to the default lane line fitting state.
Fifth and fifth road working conditions and corresponding ramp main road intersection lane line fitting states
Under the fifth road working condition, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the road type of the lower road is a high-speed main road.
Further, under the fitting state of the main lane intersection lane lines of the ramp, the lane width between the lane lines on the two sides of the vehicle is judged in real time, and if the lane width is smaller than the width of an emergency lane, the lane line on the left side is used as the lane line deviation reference.
Fig. 6 is a schematic diagram of lane line fitting in a state of lane line fitting of a main ramp junction lane line in an embodiment of the present invention.
As shown in fig. 6, the lane width W between the lane lines L1 and R1 on both sides of the vehicle is determined at the time, and if the lane width W is smaller than the emergency lane width, the emergency lane width is shifted by using L1 as the lane line shift reference to generate R1, and then the lane lines are shifted by 3.75m to generate L2 and R2.
Sixth and sixth road working conditions and lane line fitting state with changed number of lanes corresponding to sixth and sixth road working conditions
Under the sixth road working condition, the road width of the current road is unchanged, the number of lanes is increased or decreased, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the road type of the lower road is a main highway.
Further, the number of line points of the lane lines on both sides of the vehicle is determined in a state of fitting the lane lines in which the number of lanes changes, and the lane line on the side with the larger number of line points is used as the lane line deviation reference.
Fig. 7 is a schematic diagram of lane line fitting in a state of lane line fitting with a changed number of lanes in the embodiment of the present invention.
As shown in fig. 7, the number of line points of the lane lines on both sides of the vehicle is determined at any time, and if the number of line points on the right lane line is larger, the lane line on the right side is used as the lane line deviation reference to perform deviation to generate the left lane line. And if the vehicle passes through the end point of the lower road, selecting the lane line offset reference according to the fitting state of the default lane line.
It should be noted that, for the above six lane line fitting states, in any lane line fitting state, if the host vehicle has passed through the road feature point indicating the road end point involved in the corresponding road condition, the lane line deviation criterion is determined according to the default lane line fitting state. In addition, for the above six actual road conditions and the lane line fitting state, the implementation details of each other may be referred to, and for example, the offset width may be adaptively 3.75m or 2.8 m.
Further, the above example of lane line fitting is output by fitting four lane lines of L1, L2, R1, and R2, but some lane lines, such as L2 or R2, may already be outside the road boundary, and such fitting is not valid. Therefore, the lane line fitting method in the embodiment of the present invention may further include: and combining map information to perform effectiveness screening on a plurality of lane lines of the vehicle generated based on the lane line offset reference offset.
Further, after, for example, a set of points representing four lane lines L1, L2, R1, R2 is obtained, the set of points may be fitted to a cubic equation by a curve fitting method of a least square method, corresponding to step S150, and lane line information is given in the form of cubic equation parameters. In addition, for example, the lane lines finally output in the form of cubic equation parameters may include lane line numbers, equation coefficients of the lane lines in different coordinate systems, lane widths, lane line types, lane speed limits, lane line start points and end points, and the like.
In summary, the lane line fitting method according to the embodiment of the present invention can accurately extract the road information required for the lane line fitting from the map information, and fit and output the effective lane line information according to the navigation information, thereby solving the problems of numerous and relatively complex lane lines extracted in the prior art.
Fig. 8 is a schematic structural diagram of a lane line fitting system according to an embodiment of the present invention, which is based on the same inventive concept as the above-described embodiment of the lane line fitting method. As shown in fig. 8, the lane line fitting system may include: the information acquisition unit 1 is used for respectively acquiring map information and navigation information aiming at the current position of the vehicle from a map system and a navigation system of the vehicle, wherein the map information comprises road types, lane numbers, road widths, road characteristic points, and line points and lane widths of lane lines on two sides of the vehicle; a lane line fitting unit 2 electrically connected to the information acquiring unit 1, and configured to include:
the lane line fitting state determining module 21 is configured to determine an actual road condition of the vehicle according to the map information and/or the navigation information, and correspondingly determine a lane line fitting state triggered by the actual road condition; a lane line deviation reference determining module 22, configured to determine, by combining the map information and the navigation information, a lane line deviation reference that meets the fitting state of the lane line; a lane line generation module 23 configured to generate a plurality of lane lines of the host vehicle based on the lane line offset reference offset; and a lane line equation fitting module 24, configured to perform curve fitting on the generated set of line points on the multiple lane lines to obtain corresponding lane line equations.
