CN111439263B

CN111439263B - Vehicle lane change recognition method and device, electronic equipment and storage medium

Info

Publication number: CN111439263B
Application number: CN201811642880.7A
Authority: CN
Inventors: 金振为
Original assignee: Shenyang Meihang Technology Co ltd
Current assignee: Shenyang Meihang Technology Co ltd
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2022-05-20
Anticipated expiration: 2038-12-29
Also published as: CN111439263A

Abstract

The application relates to a vehicle lane change identification method, a vehicle lane change identification device, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring inertial navigation data generated by a vehicle in the driving process, determining a starting point identifier and an end point identifier of a variable line according to the inertial navigation data, acquiring position change information between the starting point identifier and the end point identifier from the inertial navigation data, determining the traversing distance of the vehicle according to the position change information, and determining lane change of the vehicle when the absolute value of the traversing distance is greater than or equal to a first distance threshold. The starting point and the end point of the vehicle lane change line can be determined according to the inertial navigation data of the vehicle, and then the traversing distance of the vehicle is determined according to the position change information between the starting point and the end point to judge whether the vehicle lane change occurs, so that the accuracy of vehicle lane change identification can be improved.

Description

Vehicle lane change recognition method and device, electronic equipment and storage medium

Technical Field

The present application relates to the field of intelligent transportation technologies, and in particular, to a method and an apparatus for identifying a lane change of a vehicle, an electronic device, and a computer-readable storage medium.

Background

With the continuous development of intelligent transportation technology, vehicle navigation technology becomes one of the essential functions for people to drive vehicles. At present, in the vehicle navigation process, the lane change information of two sides of a vehicle can be collected through a camera system of the vehicle, and whether the vehicle changes lanes or not is judged according to the lane change information.

However, in the conventional method, the camera system cannot provide stable, continuous and effective lane change information under the conditions of traffic jam, severe weather, severe lane abrasion and the like, and the lane change identification is not accurate.

Disclosure of Invention

In view of the above, it is necessary to provide a lane change recognition method and apparatus for a vehicle, an electronic device, and a computer-readable storage medium, which can improve accuracy of lane change recognition.

A vehicle lane change identification method, the method comprising:

acquiring inertial navigation data generated by a vehicle in the driving process;

determining a starting point identifier and an end point identifier of a variable line according to the inertial navigation data;

acquiring position change information between the starting point identifier and the end point identifier from the inertial navigation data;

determining a traverse distance of the vehicle based on the position change information;

determining that the vehicle is changing lanes when the absolute value of the traverse distance is greater than or equal to a first distance threshold.

In one embodiment, the method further comprises the following steps:

acquiring the current position of the vehicle;

determining a current straight road of the vehicle based on the current position;

and when the length of the straight road is greater than or equal to a preset distance threshold, executing the operation of acquiring inertial navigation data generated in the driving process of the vehicle.

In one embodiment, the method further comprises the following steps:

when the length of the straight road is smaller than the preset distance threshold, determining at least two sections of sub straight roads matched with the preset distance threshold based on the current position;

acquiring the length sum and offset angle sum of the at least two sections of sub-straight roads;

and when the length sum is matched with a target length value and/or the deviation angle sum is smaller than a preset angle value, executing the operation of acquiring inertial navigation data generated in the driving process of the vehicle.

In one embodiment, the method further comprises the following steps:

acquiring a steering wheel fluctuation value within a preset time range from the inertial navigation data;

acquiring a first number of steering wheel fluctuation values larger than or equal to a target fluctuation threshold value or the number of times of continuous incremental increase of the steering wheel fluctuation values;

detecting a second number of angular velocity change values in the inertial navigation data that are greater than or equal to a change threshold;

when at least one of the first number is larger than a first number threshold, the increasing times are larger than preset increasing times, and the second number is larger than a second number threshold is met, acquiring a first target steering wheel fluctuation value larger than the target fluctuation threshold;

and taking a data identifier corresponding to the target steering wheel fluctuation value as the starting identifier.

In one embodiment, the method further comprises the following steps:

acquiring a steering wheel fluctuation value after the starting point identification from the inertial navigation data;

acquiring a third quantity of steering wheel fluctuation values smaller than the target fluctuation threshold value and the descending times of continuous descending of the steering wheel;

and when the third quantity is greater than a third quantity threshold value and/or the decrement times are greater than preset decrement times, taking the data identifier corresponding to the first steering wheel fluctuation value smaller than the target fluctuation threshold value as the endpoint identifier.

In one embodiment, the method further comprises the following steps:

detecting a vehicle speed of the vehicle during running;

a target fluctuation threshold corresponding to the vehicle speed is acquired.

In one embodiment, the method further comprises the following steps:

when the absolute value of the traversing distance is smaller than the first distance threshold, determining that the vehicle does not change lanes;

when the absolute value of the traversing distance is larger than or equal to the first distance threshold and smaller than a second distance threshold, determining that the lane change number of the vehicle is a first lane change number;

when the absolute value of the traversing distance is larger than or equal to the second distance threshold and smaller than a third distance threshold, determining that the lane change number of the vehicle is a second lane change number;

wherein the first distance threshold is smaller than the second distance threshold, the second distance threshold is smaller than the third distance threshold, and the first lane change number is smaller than the second lane change number.

A vehicle lane change recognition device, the device comprising:

the data acquisition module is used for acquiring inertial navigation data generated in the driving process of the vehicle;

the identification determining module is used for determining a starting point identification and an end point identification of a variable line according to the inertial navigation data;

the change information acquisition module is used for acquiring position change information between the starting point identifier and the end point identifier from the inertial navigation data;

a traverse distance determination module for determining a traverse distance of the vehicle based on the position change information;

and the lane changing determining module is used for determining that the vehicle changes lanes when the absolute value of the traversing distance is larger than or equal to a first distance threshold.

An electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:

According to the vehicle lane change identification method, the device, the electronic equipment and the computer readable storage medium, inertial navigation data generated in the driving process of a vehicle are obtained, the starting point identification and the end point identification of a change line are determined according to the inertial navigation data, the traversing distance of the vehicle is determined according to position change information between the starting point identification and the end point identification in the inertial navigation data, and when the absolute value of the traversing distance is larger than or equal to a first distance threshold value, the vehicle lane change is determined. The starting point and the end point of the vehicle lane change line can be determined according to the inertial navigation data of the vehicle, and then the traversing distance of the vehicle is determined according to the position change information between the starting point and the end point to judge whether the vehicle lane change occurs, so that the accuracy of vehicle lane change identification can be improved.

Drawings

FIG. 1 is a flow diagram of a vehicle lane change identification method in one embodiment;

FIG. 2 is a schematic illustration of a lane change of a vehicle in one embodiment;

FIG. 3 is a flow chart of a vehicle lane change identification method in another embodiment;

FIG. 4 is a flow chart of detecting straight ahead movement of a vehicle in one embodiment;

FIG. 5 is a flow diagram of determining an identification of a starting point for a change line in one embodiment;

FIG. 6 is a flow diagram of determining endpoint identification for a change line in one embodiment;

FIG. 7 is a block diagram showing the construction of a lane change recognition apparatus for a vehicle according to an embodiment;

FIG. 8 is a diagram illustrating the internal architecture of an electronic device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

FIG. 1 is a flow chart of a vehicle lane change identification method in one embodiment. As shown in fig. 1, in an embodiment, a lane change recognition method for a vehicle is provided, which is described by taking the method as an example of being applied to an electronic device, and includes the following steps:

and 102, acquiring inertial navigation data generated in the driving process of the vehicle.

The inertial navigation data, DR (inertial navigation technology) data, is data detected by all sensors included in the vehicle, which is an inertial navigation technology. The vehicle includes sensors that may be, but are not limited to, one or more of a steering wheel angle sensor, a speed sensor, a gyroscope, a position and speed sensor, an odometer sensor, and the like. The inertial navigation data may include, but is not limited to, steering wheel fluctuation data, angular velocity data, vehicle speed, etc. of the vehicle during travel. The electronic equipment can acquire inertial navigation data generated by the vehicle in the driving process.

And 104, determining a starting point identifier and an end point identifier of the variable line according to the inertial navigation data.

The starting point identification is the data identification of the inertial navigation data corresponding to the starting point of the variable line. Similarly, the end point identification is the data identification of the inertial navigation data corresponding to the line-changing end point. The electronic equipment determines a start point identifier and an end point identifier of a line change according to the inertial navigation data, and specifically, the electronic equipment can detect whether the vehicle is changed according to a steering wheel fluctuation value, an angular velocity change value and the like contained in the inertial navigation data, when the vehicle is detected to start changing the line, the data identifier of the first inertial navigation data determining that the vehicle starts changing the line is used as the start point identifier, and when the vehicle is detected to finish changing the line, the data identifier of the first inertial navigation data determining that the vehicle finishes changing the line is used as the end point identifier. When a driver drives a vehicle, force acting on the edge of a steering wheel is converted into torque and then transmitted to a steering shaft so as to control the advancing direction of the vehicle, wherein the change of the advancing direction of the vehicle is the change of the angle of the vehicle. That is, in the course of changing lanes, the direction in which the vehicle travels, the angular velocity of the vehicle, and the radian of the vehicle all change, so that the electronic device can acquire inertial navigation data containing information such as a steering wheel fluctuation value and an angular velocity change value generated in the course of driving the vehicle, and determine a start point identifier and an end point identifier of a vehicle lane change according to the inertial navigation data.

Alternatively, the electronic device may determine the start point identification and the end point identification of the change line according to at least one of a steering wheel fluctuation value and an angular velocity change value contained in the inertial navigation data. Taking the example that the electronic device determines the start point identifier of the line change according to the steering wheel fluctuation value and the angular velocity change value, the electronic device may determine the vehicle line change when the steering wheel fluctuation value and the angular velocity change value are consistent with the preset line change rule during the driving process, and use the identifier of the inertial navigation data corresponding to the steering wheel fluctuation value which meets the preset line change rule as the start point identifier of the line change. The preset line changing rule can be determined by analyzing the steering wheel fluctuation value and the angular speed change value when the vehicle changes lanes in the actual running process, and is not limited herein. For example, when the preset line-changing rule is that two steering wheel fluctuation values are greater than 40 and two angular velocity change values greater than 2 degrees per second are greater than 5 in a preset time, if the steering wheel fluctuation values and the angular velocity change values in the preset time acquired by the electronic device satisfy the preset line-changing rule, the data identifier of the inertial navigation data corresponding to the first steering wheel fluctuation value greater than 40 may be used as the start identifier of the line-changing. The preset time can be set according to the actual application requirement, and is not limited herein.

Similarly, after the lane change of the vehicle is completed, the vehicle runs according to the lane after the lane change, the steering wheel fluctuation value and the angular velocity change value of the vehicle tend to be stable, and in a range approaching 0, the electronic device can determine whether the vehicle finishes the lane change by detecting the change of the steering wheel fluctuation value, the angular velocity value and other data contained in the inertial navigation data, so as to use the data identifier corresponding to the first steering wheel fluctuation value for determining the end of the lane change of the vehicle as the end point identifier.

And 106, acquiring position change information between the starting point identifier and the end point identifier from the inertial navigation data.

