CN112634655B - Lane changing processing method and device based on lane line, electronic equipment and storage medium - Google Patents
Lane changing processing method and device based on lane line, electronic equipment and storage medium Download PDFInfo
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- CN112634655B CN112634655B CN202011481851.4A CN202011481851A CN112634655B CN 112634655 B CN112634655 B CN 112634655B CN 202011481851 A CN202011481851 A CN 202011481851A CN 112634655 B CN112634655 B CN 112634655B
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- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The disclosure provides a lane change processing method and device based on lane lines, electronic equipment and a storage medium, and relates to the fields of computer vision, image processing, intelligent transportation, automatic driving, map navigation and the like. The specific implementation scheme is as follows: collecting a plurality of frames of images in the driving process of a vehicle, wherein the plurality of frames of images comprise lane line information; acquiring the current running position of the vehicle; obtaining a current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the multi-frame images and the current position; under the condition that lane line information on the left side and the right side of the current lane changes, a lane changing event is triggered; and reporting the current position, the current lane and the lane change event to a cloud end, and executing corresponding lane change processing according to feedback of the cloud end. By adopting the method and the device, driving can be better guided, and the driving safety is at least improved.
Description
Technical Field
The present disclosure relates to the field of computer technology processing. The present disclosure relates to the fields of computer vision, image processing, intelligent transportation, automatic driving, map navigation, and the like. .
Background
In the fields of intelligent transportation, automatic driving, map navigation and the like, the shape of a lane line with a preset distance ahead of the current position can be recognized, so that the vehicle is accurately guided to run according to the lane line, and a good running state is kept.
By identifying the shape of the lane line that is a predetermined distance ahead of the current position, it is possible to evaluate whether lane change is required for the current position and whether lane change is required for a predetermined distance expected to travel. If the assessment is not accurate, lane change or deceleration cannot be timely executed, safe driving is not facilitated, and driving risks are increased.
Disclosure of Invention
The disclosure provides a lane change processing method and device based on lane lines, electronic equipment and a storage medium.
According to an aspect of the present disclosure, there is provided a lane change processing method based on lane lines, including:
collecting a plurality of frames of images in the driving process of a vehicle, wherein the plurality of frames of images comprise lane line information;
acquiring the current running position of the vehicle;
obtaining a current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the multi-frame images and the current position;
under the condition that lane line information on the left side and the right side of the current lane changes, a lane changing event is triggered;
and reporting the current position, the current lane and the lane change event to a cloud end, and executing corresponding lane change processing according to feedback of the cloud end.
According to another aspect of the present disclosure, there is provided a lane change processing apparatus based on a lane line, including:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a plurality of frames of images in the driving process of a vehicle, and the plurality of frames of images comprise lane line information;
the position acquisition module is used for acquiring the current position of the vehicle in running;
the information acquisition module is used for acquiring the current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the multi-frame images and the current position;
the lane change triggering module is used for triggering a lane change event under the condition that lane line information on the left side and the right side of the current lane changes;
and the lane change reporting module is used for reporting the current position, the current lane and the lane change event to a cloud end and executing corresponding lane change processing according to feedback of the cloud end.
According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform a method as provided by any one of the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform a method provided by any one of the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising computer instructions which, when executed by a processor, implement the method provided by any one of the embodiments of the present disclosure.
By adopting the method and the device, the multiframe images in the driving process of the vehicle can be collected, and the multiframe images comprise lane line information. The current driving position of the vehicle can be obtained, and the current lane and lane line information of the left side and the right side of the current lane are obtained according to the multi-frame images and the current position. Under the condition that lane line information of the left side and the right side of the current lane changes, a lane changing event can be triggered, the current position, the current lane and the lane changing event are reported to the cloud, so that corresponding lane changing processing is executed according to feedback of the cloud, driving can be guided better, and driving safety is improved at least.
It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic flow diagram of a lane-change processing method based on lane lines according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of lane line information according to an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of a vehicle lane change according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a lane change processing apparatus based on lane lines in an application example according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a lane change processing device based on lane lines according to an embodiment of the present disclosure;
fig. 6 is a block diagram of an electronic device for implementing a lane change processing method based on lane lines according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The term "and/or" herein is merely an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of a, B, C, and may mean including any one or more elements selected from the group consisting of a, B, and C. The terms "first" and "second" used herein refer to and distinguish one from another in the similar art, without necessarily implying a sequence or order, or implying only two, such as first and second, to indicate that there are two types/two, first and second, and first and second may also be one or more.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
According to an embodiment of the present disclosure, a lane change processing method based on lane lines is provided, and fig. 1 is a flowchart of the lane change processing method based on lane lines according to an embodiment of the present disclosure, and the method may be applied to a lane change processing device based on lane lines, for example, the device may be deployed in a terminal or a server or other processing devices to perform, acquiring a current position where a vehicle travels through a plurality of frames of images, triggering a lane change event when lane line information changes, reporting a lane change event to a cloud, and the like. Among them, the terminal may be a User Equipment (UE), a mobile device, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, and so on. In some possible implementations, the method may also be implemented by a processor invoking computer readable instructions stored in a memory. As shown in fig. 1, the terminal is a vehicle, and includes:
s101, collecting a plurality of frames of images in the driving process of the vehicle, wherein the plurality of frames of images comprise lane line information.