In a preferred embodiment, the actual road condition determined by the lane line fitting state determining module 21 and the lane line fitting state triggered by the actual road condition include at least one of the following: the method comprises the following steps that a first road working condition and a default lane line fitting state triggered correspondingly are achieved, wherein the width and the number of lanes under the first road working condition are unchanged, and the vehicle enters the default lane line fitting state under the condition that no other road working condition is triggered; the method comprises the following steps that under a second road working condition and a driving-off expressway line fitting state triggered correspondingly, the road type of a current road is a main expressway under the second road working condition, and navigation information prompts an own off-ramp; a third road working condition and a corresponding triggered narrowing lane line fitting state at one side of the main road, wherein under the third road working condition, the road type of the current road is the high-speed main road, and the navigation information prompts the narrowing of the road; a fourth road working condition and a ramp merging lane line fitting state, a ramp narrowing lane line fitting state or a ramp intersection lane line fitting state triggered correspondingly by the fourth road working condition, wherein under the fourth road working condition, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the number of lanes of a lower road is less than that of the current road; the method comprises the following steps that a fifth road working condition and a corresponding ramp main road intersection lane line fitting state are achieved, wherein under the fifth road working condition, the road type of a current road is an entrance ramp, an exit ramp or a connecting ramp, and the road type of a lower road is a high-speed main road; and a lane line fitting state under a sixth road working condition and corresponding lane number change, wherein under the sixth road working condition, the road width of the current road is unchanged, the number of lanes is increased or decreased, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the road type of the lower road is a high-speed main road.
In a preferred embodiment, the lane line deviation reference determining module, configured to combine the map information and the navigation information, and determine the lane line deviation reference conforming to the lane line fitting state, includes: selecting one of two lane lines of a current lane where the vehicle is located as the lane line offset reference according to navigation information in the fitting state of the default lane line; determining whether the vehicle is in a target lane according to the number of lanes of the target lane and the number of lanes of the current lane in the fitted state of the driving-away high-speed lane, if so, taking a lane line on the right side of the vehicle as a lane line deviation reference, and if not, determining the lane line deviation reference according to the fitted state of the default lane line; judging the lane width between the lane lines on the left side and the right side of a preset distance in front of the vehicle in a state of narrowing the lane line on one side of the main road, and if the lane width is smaller than a set threshold value, taking the lane line with smaller curvature or no curvature in the lane lines on the two sides of the vehicle as the lane line deviation reference; under the state of fitting the combined lane lines of the ramp, the state of fitting the narrowed lane lines of the ramp or the state of fitting the intersection lane lines of the ramp, judging the number of line points of the lane lines on two sides of the vehicle in real time, and selecting the lane line on one side which can meet the number of line points of the lane lines with the preset length as the lane line deviation reference; judging the lane width between lane lines on two sides of the vehicle in real time under the fitting state of the intersection lane lines of the main lane of the ramp, and if the lane width is smaller than the width of an emergency lane, taking the lane line on the left side as the lane line deviation reference; and judging the number of line points of the lane lines on two sides of the vehicle under the state of the lane line fitting state with the changed number of the lanes, and taking the lane line on one side with the large number of the line points as the lane line deviation reference.
In a preferred embodiment, in any lane line fitting state, if the host vehicle has passed through a road feature point indicating a road end point involved in a corresponding road condition, the lane line offset reference determining module determines the lane line offset reference according to the default lane line fitting state.
It should be noted that other implementation details and effects of the lane line fitting system according to the embodiment of the present invention may refer to the above-mentioned embodiments related to the lane line fitting method, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention, such as adapting the execution sequence of steps and adjusting the connection relationship between functional modules, should be included in the protection scope of the present invention.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, various different embodiments of the present invention may be combined arbitrarily, and as long as the idea of the embodiments of the present invention is not violated, the same should be regarded as the disclosure of the embodiments of the present invention.
Claims (10)
1. A lane line fitting method is characterized by comprising the following steps:
obtaining map information and navigation information aiming at the current position of the vehicle, wherein the map information comprises road types, lane number, road width, road characteristic points, and line points and lane widths of lane lines on two sides of the vehicle;
determining the actual road working condition of the vehicle according to the map information and/or the navigation information, and correspondingly determining the lane line fitting state triggered by the actual road working condition;
determining a lane line deviation reference according with the lane line fitting state by combining the map information and the navigation information;
generating a plurality of lane lines of the vehicle based on the lane line offset reference offset; and
and performing curve fitting on the generated set of line points on the plurality of lane lines to obtain a corresponding lane line equation.