The inertial navigation data comprises data which are acquired every preset time or every preset distance, and each group of data has a corresponding data identifier so as to uniquely identify the group of data. And the data between the starting point identifier and the end point identifier in the inertial navigation data is the inertial navigation data generated in the vehicle line changing process detected by the electronic equipment. The electronic equipment acquires position change information between the starting point identifier and the end point identifier from the inertial navigation data. Specifically, the electronic device may acquire each target data identifier between the start point identifier and the end point identifier, thereby acquiring the position change information corresponding to each target data identifier. The position change information may include, but is not limited to, a distance change value and an angle change value. Alternatively, the position change information may be a distance change value, a radian change value, or the like, without being limited thereto.

And step 108, determining the traversing distance of the vehicle based on the position change information.

The transverse moving distance is the moving distance perpendicular to the lane direction in the driving process of the vehicle. The electronic device may obtain one or more sets of position change information from the inertial navigation data, determine the traverse distance of the vehicle based on the position change information, specifically, calculate a corresponding single traverse distance according to each set of position change information, and add the single traverse distances obtained from all the position change information between the start point identifier and the end point identifier to obtain the traverse distance of the vehicle in the line changing process.

And step 110, when the absolute value of the traversing distance is larger than or equal to the first distance threshold, determining that the vehicle changes the lane.

The first distance threshold may be set according to a lane width. In particular, the first distance threshold may be greater than or equal to the width of a single lane. Optionally, the electronic device may further determine a current lane width according to the current position of the vehicle, and acquire a first distance threshold corresponding to the current lane width. When the absolute value of the traversing distance is greater than or equal to a first distance threshold, the electronic device determines that the vehicle changes lanes; when the absolute value of the traversing distance is less than the first distance threshold, the electronic device determines that the vehicle has not changed lanes. Further, the electronic device may determine the lane change direction of the vehicle according to the positive and negative information of the traverse distance, and specifically, the lane change direction when the traverse distance is positive is opposite to the lane change direction when the traverse distance is negative. The relationship between the positive and negative of the traverse distance and the lane change direction can be determined by the direction of the angular velocity in the inertial navigation data, and is not limited herein.

The method for identifying lane change of the vehicle can acquire inertial navigation data generated in the driving process of the vehicle, determine a starting point identifier and an end point identifier of a change line according to at least one of a steering wheel fluctuation value and an angular velocity change value contained in the inertial navigation data, determine a traversing distance of the vehicle according to position change information between the starting point identifier and the end point identifier in the inertial navigation data, and determine the lane change of the vehicle when the absolute value of the traversing distance is greater than or equal to a first distance threshold. The starting point and the end point of the vehicle lane change can be determined according to inertial navigation data of the vehicle, and then the traversing distance of the vehicle is determined according to the position change information between the starting point and the end point to judge whether the vehicle lane change occurs, so that the problem that lane change identification results are inaccurate due to unstable lane change information and low accuracy provided by a camera under the conditions of traffic jam, severe weather, serious road lane abrasion and the like is avoided, and the accuracy of vehicle lane change identification can be improved.

FIG. 2 is a schematic illustration of a lane change of a vehicle in one embodiment. As shown in fig. 2, the vehicle starts changing the line from the position 202 and ends changing the line at the position 204, and the electronic device may acquire the data identifier of the inertial navigation data corresponding to the position 202 as the start identifier and the data identifier of the inertial navigation data corresponding to the position 204 as the end identifier, and further determine the traverse distance 206 of the vehicle according to the position change information between the start identifier and the end identifier. When the traversing distance 206 of the vehicle exceeds the first distance threshold, the electronic device determines that the vehicle is changing lanes.

In one embodiment, the provided lane change identification method for a vehicle further comprises: when the absolute value of the traversing distance is smaller than a first distance threshold value, determining that the vehicle does not change lanes; when the absolute value of the traversing distance is greater than or equal to a first distance threshold and is smaller than a second distance threshold, determining the lane change number of the vehicle as a first lane change number; when the absolute value of the traversing distance is greater than or equal to a second distance threshold and is smaller than a third distance threshold, determining that the lane number of the vehicle is a second lane number; the first distance threshold is smaller than the second distance threshold, the second distance threshold is smaller than the third distance threshold, and the first lane change number is smaller than the second lane change number.

The first distance threshold may be determined based on a width of the first lane change by a number of lanes. The second distance threshold may be determined based on a second lane-change number of lane widths, and the third lane distance threshold may be determined based on a third lane-change number of lane widths. Specifically, the second distance threshold is greater than or equal to the second lane change number of lane widths, and the third distance threshold may be greater than or equal to the third lane change number of lane widths. For example, when the width of a single lane is 2.7 meters, if the first number of lanes is 1, the first distance threshold may be 2.8 meters; if the second number of transitions is 2, the second distance threshold may be 5.7 meters, etc., without being limited thereto.

By dividing different distance thresholds, the electronic equipment can determine the lane change quantity according to the traversing distance of the vehicle and the distance threshold, and the lane change identification accuracy of the vehicle can be improved.

Fig. 3 is a flowchart of a lane change recognition method for a vehicle in another embodiment. As shown in fig. 3, in one embodiment, a lane change recognition method for a vehicle is provided, including:

step 302, a current position of the vehicle is obtained.

The electronic device may acquire the current position of the vehicle through a GPS (Global Positioning System). In some embodiments, the electronic device may further obtain the current position of the vehicle by combining a base station positioning mode, a WIFI (Wireless Fidelity) positioning mode, and the like.

At step 304, the current straight-ahead road of the vehicle is determined based on the current position.

The electronic device may determine a current straight-ahead road of the vehicle based on the current location and the map data. The map data is a data form which is distinguished by an enterprise with map acquisition authority according to a plurality of levels such as a common road, an urban expressway and an expressway by measuring road conditions such as streets, bridges and the like in real life. In the map data, a link is a basic road unit, and is a road with no angle change in the same segment. When there is a road with a changed angle, the road is divided into at least two road segments 1 and 2 … based on the abstract changed angle point, specifically, the electronic device may match the corresponding position of the map data according to the current position, and the road segment where the corresponding position is located is the current straight road of the vehicle.

