CN111114544A - Method and device for determining compensation lane line, movable equipment and storage medium - Google Patents
Method and device for determining compensation lane line, movable equipment and storage medium Download PDFInfo
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Abstract
The method comprises the steps of obtaining vehicle driving parameters, determining a road lane line within a target distance according to vehicle performance parameters and the vehicle driving parameters, determining a distance to be adjusted corresponding to the target distance from an electronic map, determining a reference lane line matched with the road lane line within the distance to be adjusted, determining a first coordinate data set of the reference lane line, determining a second coordinate data pair set of the road lane line, determining an adjusting parameter and an adjusting coordinate data set based on the first coordinate data set and the second coordinate data pair set, and determining the compensation lane line according to the adjusting parameter, the first coordinate data set and the adjusting coordinate data set. Based on this application embodiment, not only can prolong the application time and application scope that visual detection device detected, can also compensate and receive light intensity or bad weather and wait that complicated operating mode influences and the part lane line that short jump or lose.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a method and a device for determining a compensation lane line, a movable device and a storage medium.
Background
In the past, intelligent perception is an important research technology of an unmanned system, wherein stability and continuity of lane line detection are important for controlling vehicles. Whether on an expressway or on a common urban road, high-quality lane line detection results are needed to assist in realizing the transverse control and the longitudinal control of the vehicle. At present, the mainstream lane line detection method mainly includes sensing the road condition through visual navigation or a vehicle-mounted sensor to obtain lane line information of a corresponding position, and assisting a vehicle to stably and safely drive on a lane line. However, the lane line is limited by the light intensity or the constraint of the complex working conditions such as severe weather, and the lane line acquired by the visual navigation or the vehicle-mounted sensor often has the problems of short jump or lane line loss and the like. The traditional method is difficult to overcome the technical difficulty of coordinate transformation by matching the perceived lane line with the high-precision map data pre-stored in the vehicle.
In view of the above problems, it is necessary to design a method, an apparatus, a mobile device, and a storage medium for determining a compensated lane line.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present application is to provide a method, an apparatus, a mobile device and a storage medium for determining a compensated lane line, which solve the problems in the prior art that the lane line is limited by the constraint of complex conditions such as light intensity or bad weather, and the lane line detected by a visual detection system often has transient jump or is lost.
In order to solve the above technical problem, an embodiment of the present application provides a method for determining a compensated lane line, including:
acquiring vehicle running parameters;
determining a road lane line within the target distance according to the vehicle performance parameters and the vehicle driving parameters;
determining a distance to be adjusted corresponding to the target distance from the electronic map, and determining a reference lane line matched with the road lane line within the distance to be adjusted;
determining a first set of coordinate data of a reference lane line and a second set of coordinate data pairs of the lane line; the second coordinate data pairs in the second coordinate data pair set are coordinate data corresponding to the same point on the road lane line at different moments;
determining an adjustment parameter and an adjustment coordinate data set based on the first set of coordinate data and the second set of coordinate data pairs;
and determining a compensation lane line according to the adjusting parameter, the first coordinate data set and the adjusting coordinate data set.
Further, the vehicle driving parameters comprise longitude and latitude data, a heading angle and a vehicle speed of the vehicle at the current moment.
Further, determining a road lane line within the target distance based on the vehicle performance parameter and the vehicle driving parameter, comprising:
determining a safe distance according to the vehicle performance parameters, the longitude and latitude data of the vehicle at the current moment and the vehicle speed; the safe distance comprises a first safe distance required for keeping the current lane, a second safe distance required for changing lanes and a third safe distance required for laterally controlling the vehicle;
determining a controllable distance according to longitude and latitude data, a course angle and a vehicle speed of the vehicle at the current moment;
and determining a target distance according to the safe distance and the controllable distance, and determining a road lane line within the target distance.
Further, determining a distance to be adjusted corresponding to the target distance from the electronic map includes:
determining transformation coordinate data of longitude and latitude data of a vehicle at the current moment in an electronic map;
determining a distance to be adjusted from the electronic map according to the transformation coordinate data and the target distance; the distance to be adjusted is greater than or equal to the target distance.