2. The lane line fitting method of claim 1, wherein the actual road conditions and their corresponding triggered lane line fitting states comprise at least one of:
the method comprises the following steps that a first road working condition and a default lane line fitting state triggered correspondingly are achieved, wherein the width and the number of lanes under the first road working condition are unchanged, and the vehicle enters the default lane line fitting state under the condition that no other road working condition is triggered;
the method comprises the following steps that under a second road working condition and a driving-off expressway line fitting state triggered correspondingly, the road type of a current road is a main expressway under the second road working condition, and navigation information prompts an own off-ramp;
a third road working condition and a corresponding triggered narrowing lane line fitting state at one side of the main road, wherein under the third road working condition, the road type of the current road is the high-speed main road, and the navigation information prompts the narrowing of the road;
a fourth road working condition and a ramp merging lane line fitting state, a ramp narrowing lane line fitting state or a ramp intersection lane line fitting state triggered correspondingly by the fourth road working condition, wherein under the fourth road working condition, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the number of lanes of a lower road is less than that of the current road;
the method comprises the following steps that a fifth road working condition and a corresponding ramp main road intersection lane line fitting state are achieved, wherein under the fifth road working condition, the road type of a current road is an entrance ramp, an exit ramp or a connecting ramp, and the road type of a lower road is a high-speed main road; and
and under the sixth road working condition, the road width of the current road is unchanged, the number of lanes is increased or decreased, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the road type of the lower road is a high-speed main road.
3. The lane line fitting method according to claim 1 or 2, wherein the determining a lane line deviation criterion that conforms to the lane line fitting state in combination with the map information and the navigation information comprises:
selecting one of two lane lines of a current lane where the vehicle is located as the lane line offset reference according to navigation information in the fitting state of the default lane line;
determining whether the vehicle is in a target lane according to the number of lanes of the target lane and the number of lanes of the current lane in the fitted state of the driving-away high-speed lane, if so, taking a lane line on the right side of the vehicle as a lane line deviation reference, and if not, determining the lane line deviation reference according to the fitted state of the default lane line;
judging the lane width between the lane lines on the left side and the right side of a preset distance in front of the vehicle in a state of narrowing the lane line on one side of the main road, and if the lane width is smaller than a set threshold value, taking the lane line with smaller curvature or no curvature in the lane lines on the two sides of the vehicle as the lane line deviation reference;
under the state of fitting the combined lane lines of the ramp, the state of fitting the narrowed lane lines of the ramp or the state of fitting the intersection lane lines of the ramp, judging the number of line points of the lane lines on two sides of the vehicle in real time, and selecting the lane line on one side which can meet the number of line points of the lane lines with the preset length as the lane line deviation reference;
judging the lane width between lane lines on two sides of the vehicle in real time under the fitting state of the intersection lane lines of the main lane of the ramp, and if the lane width is smaller than the width of an emergency lane, taking the lane line on the left side as the lane line deviation reference; and
and judging the number of line points of the lane lines on two sides of the vehicle in the state of the lane line fitting state with the changed number of the lanes, and taking the lane line on one side with the large number of the line points as the lane line deviation reference.
4. The lane line fitting method according to claim 3, wherein in any lane line fitting state, if the host vehicle has passed through a road feature point indicating a road end point involved in a corresponding road condition, the lane line deviation criterion is determined according to the default lane line fitting state.
5. The lane line fitting method of claim 1 or 2, wherein the first road condition comprises a conventional main road condition, a split subgrade main road condition, a main road widening condition, a conventional ramp condition, a ramp bifurcation condition, and a ramp widening condition.
6. The lane line fitting method according to any one of claims 1 to 5, wherein the generating a plurality of lane lines of the host vehicle based on the lane line offset reference offset includes:
calculating a course angle at each line point on the lane line deviation datum; and
and based on the coordinates, the course angle and the preset lane width corresponding to each line point on the lane line offset reference, offsetting the preset lane width leftwards and/or rightwards to generate a plurality of lane lines of the vehicle.