And step 306, when the length of the straight road is greater than or equal to the preset distance threshold, executing the operation of acquiring the inertial navigation data generated by the vehicle in the driving process.

The preset distance threshold value can be set according to the actual application requirement. Specifically, the preset distance threshold may be determined according to the shortest distance that does not affect the vehicle lane change when the road is curved. For example, the preset distance threshold may be 300 meters, 400 meters, 450 meters, 500 meters, and the like, without being limited thereto. The length of a straight road of the vehicle is larger than or equal to a preset distance threshold value, it is indicated that the vehicle travels straight within the preset distance threshold value, and the electronic device can execute the operation of acquiring inertial navigation data generated in the driving process of the vehicle when the length of the straight road is larger than or equal to the preset distance threshold value, and further determine whether the vehicle changes lanes according to the inertial navigation data. Optionally, the inertial navigation data generated during the driving of the vehicle acquired by the electronic device is the inertial navigation data generated when the vehicle drives on the straight road.

In one embodiment, as shown in fig. 4, the provided lane change recognition method for a vehicle may further include:

and step 362, when the length of the straight road is smaller than the preset distance threshold, determining at least two sections of sub straight roads matched with the preset distance threshold based on the current position.

The electronic device determines at least two sub-straight roads matched with the preset distance threshold based on the current position, and specifically, the electronic device may obtain the last straight road one by one starting from the current straight road until the sum of the lengths of the obtained at least two straight roads is greater than or equal to the preset distance threshold.

Alternatively, the electronic device may obtain a target road segment with a distance from the current position as the end position as a preset distance threshold according to the map data, and use a position with a distance from the end position as a preset distance threshold in the target road segment as the start position, so as to obtain the sub-straight road from the start position to the end position according to the road segment in the map data. When the length of the current straight road of the vehicle is smaller than a preset distance threshold value, the number of the sub straight roads acquired by the electronic equipment is larger than or equal to 2.

In one embodiment, the electronic device may detect the position of the vehicle in real time during the driving process of the vehicle, match the position of the vehicle to a corresponding road segment in the map data, take an arbitrary position as a starting point, and take a position having a distance from the starting point as a preset distance threshold as an end point, thereby determining a road where the starting point and the end point are located and a road segment between the starting point and the end point as a sub-straight road according to the position of the driving process of the vehicle. Further, the electronic device may further determine whether the end point of the previous road segment is the same as the start point of the current road segment in the process of determining the road segment between the start point and the end point as the sub-straight road according to the position of the vehicle in the driving process, and when the end point of the previous road segment is different from the start point of the current road segment, the electronic device may use the road of the end point of the previous road segment and the start point of the current road segment in the map data as the sub-straight road, so as to avoid a situation that the sub-straight road acquired by the electronic device jumps due to a short length of the road segment.

And step 364, acquiring the length sum and the offset angle sum of at least two sections of sub straight roads.

And the electronic equipment adds the acquired lengths of the at least two sections of sub straight roads to obtain the sum of the lengths, namely the length sum. The electronic device acquires the offset angle sum of at least two sections of sub-straight roads, and specifically, the electronic device may acquire a section corresponding to the sub-straight road, and take the sum of the offset angles between each section as the offset angle sum.

And 366, when the length sum is matched with the target length value and/or the offset angle sum is smaller than the preset angle value, executing the operation of acquiring inertial navigation data generated in the driving process of the vehicle.

The case where the length sum matches the target length value and/or the offset angle sum is less than the preset angle value may include: the length sum is matched with a target length value, the offset angle sum is smaller than a preset angle value, the length sum is matched with the target length value, and the offset angle sum is smaller than the preset angle value. When the length of the electronic equipment is matched with the target length value and/or the offset angle sum is smaller than the preset angle value, the electronic equipment can judge that the vehicle moves straight within the preset distance threshold value, and further obtain inertial navigation data generated in the driving process of the vehicle. The target length value is a straight-line distance value between the starting point of the first sub straight-line road and the end point of the last sub straight-line road in at least two sections of sub straight-line roads. Specifically, the length sum is matched to the target length value, i.e., the difference between the length sum and the target length value is within a preset difference range. The preset difference range may be set according to actual requirements, and may be, for example, 1 meter, 2 meters, 5 meters, 10 meters, and the like, without being limited thereto. The preset angle value may be set according to the offset angle sum in the actual driving process of the vehicle, and is not limited herein. For example, the preset angle value may be 5 degrees, 10 degrees, 12 degrees, 15 degrees, etc., without being limited thereto.

And 308, acquiring inertial navigation data generated in the driving process of the vehicle.

And step 310, determining a starting point identifier and an end point identifier of the variable line according to the inertial navigation data.

In step 312, position change information between the start point identifier and the end point identifier is obtained from the inertial navigation data.

In step 314, the traversing distance of the vehicle is determined based on the position change information.

In step 316, when the traversing distance is greater than or equal to the first distance threshold, a lane change of the vehicle is determined.

By detecting the current straight road of the vehicle, when the length of the current straight road is greater than or equal to a preset distance threshold value, or when the current straight road is smaller than the preset distance threshold value, and at least two sections of sub-straight roads determined based on the current position and the preset distance threshold value meet at least one of the length, the matching with the target length value, the offset angle and the value smaller than the preset angle value, the electronic equipment can determine that the vehicle is running straight within the preset distance threshold value, so that the inertial navigation data generated in the running process of the vehicle is used for vehicle lane change identification, namely, the inertial navigation data is used for lane change identification when the vehicle is running straight, thereby avoiding the false identification caused by different driving habits or different road bending degrees and the like, for example, identifying the arc-shaped road turning to the right as the condition of changing the line to the right, and improving the accuracy of lane change identification.