Further, determining a first set of coordinate data of a reference lane line comprises:
determining a longitude and latitude data set of a reference lane line;
determining a transition coordinate data set corresponding to the longitude and latitude data set of the reference lane line based on a preset transition coordinate system; longitude and latitude data in the longitude and latitude data set of the reference lane line correspond to transition coordinate data in the transition coordinate data set one by one;
and determining a first coordinate data set corresponding to the transition coordinate data set based on a preset vehicle body coordinate system in the electronic map.
Further, determining a set of second coordinate data pairs of the roadway lane lines includes:
determining a coordinate data set of a road lane line at a first moment;
determining a coordinate data set of the road lane line at a second moment; the first time is earlier than the second time;
and determining a second coordinate data pair set according to the coordinate data set at the first time and the coordinate data set at the second time.
Further, determining an adjustment parameter based on the first set of coordinate data and the second set of coordinate data pairs and adjusting the set of coordinate data comprises:
determining a set of pairs of second coordinate data from the set of pairs of second coordinate data; the second coordinate data in the second coordinate data pair subset are overlapped in a preset relative error interval;
and determining an adjustment parameter and an adjustment coordinate data set according to the first coordinate data set and the second coordinate data subset.
Correspondingly, the embodiment of the present application further provides a compensation lane line determining device, including:
an acquisition unit for acquiring vehicle driving parameters;
a first determination unit for determining a road lane line within a target distance according to a vehicle performance parameter and a vehicle driving parameter;
the second determining unit is used for determining a distance to be adjusted corresponding to the target distance from the electronic map and determining a reference lane line matched with the road lane line within the distance to be adjusted;
a third determination unit configured to determine a first set of coordinate data of the reference lane line and determine a second set of coordinate data pairs of the lane line; the second coordinate data pairs in the second coordinate data pair set are coordinate data corresponding to the same point on the road lane line at different moments;
a fourth determination unit configured to determine an adjustment parameter and an adjustment coordinate data set based on the first coordinate data set and the second coordinate data pair set;
and the fifth determining unit is used for determining the compensation lane line according to the adjusting parameters, the first coordinate data set and the adjusting coordinate data set.
Accordingly, an embodiment of the present application further provides a mobile device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the above-mentioned compensated lane line determining method.
Accordingly, an embodiment of the present application further provides a computer-readable storage medium, where at least one instruction, at least one program, a code set, or a set of instructions is stored in the storage medium, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by a processor to implement the above-mentioned compensated lane line determining method.
The embodiment of the application has the following beneficial effects:
the method comprises the steps of obtaining vehicle driving parameters, determining a road lane line within a target distance according to vehicle performance parameters and the vehicle driving parameters, determining a distance to be adjusted corresponding to the target distance from an electronic map, determining a reference lane line matched with the road lane line within the distance to be adjusted, determining a first coordinate data set of the reference lane line, and determining a second coordinate data pair set of the road lane line; and determining an adjusting parameter and an adjusting coordinate data set based on the first coordinate data set and the second coordinate data set, and determining a compensating lane line according to the adjusting parameter, the first coordinate data set and the adjusting coordinate data set. Based on the embodiment of the application, the compensation lane line is determined to control the safe and stable running of the vehicle by combining the vehicle running parameters, the road lane line detected by the visual detection device and the preset target lane line in the electronic map. The application time and the application range of the visual detection device can be prolonged, and the part of lane lines which are temporarily jumped or lost due to the influence of complex working conditions such as light intensity or severe weather can be compensated.
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In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for determining a compensated lane line according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a coordinate system required for determining a first set of coordinate data of a reference lane line according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a compensated lane line determining apparatus according to an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings. It should be apparent that the described embodiment is only one embodiment of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second", "third", "fourth" and "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first," "second," "third," "fourth," and "fifth" may explicitly or implicitly include one or more of the features. Moreover, the terms "first," "second," "third," "fourth," and "fifth," etc. are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than described or illustrated herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, product, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, apparatus, product, or device.