7. A lane line fitting system, comprising:
the information acquisition unit is used for respectively acquiring map information and navigation information aiming at the current position of the vehicle from a map system and a navigation system of the vehicle, and the map information comprises road types, lane numbers, road widths, road characteristic points, and line points and lane widths of lane lines on two sides of the vehicle;
a lane line fitting unit electrically connected to the information acquisition unit and configured to include:
the lane line fitting state determining module is used for determining the actual road working condition of the vehicle according to the map information and/or the navigation information and correspondingly determining the lane line fitting state triggered by the actual road working condition;
a lane line offset reference determination module to combine the map information and the navigation information,
determining lane line deviation reference according with the lane line fitting state;
a lane line generation module configured to generate a plurality of lane lines of the host vehicle based on the lane line offset reference offset; and
and the lane line equation fitting module is used for performing curve fitting on the generated set of line points on the plurality of lane lines to obtain the corresponding lane line equation.
8. The lane line fitting system of claim 7, wherein the actual road conditions and their corresponding triggered lane line fitting states determined by the lane line fitting state determination module comprise at least one of:
the method comprises the following steps that a first road working condition and a default lane line fitting state triggered correspondingly are achieved, wherein the width and the number of lanes under the first road working condition are unchanged, and the vehicle enters the default lane line fitting state under the condition that no other road working condition is triggered;
the method comprises the following steps that under a second road working condition and a driving-off expressway line fitting state triggered correspondingly, the road type of a current road is a main expressway under the second road working condition, and navigation information prompts an own off-ramp;
a third road working condition and a corresponding triggered narrowing lane line fitting state at one side of the main road, wherein under the third road working condition, the road type of the current road is the high-speed main road, and the navigation information prompts the narrowing of the road;
a fourth road working condition and a ramp merging lane line fitting state, a ramp narrowing lane line fitting state or a ramp intersection lane line fitting state triggered correspondingly by the fourth road working condition, wherein under the fourth road working condition, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the number of lanes of a lower road is less than that of the current road;
the method comprises the following steps that a fifth road working condition and a corresponding ramp main road intersection lane line fitting state are achieved, wherein under the fifth road working condition, the road type of a current road is an entrance ramp, an exit ramp or a connecting ramp, and the road type of a lower road is a high-speed main road; and
and under the sixth road working condition, the road width of the current road is unchanged, the number of lanes is increased or decreased, the road type of the current road is an entrance ramp, an exit ramp or a connection ramp, and the road type of the lower road is a high-speed main road.
9. The lane line fitting system of claim 7 or 8, wherein the lane line offset reference determination module is configured to determine a lane line offset reference that meets the lane line fitting state in combination with the map information and the navigation information, and comprises:
selecting one of two lane lines of a current lane where the vehicle is located as the lane line offset reference according to navigation information in the fitting state of the default lane line;
determining whether the vehicle is in a target lane according to the number of lanes of the target lane and the number of lanes of the current lane in the fitted state of the driving-away high-speed lane, if so, taking a lane line on the right side of the vehicle as a lane line deviation reference, and if not, determining the lane line deviation reference according to the fitted state of the default lane line;
judging the lane width between the lane lines on the left side and the right side of a preset distance in front of the vehicle in a state of narrowing the lane line on one side of the main road, and if the lane width is smaller than a set threshold value, taking the lane line with smaller curvature or no curvature in the lane lines on the two sides of the vehicle as the lane line deviation reference;
under the state of fitting the combined lane lines of the ramp, the state of fitting the narrowed lane lines of the ramp or the state of fitting the intersection lane lines of the ramp, judging the number of line points of the lane lines on two sides of the vehicle in real time, and selecting the lane line on one side which can meet the number of line points of the lane lines with the preset length as the lane line deviation reference;
judging the lane width between lane lines on two sides of the vehicle in real time under the fitting state of the intersection lane lines of the main lane of the ramp, and if the lane width is smaller than the width of an emergency lane, taking the lane line on the left side as the lane line deviation reference; and
and judging the number of line points of the lane lines on two sides of the vehicle in the state of the lane line fitting state with the changed number of the lanes, and taking the lane line on one side with the large number of the line points as the lane line deviation reference.
10. The lane line fitting system according to claim 9, wherein in any lane line fitting state, if the host vehicle has passed through a road feature point indicating a road end point involved in a corresponding road condition, the lane line deviation criterion determination module determines the lane line deviation criterion according to the default lane line fitting state.
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