FIG. 5 is a flow diagram for determining an identification of a starting point for a transition line, under an embodiment. As shown in fig. 5, in one embodiment, the process of determining the start point identifier and the end point identifier of the lane change according to the inertial navigation data in the vehicle lane change identification method includes:

step 502, obtaining a steering wheel fluctuation value within a preset time range from inertial navigation data.

The preset time range may be set according to actual application requirements, and is not limited herein. For example, the preset time range may be 0.2s, 0.3s, 0.5s, 0.6s, etc., without being limited thereto. The electronic equipment can obtain the steering wheel fluctuation value within a preset time range from the inertial navigation data.

At step 504, a first number of steering wheel fluctuation values, or a number of consecutive incremental increases in steering wheel fluctuation values, that is greater than or equal to the target fluctuation threshold is obtained.

The first number is the number of steering wheel fluctuation values greater than or equal to the target fluctuation threshold value in the preset time range. The increasing times of the continuous increasing of the steering wheel fluctuation value is that when the steering wheel fluctuation value is continuously increased, the number of the steering wheel fluctuation value is decreased by one. For example, when there are 6 steering wheel fluctuation values 30, 35, 44, 53, 55, 57 that are successively incremented, the corresponding number of successive increments is 6-1 to 5. Optionally, the electronic device may further preset a rule for increasing the steering wheel fluctuation value, and specifically, the electronic device may determine that the previous steering wheel fluctuation value and the current steering wheel fluctuation value are increased when a difference value between the previous steering wheel fluctuation value and the current steering wheel fluctuation value is within a preset range. For example, when the preset range is greater than 4, the continuously increasing values of the steering wheel fluctuation in the foregoing example are 30, 35, 44, 53, and the corresponding number of increments should be 3. The preset range may be set according to actual application requirements, and is not limited herein. Alternatively, the preset range may also be determined according to the target fluctuation threshold, for example, one fifth, one tenth, etc. of the target threshold, but is not limited thereto. The electronic device may obtain a first number of steering wheel fluctuation values that is greater than or equal to the target fluctuation threshold, or a number of increments in which the steering wheel fluctuation value is continuously incremented.

The target fluctuation threshold may be determined according to the fluctuation value of the steering wheel when the vehicle changes lanes during actual driving, and is not limited herein. For example, the target fluctuation threshold may be 20, 25, 40, 48, etc., without limitation thereto. Optionally, in one embodiment, the electronic device may further detect a vehicle speed of the vehicle during running, and acquire a target fluctuation threshold corresponding to the vehicle speed. The electronic device can preset fluctuation threshold values corresponding to different vehicle speeds, and further acquire a corresponding target fluctuation threshold value according to the current vehicle speed of the vehicle. Specifically, the fluctuation threshold value corresponding to the vehicle speed preset by the electronic device is determined according to the fluctuation values of the steering wheel when the vehicle runs straight and changes lanes at different vehicle speeds during the actual running process of the vehicle. For example, when the vehicle speed is 30km/h, if the fluctuation section of the steering wheel when the vehicle is running straight during actual running is less than 80, the target fluctuation threshold may be a value greater than or equal to 80, such as 80, 83, 90, or the like, without being limited thereto.

In step 506, a second number of angular velocity change values in the inertial navigation data greater than or equal to the change threshold is detected.

The electronic device can continuously acquire the angular speed change value generated by the vehicle during running. Specifically, the electronic device may obtain an angular velocity change value included in inertial navigation data within a preset time period from a current time; a preset number of angular velocity change values may also be obtained, for example, 50, 60, 65 angular velocity change values, etc., and the electronic device may update the angular velocity change values after each detection. The second number is the number of angular velocity change values greater than or equal to the change threshold value in the preset number or the preset duration. The variation threshold may be set according to the actual application requirement, and is not limited herein. The variation threshold may be, but is not limited to, 2 degrees per second, 4 degrees per second, 5 degrees per second, etc.

And step 508, when at least one of the first number is larger than a first number threshold, the increasing times are larger than preset increasing times, and the second number is larger than a second number threshold is met, acquiring a first target steering wheel fluctuation value larger than a target fluctuation threshold.

The first number threshold, the second number threshold, and the preset increment number may be set according to actual application requirements, and are not limited herein. In general, the greater the number of steering wheel fluctuation values collected within the preset time range, the greater the first number threshold and the preset number of increments may be. For example, when the frequency is 20 per second and the preset time range is 0.2s, the number of the steering wheel fluctuation values collected in the preset time range is 4, and the first number threshold may be 2, 3, or the like, but is not limited thereto. Similarly, the greater the preset number or preset duration, the greater the second number threshold may be. The second quantity threshold is smaller than the number of the acquired angular velocity change values, for example, when the preset number is 50, the second quantity threshold may be 5, 10, 15, or the like, but is not limited thereto.

The electronic device may obtain a first target steering wheel fluctuation value larger than the target fluctuation value when at least one of the first number is larger than a first number threshold, the number of increments is larger than a preset number of increments, and the second number is larger than a second number threshold is satisfied. Taking the condition that the first number is greater than the first number threshold and the second number is greater than the second number threshold as an example, when the first number threshold is 2 and the second number threshold is 8, the electronic device may obtain a first target steering wheel fluctuation value greater than the target fluctuation threshold when the first number is greater than 2 and the second number is greater than 8.

And step 510, taking the data identifier corresponding to the target steering wheel fluctuation value as a starting point identifier.

Specifically, the electronic device acquires a data identifier corresponding to the target direction fluctuation value, and takes the data identifier as a starting point identifier of the modified line.