In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Please refer to fig. 1, which is a schematic diagram of an application environment according to an embodiment of the present application, including: positioning means 101, electronic map means 102, visual detection means 103, determination means 104 and control means 105. The devices can be connected through a wired link, and wireless link connection can also be improved. Wherein the determining device 104 determines the device 104 receives the vehicle driving parameters sent by the positioning device 101 and the road-lane lines sent by the visual detection device 103, determines the road-lane lines within the target distance according to the vehicle performance parameters and the vehicle driving parameters, determines the distance to be adjusted corresponding to the target distance from the electronic map preset in the electronic map device 102, and determines the reference road-lane lines matching with the road-lane lines within the distance to be adjusted, the determining device 104 determines a first coordinate data set of the reference road-lane lines, and determines a second coordinate data pair set of the road-lane lines according to the determined first coordinate data set, the second coordinate data pair in the second coordinate data pair set is coordinate data corresponding to the same point on the road-lane lines at different moments, the determining device 104 determines the adjusting parameters and the adjusting coordinate data set based on the obtained first coordinate data set and the obtained second coordinate data pair set, and determining a compensation lane line according to the adjustment parameter, the first coordinate data set and the adjustment coordinate data set, fitting the determined compensation lane line with the lane line, and sending the determined compensation lane line to the control device 105 by the determination device 104 to control the vehicle to run in the compensation lane line.
A specific embodiment of a method for determining a compensated lane line according to the present application is described below, and fig. 2 is a schematic flow chart of the method for determining a compensated lane line according to the embodiment of the present application, and the present specification provides the method operation steps as shown in the embodiment or the flow chart, but may include more or less operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is only one of many possible orders of execution and does not represent the only order of execution, and in actual execution, the steps may be performed sequentially or in parallel as in the embodiments or methods shown in the figures (e.g., in the context of parallel processors or multi-threaded processing). Specifically, as shown in fig. 2, the method includes:
s201: and acquiring vehicle running parameters.
In the embodiment of the application, the determining device obtains the vehicle running parameters, and the running parameters comprise longitude and latitude data, a course angle and a vehicle speed of the vehicle at the current moment.
S203: and determining the road lane line within the target distance according to the vehicle performance parameters and the vehicle driving parameters.
In the embodiment of the application, the determining device determines the target distance according to the acquired vehicle driving parameters and the preset vehicle performance parameters, and selects the road lane line corresponding to the target distance from the road lane lines detected by the visual detection device.
In an alternative embodiment of determining the target distance, the determining device determines the target distance according to preset vehicle performance parameters and the vehicle driving parameters sent by the positioning device, wherein the preset vehicle performance parameters include, but are not limited to, preset vehicle performance parameters for keeping the current lane, preset vehicle performance parameters for lane change and preset vehicle performance parameters for the lateral control vehicle preset in the automatic driving system. Specifically, the determining device determines a first safe distance required for keeping the current lane according to a preset vehicle performance parameter for keeping the current lane, longitude and latitude data of the vehicle at the current time and the vehicle speed, determines a second safe distance required for changing the lane according to the preset vehicle performance parameter for changing the lane, the longitude and latitude data of the vehicle at the current time and the vehicle speed, determines a third safe distance required for transversely controlling the vehicle according to the preset vehicle performance parameter of the transversely controlled vehicle, the longitude and latitude data of the vehicle at the current time and the vehicle speed, and determines a controllable distance according to the driving parameters of the vehicle, namely the longitude and latitude data, the course angle and the vehicle speed of the vehicle at the current time, which are sent by the positioning device. The determining device compares the first safe distance required for keeping the current lane, the second safe distance required for changing the lane, the third safe distance required for laterally controlling the vehicle and the controllable distance, and determines the maximum value of the first safe distance, the second safe distance, the third safe distance and the controllable distance as the target distance.
Specifically, the first safety distance required to maintain the current lane is LLKAThe second safety distance required for lane change is LPAThe third safety distance required for controlling the vehicle in the transverse direction is LLCAControllable distance is LVThe target distance is L, and the target distance is L,
then
L＝max(LLKA,LPA,LLCA,LV)
Wherein the content of the first and second substances,
LV＝K1*V
K1and V represents the vehicle speed.
In the embodiment of the application, the determining device performs quality judgment on the road lane lines detected by the visual detection device, and if the judgment result is good, that is, the road lane lines detected by the visual detection device are complete and have no loss, the determining device determines the corresponding target lane lines in the electronic map preset by the electronic map device as the compensation lane lines. If the judgment result is bad, namely the road lane line detected by the visual detection device is influenced by complex working conditions such as light intensity or bad weather, and the situation that the length of the obtained road lane line is smaller than the target distance due to the fact that part of the road lane line is missing or covered by dirt exists, or the situation that the length of the obtained road lane line is equal to the situation that part of the target distance is missing and part of the area is missing exists, the device is determined to enter a waiting compensation process.