The method comprises the steps of obtaining a steering wheel fluctuation value in a preset time range from inertial navigation data, obtaining a first quantity of the steering wheel fluctuation values larger than or equal to a target fluctuation threshold value, or the continuous increasing times of the steering wheel fluctuation values, and when at least one of the first quantity is larger than the first quantity threshold value, the increasing times is larger than the preset increasing times, and the second quantity is larger than the second quantity threshold value is met, taking a data identifier corresponding to the first target steering wheel fluctuation value larger than the target fluctuation threshold value as a starting point identifier of a vehicle lane change, so that the accuracy of starting point identifier detection can be improved, and the accuracy of lane change identification is further improved.

FIG. 6 is a flow diagram of determining an endpoint identification for a change line in one embodiment. As shown in fig. 6, in an embodiment, the process of determining the start point identifier and the end point identifier of the change line according to the inertial navigation data in the provided vehicle lane change identification method may further include:

in step 602, a steering wheel fluctuation value after the start point identification is obtained from inertial navigation data.

The data after the start point identifier is the data with the generation time longer than the inertial navigation data generation time corresponding to the start point identifier. The electronic device may acquire a steering wheel fluctuation value and an angular velocity fluctuation value having a generation time greater than that of the data of the start point identification from the inertial navigation data.

Step 604, obtaining a third number of the steering wheel fluctuation values smaller than the target fluctuation threshold value, or a decreasing number of times of continuous decreasing of the steering wheel fluctuation values.

The decreasing times of the continuous decreasing of the steering wheel fluctuation value is that when the steering wheel fluctuation value is continuously decreased, the number of the steering wheel fluctuation value is decreased by one. For example, when there are 5 consecutive decreasing values of 40, 35, 29, 23, 22 of the steering wheel fluctuation, the corresponding number of consecutive decreases is 4. Optionally, the electronic device may further preset a rule of decreasing the steering wheel fluctuation value, and specifically, the electronic device may determine that the previous steering wheel fluctuation value and the current steering wheel fluctuation value decrease when a difference value between the previous steering wheel fluctuation value and the current steering wheel fluctuation value is within a preset range. For example, when the predetermined range is greater than 4, 23 and 22 in the foregoing example can be regarded as not decreasing, and the corresponding decreasing number should be 3. The preset range may be set according to actual application requirements, and is not limited herein. Alternatively, the preset range may also be determined according to the target fluctuation threshold, for example, one fifth, one tenth, etc. of the target threshold, but is not limited thereto.

The electronic device may obtain a second number of steering wheel fluctuation values that is less than the target fluctuation threshold, the number of decrements for which the steering wheel fluctuation value is continuously decremented.

And 606, when the third quantity is larger than the second quantity threshold value and/or the decrement times are larger than the preset decrement times, taking the data identifier corresponding to the first steering wheel fluctuation value smaller than the target fluctuation threshold value as the end point identifier.

If the third number is greater than the third number threshold and/or the decrement frequency is greater than the preset decrement frequency, the method is as follows: the third number is greater than a third number threshold, or the decrement times are greater than preset decrement times, or the third number is greater than a third number threshold and the decrement times are greater than preset decrement times. The third quantity threshold and the preset decrement times may be set according to actual application requirements, and are not limited herein. For example, the third number threshold may be 5, 6, 7, 8, etc., without limitation. The preset decrement number may be 3 times, 4 times, 5 times, 6 times, etc., without being limited thereto. And when the third quantity is greater than the third quantity threshold value and/or the decrement times are greater than the preset decrement times, the electronic equipment takes the data identifier corresponding to the first steering wheel fluctuation value smaller than the target fluctuation threshold value as the endpoint identifier of the variable line. Optionally, the electronic device may also determine an end point identification of the vehicle lane change in conjunction with the angular velocity change value.

Further, after determining the starting point identifier of the vehicle lane change, the electronic device may initialize the lane change recognition algorithm when the distance from the starting point identifier exceeds a preset end point distance and the end point identifier is not detected, that is, the electronic device restarts detecting the starting point identifier of the vehicle lane change.

The method comprises the steps of obtaining a steering wheel fluctuation value behind a starting point mark from inertial navigation data, when the steering wheel fluctuation value meets a condition, using a data mark corresponding to the first steering wheel fluctuation value smaller than a target fluctuation threshold value as an end point mark of a vehicle lane change, and initializing a lane change recognition algorithm when the distance between the data mark and the starting point mark exceeds a preset end point distance and the end point mark is not detected, so that the accuracy of vehicle lane change recognition can be improved.

In one embodiment, a lane change identification method for a vehicle is provided, and the method is implemented by the following specific operations:

firstly, the electronic equipment acquires inertial navigation data generated by a vehicle in the driving process.

Optionally, the electronic device may detect whether the vehicle is moving straight within a preset distance threshold, and when the vehicle is moving straight within the preset distance threshold, the electronic device obtains inertial navigation data generated during the driving process of the vehicle.

Alternatively, when the preset distance threshold is X, the electronic device may determine that the vehicle is traveling straight within the preset distance threshold when the length of the current straight road of the vehicle is greater than or equal to X.

Optionally, when the length of the current straight road of the vehicle is less than X, the electronic device may obtain, based on the current position of the vehicle, at least two segments of sub-straight roads that match the preset distance threshold, and when the length of the at least two segments of sub-straight roads matches the target length value and the offset angle sum of the at least two segments of sub-straight roads is less than the preset angle value, the electronic device determines that the vehicle is straight within the preset distance threshold.

And then, the electronic equipment determines the starting point identification and the end point identification of the variable line according to the inertial navigation data.

Alternatively, the electronic device may determine the start point identification and the end point identification of the change line according to at least one of a steering wheel fluctuation value and an angular velocity change value contained in the inertial navigation data.

Optionally, the electronic device may further initialize the vehicle lane change recognition algorithm when the distance from the start point identifier exceeds a preset end point distance and the end point identifier is not detected yet.