S205: and determining a distance to be adjusted corresponding to the target distance from the electronic map, and determining a reference lane line matched with the road lane line within the distance to be adjusted.
In the embodiment of the application, the determining device determines the distance to be adjusted corresponding to the target distance from the electronic map, and determines the reference lane line matched with the road lane line within the distance to be adjusted. It should be noted that the distance to be adjusted may be equal to or greater than the target distance, and the distance to be adjusted may be equal to the target distance, that is, a coordinate axis is established in the vehicle driving direction with the center of the rear axle of the vehicle as the origin, and the length of the distance to be adjusted is equal to the length of the target distance. The distance to be adjusted may be greater than the target distance, that is, the center of the rear axle of the vehicle is used as the origin, coordinate axes are established in the driving direction of the vehicle, and the length of the distance to be adjusted is greater than the length of the target distance and equal to each other, and an optional embodiment in which the length of the distance to be adjusted is greater than the length of the target distance and equal to each other, for example, if the target distance is mapped [0, L ] on the coordinate axes, the distance to be adjusted is mapped [0, L +10] on the coordinate axes, or the distance to be adjusted is mapped [ 10, L ] on the coordinate axes, or the distance to be adjusted is mapped [ 10.
In the embodiment of the application, the determining device can only determine the distance to be adjusted corresponding to the target distance from the electronic map, specifically, the determining device converts longitude and latitude data of the vehicle at the current moment sent by the positioning device into coordinate data in the electronic map, that is, coordinate data is converted, a coordinate system is established in the driving direction of the vehicle by taking the converted coordinate data as an origin, and the distance to be adjusted including the length corresponding to the target distance is determined.
In the embodiment of the application, the matching of the road lane line and the reference lane line means that the actual longitude and latitude data corresponding to the road lane line is consistent with the longitude and latitude data preset by the reference lane line in the electronic map. The reference lane line in the electronic map is a reference lane line in a path plan determined based on a preset departure place, a preset approach place and a preset destination.
S207: a first set of coordinate data of a reference lane line is determined, and a second set of coordinate data pairs of a lane line of the road is determined.
In an optional implementation mode of determining the first coordinate data set of the reference lane line, the determining device determines a longitude and latitude data set of the reference lane line and determines a transition coordinate data set corresponding to the longitude and latitude data set of the reference lane line based on a preset transition coordinate system, wherein longitude and latitude data in the longitude and latitude data set of the reference lane line correspond to transition coordinate data in the transition coordinate data set one by one; the determining device determines a first coordinate data set corresponding to the transition coordinate data set according to the determined transition coordinate data set and a preset vehicle body coordinate system in the electronic map.
In a specific embodiment, as shown in fig. 3, a schematic diagram of a coordinate system required for determining the first coordinate data set of the reference lane line is shown according to an embodiment of the present application. Wherein, the thin solid line represents the world longitude and latitude coordinate system, the thick solid line represents the preset transition coordinate system, and the dotted line represents the preset vehicle body coordinate system in the electronic map.
The determining means determines the longitude and latitude data set of the reference lane line as (Lgt)i,Lati) Determining a set of longitude and latitude data (Lgt) of a reference lane line based on a predetermined transition coordinate system (X', Yi,Lati) The corresponding transition coordinate data set is (x)i',yi')。
In particular, the amount of the solvent to be used,
li＝sin2(Lati-Lat0)+cos(Lati)*cos(Lat0)*sin2(Lgti/2-Lgt0/2)；
xi'＝di*cos(γi)；yi'＝di*sin(γi)。
wherein d isiRepresents the radius of the earth, (Lgt)0,Lat0) Representing longitude and latitude data, gamma, corresponding to the centre of the rear axle of the vehicleiLatitude and longitude data (Lgt) in a set of latitude and longitude data representing a lane linei,Lati) Longitude and latitude data (Lgt) corresponding to the center of the rear axle of the vehicle0,Lat0) The included angle between the formed line segment and the X ' axis in the preset transition coordinate system (X ', Y ').
The determining means being dependent on the course of the vehicle's driving parametersAssembling the transition coordinate data (X) in the predetermined transition coordinate system (X ', Y') to the angle thetai',yi') clockwise rotating by theta-90 DEG to obtain a first coordinate data set corresponding to the longitude and latitude data set of the reference lane line under the preset vehicle body coordinate system in the electronic map, wherein the longitude and latitude data (Lgt) in the longitude and latitude data set of the reference lane linei,Lati) With first coordinate data (x) in the first set of coordinate datai,yi) Are in one-to-one correspondence.