Then, the electronic equipment acquires position change information between the starting point identifier and the end point identifier from the inertial navigation data. Specifically, the electronic device may acquire each target data identifier between the start point identifier and the end point identifier, thereby acquiring the position change information corresponding to each target data identifier. The position change information may include, but is not limited to, a distance change value and an angle change value. Alternatively, the position change information may be a distance change value, a radian change value, or the like, without being limited thereto.

Then, the electronic apparatus determines a lateral movement distance of the vehicle based on the position change information. Specifically, the electronic device may calculate a corresponding single traversing distance according to each group of position change information, and add the single traversing distances obtained from all the position change information between the start point identifier and the end point identifier to obtain the traversing distance of the vehicle in the line changing process.

Then, when the absolute value of the traversing distance is greater than or equal to the first distance threshold, it is determined that the vehicle has made a lane change. Further, the electronic device may determine the lane change direction of the vehicle according to the positive and negative information of the traverse distance, and specifically, the lane change direction when the traverse distance is positive is opposite to the lane change direction when the traverse distance is negative.

Optionally, when the absolute value of the traversing distance is less than the first distance threshold, the electronic device determines that the vehicle has not changed lanes; when the absolute value of the traversing distance is greater than or equal to a first distance threshold and smaller than a second distance threshold, the electronic equipment determines that the lane number of the vehicle is a first lane number; when the absolute value of the traversing distance is greater than or equal to the second distance threshold and less than the third distance threshold, the electronic device determines that the lane number of the vehicle is the second lane number.

It should be understood that although the various steps in the flowcharts of fig. 1, 3-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1, 3-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 7, there is provided a vehicle lane change recognition apparatus including: a data acquisition module 702, an identification determination module 704, a change information acquisition module 706, a traverse distance determination module 708, and a lane change determination module 710, wherein:

the data acquisition module 702 is used for acquiring inertial navigation data generated in the driving process of the vehicle;

an identifier determining module 704, configured to determine a start identifier and an end identifier of a variable line according to inertial navigation data;

a change information obtaining module 706, configured to obtain position change information between a start point identifier and an end point identifier from the inertial navigation data;

a traverse distance determination module 708 for determining a traverse distance of the vehicle based on the position change information;

and a lane change determining module 710 for determining that the vehicle changes lane when the absolute value of the traversing distance is greater than or equal to a first distance threshold.

In one embodiment, the data acquisition module 702 may also be used to acquire the current location of the vehicle; determining a current straight road of the vehicle based on the current position; and when the length of the straight road is greater than or equal to the preset distance threshold, executing the operation of acquiring inertial navigation data generated by the vehicle in the driving process.

In one embodiment, the data obtaining module 702 may be further configured to determine, based on the current location, at least two sub-straight roads that match the preset distance threshold when the length of the straight road is less than the preset distance threshold; acquiring the length sum and offset angle sum of at least two sections of sub straight roads; and when the length sum is matched with the target length value and/or the offset angle sum is smaller than a preset angle value, executing the operation of acquiring inertial navigation data generated in the driving process of the vehicle.

In one embodiment, the identification determination module 704 may be further configured to obtain a steering wheel fluctuation value within a preset time range from the inertial navigation data; acquiring a first number of steering wheel fluctuation values larger than or equal to a target fluctuation threshold value or the number of times of continuous incremental increase of the steering wheel fluctuation values; detecting a second number of angular velocity change values in the inertial navigation data that are greater than or equal to a change threshold; when at least one of the first number is larger than a first number threshold, the increasing times are larger than preset increasing times, and the second number is larger than a second number threshold is met, acquiring a first target steering wheel fluctuation value larger than a target fluctuation threshold; and taking the data identifier corresponding to the target steering wheel fluctuation value as a starting point identifier.

In one embodiment, the identification determination module 704 can be further configured to obtain a steering wheel fluctuation value after the start identification from the inertial navigation data; acquiring a third quantity of steering wheel fluctuation values smaller than a target fluctuation threshold value and the descending times of continuous descending of the steering wheel; and when the third quantity is greater than the third quantity threshold value and/or the decrement times are greater than the preset decrement times, taking the data identifier corresponding to the first steering wheel fluctuation value smaller than the target fluctuation threshold value as the end point identifier.

In one embodiment, the provided vehicle lane change recognition apparatus may further include a fluctuation threshold determination module 712, the fluctuation threshold determination module 712 being configured to detect a vehicle speed of the vehicle during traveling; a target fluctuation threshold corresponding to the vehicle speed is acquired.

In one embodiment, the lane-change determination module 710 may be further configured to determine that the vehicle has not changed lanes when the absolute value of the traverse distance is less than the first distance threshold; when the absolute value of the traversing distance is greater than or equal to a first distance threshold and is smaller than a second distance threshold, determining the lane change number of the vehicle as a first lane change number; when the absolute value of the traversing distance is greater than or equal to the second distance threshold and is smaller than the third distance threshold, determining the lane change number of the vehicle as a second lane change number; the first distance threshold is smaller than the second distance threshold, the second distance threshold is smaller than the third distance threshold, and the first lane change number is smaller than the second lane change number.

For specific definition of the vehicle lane change identification device, reference may be made to the definition of the vehicle lane change identification method above, and details are not repeated here. The modules in the vehicle lane change recognition device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the electronic device, or can be stored in a memory in the electronic device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, an electronic device is provided, which can be built in a vehicle to perform lane change identification on the vehicle, and can also be independent of the vehicle by receiving inertial data transmitted by the vehicle to perform lane change identification on the vehicle. The internal structure of the electronic device may be as shown in fig. 8. The electronic device comprises a processor, a memory, a network interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a vehicle lane change identification method. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the structure shown in fig. 8 is a block diagram of only a portion of the structure relevant to the present disclosure, and does not constitute a limitation on the electronic device to which the present disclosure may be applied, and that a particular electronic device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.