In particular, the amount of the solvent to be used,
xi＝xi'*cos(θ-90°)+yi'*sin(θ-90°)；
yi＝yi'*cos(θ-90°)+xi'*sin(θ-90°)。
in the embodiment of the application, the determining device determines a second coordinate data pair set of the road lane line according to the first coordinate data set, wherein a second coordinate data pair in the second coordinate data pair set is coordinate data corresponding to a same point on the road lane line at different moments.
Based on the above-described alternative embodiment of determining the first set of coordinate data of the reference lane line, an alternative implementation method of determining the second set of coordinate data of the lane line is described. The determining means determines that the road lane is at a first time t1And determining the road lane line at a second time t2Wherein the first time t1And the second time t2The coordinate data in the coordinate data set are coordinate data corresponding to the same point on the road lane line; first time t1Before the second time t2. The determining means being dependent on the first time t1And the second time t2Determines a second set of coordinate data pairs.
In a specific embodiment, it is assumed that a part of the coordinate data y in the set of coordinate data at the first time isiCorresponding value yt1Part of the coordinate data y in the set of coordinate data which are all smaller than the first time instantiCorresponding value
The determining device determines the road lane line at a first time t according to the polynomial of the preset road lane line and the partial coordinate data y in the first coordinate data set1Part coordinate data of
Obtaining the coordinate data of the road line at the first moment as
An optional preset road lane line polynomial may specifically be:
note that, the partial coordinate data
The point on the corresponding road lane line and the point of the partial coordinate data y in the first coordinate data set corresponding to the reference lane line in the electronic map are the same point, namely
The determining device is used for determining the coordinate data of the road lane line at the first moment according to a preset state equation
The variation delta theta of the vehicle heading angle at the first moment and the second moment, the moving distance delta x of the vehicle in unit time and the vehicle speed v, and the coordinate data of the road lane line at the second moment is determined as
An optional preset state equation may be specifically:
wherein the content of the first and second substances,
Δx＝v*0.025
the determining means being responsive to said predetermined lane-line polynomial and derived therefrom
Determining
And determining coordinate data of the road lane line at a second time
Coordinate data of the road-lane line at the first moment
Coordinate data of the lane line and the road at the second time
A set of second coordinate data pairs.
S209: an adjustment parameter and a set of adjustment coordinate data are determined based on the first set of coordinate data and the second set of coordinate data pairs.
In this embodiment, the determining device determines a second coordinate data pair subset from the second coordinate data set, where the second coordinate data pair subset refers to coordinate data of a road line in the second coordinate data pair subset at a first time
Coordinate data of the lane line and the road at the second time
And overlapping in a preset relative error interval. The determination device determines an adjustment parameter and an adjustment coordinate data set from the first coordinate data set and the second coordinate data pair set.
In an alternative embodiment of determining the adjustment parameter and adjusting the coordinate data set, the determining means determines the difference set from the first coordinate data set and the coordinate data set of the road lane line at the second time. Based on the first set of coordinate data (x)i,yi) Coordinate data of the lane line and the road at the second time
Take an example.
The determining means is based on a first set of coordinate data (x)i,yi) Coordinate data of the lane line and the road at the second time
The difference, i.e.,
the determination means determines the partial coordinate data of the point farthest from the center of the rear axle of the vehicle among the pair of subsets of the second coordinate data
Mapping to {0, 1} in a linear equal proportion relationship, and determining a portion of coordinate data in the second pair of coordinate data pairs based on the linear equal proportion relationship
Corresponding relative scale parameter K2According to the relative scale parameter K2And determining an average difference value by the difference value set, wherein the average difference value is specifically described by the following formula:
accordingly, the first set of coordinate data (x)i,yi) Coordinate data of the lane line and the road at the second time
The corresponding adjustment coordinate data is specifically:
s211: and determining a compensation lane line according to the adjusting parameter, the first coordinate data set and the adjusting coordinate data set.
In the embodiment of the application, the determining device determines a compensation coordinate data set according to the adjustment parameter, the first coordinate data set and the adjustment parameter set, fits the compensation coordinate data set through minimum quadratic multiplication, and determines a smooth compensation lane line, wherein the compensation lane line is overlapped with a second coordinate data set at a later moment in the second coordinate data set within a preset fitting error interval.
In the embodiment of the application, the determining device samples the lane line detected by the visual detection device to obtain a sampling point set, performs error calculation on the sampling point set and a corresponding point on the determined compensation lane line to obtain an average difference value and an average variance, and determines whether the average difference value and the average variance are within a preset fitting error interval.
By adopting the method for determining the compensation lane line provided by the embodiment of the application, the compensation lane line is determined to control the safe and stable running of the vehicle by combining the vehicle running parameters, the road lane line detected by the visual detection device and the preset target lane line in the electronic map. The application time and the application range of the visual detection device can be prolonged, and the part of lane lines which are temporarily jumped or lost due to the influence of complex working conditions such as light intensity or severe weather can be compensated.
Fig. 4 is a schematic structural diagram of the compensated lane line determining apparatus provided in the embodiment of the present application, and as shown in fig. 4, the apparatus includes:
the obtaining unit 401 is configured to obtain vehicle driving parameters;
the first determination unit 403 is used for determining a road lane line within the target distance according to the vehicle performance parameter and the vehicle driving parameter;
the second determining unit 405 is configured to determine a distance to be adjusted corresponding to the target distance from the electronic map, and determine a reference lane line matching the road lane line within the distance to be adjusted;
the third determination unit 407 is configured to determine a first set of coordinate data of the reference lane line and determine a second set of coordinate data pairs of the lane line; the second coordinate data pairs in the second coordinate data pair set are coordinate data corresponding to the same point on the road lane line at different moments;
the fourth determining unit 409 is configured to determine an adjustment parameter and an adjustment coordinate data set based on the first coordinate data set and the second coordinate data pair set;
the fifth determining unit 411 is configured to determine a compensated lane line according to the adjustment parameter, the first coordinate data set, and the adjustment coordinate data set.
The device and method embodiments in the embodiments of the present application are based on the same application concept.
The present invention further provides a removable device, which can be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a method for determining a compensated lane line in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions are loaded from the memory and executed to implement the method for determining a compensated lane line.
The present invention further provides a storage medium, which can be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a method for determining a compensated lane line in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions are loaded and executed by the processor to implement the method for determining a compensated lane line.
Optionally, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, a storage medium including: various media that can store program codes, such as a usb disk, a Read Only Memory (ROM), a removable hard disk, a magnetic or optical disk, and the like.
As can be seen from the embodiments of the method, the apparatus, the mobile device, or the storage medium for determining a compensated lane line provided by the present application, the method in the present application includes acquiring a vehicle driving parameter, determining a lane line within a target distance according to a vehicle performance parameter and the vehicle driving parameter, determining a distance to be adjusted corresponding to the target distance from an electronic map, determining a reference lane line matching the lane line within the distance to be adjusted, determining a first coordinate data set of the reference lane line, and determining a second coordinate data pair set of the lane line; and determining an adjusting parameter and an adjusting coordinate data set based on the first coordinate data set and the second coordinate data set, and determining a compensating lane line according to the adjusting parameter, the first coordinate data set and the adjusting coordinate data set. Based on the embodiment of the application, the compensation lane line is determined to control the safe and stable running of the vehicle by combining the vehicle running parameters, the road lane line detected by the visual detection device and the preset target lane line in the electronic map. The application time and the application range of the visual detection device can be prolonged, and the part of lane lines which are temporarily jumped or lost due to the influence of complex working conditions such as light intensity or severe weather can be compensated.
It should be noted that: the foregoing sequence of the embodiments of the present application is for description only and does not represent the superiority and inferiority of the embodiments, and the specific embodiments are described in the specification, and other embodiments are also within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in the order of execution in different embodiments and achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown or connected to enable the desired results to be achieved, and in some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment is described with emphasis on differences from other embodiments. Especially, for the embodiment of the device, since it is based on the embodiment similar to the method, the description is simple, and the relevant points can be referred to the partial description of the method embodiment.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A compensated lane line determination method, comprising:
acquiring vehicle running parameters;
determining a road lane line within a target distance according to vehicle performance parameters and the vehicle driving parameters;
determining a distance to be adjusted corresponding to the target distance from an electronic map, and determining a reference lane line matched with the lane line in the distance to be adjusted;
determining a first set of coordinate data of the reference lane line and determining a second set of coordinate data pairs of the lane line; a second coordinate data pair in the second coordinate data pair set is corresponding coordinate data of the same point on the road lane line at different moments;
determining a set of tuning parameters and a set of tuning coordinate data based on the first set of coordinate data and the second set of coordinate data pairs;
and determining a compensation lane line according to the adjusting parameter, the first coordinate data set and the adjusting coordinate data set.