In one embodiment, an electronic device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

acquiring inertial navigation data generated in the driving process of a vehicle;

determining a starting point identifier and an end point identifier of a variable line according to inertial navigation data;

acquiring position change information between a starting point identifier and an end point identifier from inertial navigation data;

determining a traversing distance of the vehicle based on the position change information;

when the absolute value of the traversing distance is greater than or equal to the first distance threshold, it is determined that the vehicle has made a lane change.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

acquiring the current position of the vehicle;

when the length of the straight road is greater than or equal to a preset test threshold value, executing the operation of acquiring inertial navigation data generated in the driving process of the vehicle

when the length of the straight road is smaller than a preset distance threshold, determining at least two sections of sub straight roads matched with the preset distance threshold based on the current position;

acquiring the length sum and offset angle sum of at least two sections of sub straight roads;

and when the length sum is matched with the target length value and/or the offset angle sum is smaller than a preset angle value, executing the operation of acquiring inertial navigation data generated in the driving process of the vehicle.

acquiring a steering wheel fluctuation value within a preset time range from inertial navigation data;

when at least one of the first number is larger than a first number threshold, the increasing times are larger than preset increasing times, and the second number is larger than a second number threshold is met, acquiring a first target steering wheel fluctuation value larger than a target fluctuation threshold;

and taking the data identifier corresponding to the target steering wheel fluctuation value as a starting identifier.

acquiring a steering wheel fluctuation value after the starting point identification from inertial navigation data;

acquiring a third quantity of steering wheel fluctuation values smaller than a target fluctuation threshold value and the descending times of continuous descending of the steering wheel;

and when the third quantity is greater than the third quantity threshold value and/or the decrement times are greater than the preset decrement times, taking the data identifier corresponding to the first steering wheel fluctuation value smaller than the target fluctuation threshold value as the end point identifier.

detecting the vehicle speed of the vehicle in the driving process;

a target fluctuation threshold corresponding to the vehicle speed is acquired.

when the absolute value of the traversing distance is smaller than a first distance threshold value, determining that the vehicle does not change lanes;

when the absolute value of the traversing distance is greater than or equal to a first distance threshold value and less than a second distance threshold value, determining the lane number of the vehicle as a first lane number;

when the absolute value of the traversing distance is greater than or equal to the second distance threshold and is smaller than the third distance threshold, determining the lane change number of the vehicle as a second lane change number;

the first distance threshold is smaller than the second distance threshold, the second distance threshold is smaller than the third distance threshold, and the first lane change number is smaller than the second lane change number.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of:

acquiring the current position of the vehicle;

and when the length of the straight road is greater than or equal to the preset distance threshold, executing the operation of acquiring inertial navigation data generated by the vehicle in the driving process.

and taking the data identifier corresponding to the target steering wheel fluctuation value as a starting point identifier.

and when the third quantity is greater than a third quantity threshold value and/or the decrement times are greater than preset decrement times, taking the data mark corresponding to the first steering wheel fluctuation value smaller than the target fluctuation threshold value as an end point mark.

detecting the vehicle speed of the vehicle in the driving process;

a target fluctuation threshold corresponding to the vehicle speed is acquired.

when the absolute value of the traversing distance is greater than or equal to a first distance threshold and is smaller than a second distance threshold, determining the lane change number of the vehicle as a first lane change number;

the first distance threshold value is smaller than the second distance threshold value, the second distance threshold value is smaller than the third distance threshold value, and the first lane change number is smaller than the second lane change number.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.

Claims

1. A vehicle lane change identification method, the method comprising:

acquiring the current position of the vehicle;

acquiring inertial navigation data generated in the running process of the vehicle based on the straight road;

determining a starting point identifier and an end point identifier of a variable line according to the inertial navigation data, and the method comprises the following steps: detecting whether the vehicle changes the line according to a steering wheel fluctuation value and an angular velocity change value contained in the inertial navigation data, taking a data identifier of the inertial navigation data corresponding to a line change starting point as a starting point identifier when detecting that the vehicle starts changing the line, and taking a data identifier of the inertial navigation data corresponding to a line change end point as an end point identifier when detecting that the vehicle finishes changing the line;

2. The method of claim 1, wherein the obtaining inertial navigation data generated during driving of the vehicle based on the straight-ahead road comprises:

3. The method of claim 2, wherein the obtaining inertial navigation data generated during driving of the vehicle based on the straight-ahead road comprises:

4. The method of claim 1, wherein determining a start point identifier and an end point identifier of a modified line from the inertial navigation data comprises:

and taking the data identifier corresponding to the target steering wheel fluctuation value as the starting identifier.

5. The method of claim 4, wherein determining a start point identifier and an end point identifier of a modified line from the inertial navigation data further comprises:

acquiring a third quantity of steering wheel fluctuation values smaller than the target fluctuation threshold value or the descending times of continuous descending of the steering wheel;

6. The method of claim 4, further comprising:

detecting a vehicle speed of the vehicle during running;

a target fluctuation threshold corresponding to the vehicle speed is acquired.

7. The method according to any one of claims 1 to 6, further comprising:

8. A lane change recognition device for a vehicle, the device comprising:

a current position acquisition module for acquiring a current position of the vehicle;

a straight road determination module for determining a current straight road of the vehicle based on the current position;

the data acquisition module is used for acquiring inertial navigation data generated in the running process of the vehicle based on the straight road;

the identification determining module is used for determining the starting point identification and the end point identification of the variable line according to the inertial navigation data, and comprises: detecting whether the vehicle changes the line according to a steering wheel fluctuation value and an angular velocity change value contained in the inertial navigation data, taking a data identifier of the inertial navigation data corresponding to a line change starting point as a starting point identifier when detecting that the vehicle starts changing the line, and taking a data identifier of the inertial navigation data corresponding to a line change end point as an end point identifier when detecting that the vehicle finishes changing the line;

9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.