2. The method of claim 1, wherein the vehicle driving parameters include latitude and longitude data, heading angle, and vehicle speed of the vehicle at the current time.
3. The method of claim 2, wherein determining a road lane line within a target distance from a vehicle performance parameter and the vehicle travel parameter comprises:
determining a safe distance according to the vehicle performance parameters, the longitude and latitude data of the vehicle at the current moment and the vehicle speed; the safe distance comprises a first safe distance required for keeping the current lane, a second safe distance required for changing lanes and a third safe distance required for laterally controlling the vehicle;
determining a controllable distance according to the longitude and latitude data of the vehicle at the current moment, the course angle and the vehicle speed;
and determining a target distance according to the safe distance and the controllable distance, and determining the road lane line within the target distance.
4. The method according to claim 2, wherein the determining the distance to be adjusted corresponding to the target distance from the electronic map comprises:
determining transformation coordinate data of the longitude and latitude data of the vehicle at the current moment in the electronic map;
determining a distance to be adjusted from the electronic map according to the transformation coordinate data and the target distance; the distance to be adjusted is greater than or equal to the target distance.
5. The method of claim 1, wherein said determining a first set of coordinate data for the reference lane line comprises:
determining a longitude and latitude data set of the reference lane line;
determining a transition coordinate data set corresponding to the longitude and latitude data set of the reference lane line based on a preset transition coordinate system; longitude and latitude data in the longitude and latitude data set of the reference lane line correspond to transition coordinate data in the transition coordinate data set one by one;
and determining a first coordinate data set corresponding to the transition coordinate data set based on a preset vehicle body coordinate system in the electronic map.
6. The method of claim 1, wherein said determining a second set of coordinate data pairs for the roadway lane markings comprises:
determining a coordinate data set of the road lane line at a first moment;
determining a coordinate data set of the road lane line at a second moment; the first time is earlier than the second time;
and determining the second coordinate data pair set according to the coordinate data set of the first time and the coordinate data set of the second time.
7. The method of claim 1, wherein determining an adjustment parameter based on the first set of coordinate data and the second set of coordinate data pairs and adjusting the set of coordinate data comprises:
determining a set of pairs of second coordinate data from the set of pairs of second coordinate data; the second coordinate data in the second coordinate data pair subset are overlapped in a preset relative error interval;
determining the adjustment parameter and the set of adjustment coordinate data from the set of first coordinate data and the set of second coordinate data pairs.
8. A compensated lane line determining apparatus, comprising:
an acquisition unit for acquiring vehicle driving parameters;
a first determination unit for determining a road lane line within a target distance according to a vehicle performance parameter and the vehicle driving parameter;
the second determining unit is used for determining a distance to be adjusted corresponding to the target distance from an electronic map and determining a reference lane line matched with the lane line in the distance to be adjusted;
a third determination unit configured to determine a first set of coordinate data of the reference lane line and determine a second set of coordinate data pairs of the road lane line; a second coordinate data pair in the second coordinate data pair set is corresponding coordinate data of the same point on the road lane line at different moments;
a fourth determining unit configured to determine an adjustment parameter and an adjustment coordinate data set based on the first coordinate data set and the second coordinate data pair set;
and the fifth determining unit is used for determining a compensation lane line according to the adjusting parameter, the first coordinate data set and the adjusting coordinate data set.
9. A mobile device comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the compensated lane line determination method of any of claims 1-7.
10. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement the method of compensated lane line determination according to any one of claims 1 to 7.
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| CN201911169451.7A CN111114544A (en) | 2019-11-25 | 2019-11-25 | Method and device for determining compensation lane line, movable equipment and storage medium |
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| CN201911169451.7A CN111114544A (en) | 2019-11-25 | 2019-11-25 | Method and device for determining compensation lane line, movable equipment and storage medium |
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