And S102, acquiring the current running position of the vehicle.
S103, obtaining the current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the multi-frame image and the current position.
And S104, under the condition that the lane line information on the left side and the right side of the current lane changes, triggering a lane change event.
And S105, reporting the current position, the current lane and the lane change event to a cloud end, and executing corresponding lane change processing according to feedback of the cloud end.
In an example based on S101-S105, through the report of the vehicle (the report of the current position, the current lane, and the lane change event), the cloud analyzes and analyzes the report and feeds the report back to the vehicle, so that the vehicle can determine whether to execute the corresponding lane change process according to the feedback of the cloud.
Specifically, the vehicle may detect the lane line by using a computer vision technology, and for the computer vision technology, a multi-frame image in the vehicle driving process may be collected, where the multi-frame image includes lane line information and may also include vehicle surrounding environment information. For example, a plurality of lanes (e.g., two lanes, four lanes, six lanes, etc.) are preset on a road, where fig. 2 is a schematic diagram of lane line information according to an embodiment of the present disclosure, and in the four lanes shown in fig. 2, a current lane may represent lane line information on left and right sides of the current lane by dotted line segments on both sides of the lane, and a road edge of the four lanes may be represented by a solid line segment, and the four lanes may include an obstacle, an indication arrow (e.g., a turning arrow in fig. 2), a building on a roadside, and the like in addition to the lane line. The information can be identified through a computer vision technology, the information can be identified through a pre-trained image feature extraction and detection network, or the information can be identified through a non-neural network computer vision algorithm, so that at least the lane line information can be obtained according to the information. The current position of the vehicle can be acquired through the vehicle-mounted GPS. After a lane change event is triggered according to changes of lane lines on the left side and the right side of a current lane, whether the current speed is smaller than a given threshold or the acceleration is smaller than a given threshold can be further judged, and if the conditions are met, the current lane, the current position of a vehicle and the lane change event are reported to a cloud end (namely, the vehicle informs the cloud end that the possibility that a user needs to change lanes at the current position and the current lane where the user is located so as to request the cloud end to feed back whether lane change behaviors can be executed or not) is obtained. ) After receiving the report, the cloud end counts the positioning gathering results in the recent period of time near the current position of the vehicle to find whether abnormal road conditions exist in each lane, and once the abnormal road conditions are found, the cloud end can also issue the abnormal road conditions to the vehicle end (or a navigation system of the vehicle), so that the vehicle guides a user to change lanes in advance according to the abnormal road conditions of each lane, accidents are avoided, driving safety is improved, and the situation that the abnormal road conditions are jammed is avoided, and the driving experience of the user can also be improved.
By adopting the method and the device, the multiframe images in the driving process of the vehicle can be collected, and the multiframe images comprise lane line information. The current driving position of the vehicle can be obtained, and the current lane driving of the vehicle and lane line information of the left side and the right side of the current lane can be obtained according to the multi-frame image and the current position. Under the condition that lane line information of the left side and the right side of the current lane changes, a lane changing event can be triggered, the current position, the current lane and the lane changing event are reported to the cloud, so that corresponding lane changing processing is executed according to feedback of the cloud, driving can be guided better, and driving safety is improved at least.
In one embodiment, the obtaining of the current lane in which the vehicle is traveling and the lane line information on the left and right sides of the current lane according to the multi-frame image and the current position includes: extracting an image to be identified which is matched with the current position in time from the multi-frame images, wherein the image to be identified is a plurality of image frames which are larger than the current moment corresponding to the current position in time and do not exceed a sampling time threshold; and obtaining the current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the lane change related characteristic information in the image to be recognized.
With the present embodiment, since the image to be recognized is a plurality of image frames that are temporally greater than the current time corresponding to the current position and do not exceed the sampling time threshold, that is, the image at the time or at the times next to the current position is taken as the object to be recognized, the lane change related feature information (such as the turning arrow, the obstacle, the virtual line segment and the real line segment of the lane, the road edge, the roadside tree, and other vegetation shown in fig. 2) at the sampling time threshold can be recognized for the object to be recognized within the feasible sampling time threshold, so that the current lane in which the vehicle is traveling and the lane line information on the left and right sides of the current lane can be obtained according to the lane change related feature information.
In one embodiment, the triggering of the lane change event when the lane line information on the left and right sides of the current lane changes includes: and under the condition that the lane line information on the left side and the right side of the current lane changes, determining a first lane changing behavior, and triggering the lane changing event according to the first lane changing behavior.
By adopting the embodiment, the lane change behavior can be detected in real time, namely, once the lane line information on the left side and the right side of the current lane changes, the lane change event is triggered immediately, so that the lane change processing speed is improved, and the time delay lane change is avoided.
In one embodiment, when the lane line information on the left and right sides of the current lane changes, the method for triggering the lane change event includes: detecting the running speed and/or acceleration of the vehicle under the condition that the lane line information of the left side and the right side of the current lane changes; and under the condition that the running speed and/or acceleration of the vehicle is lower than a threshold value, determining a second lane changing behavior, and triggering the lane changing event according to the second lane changing behavior.
By adopting the embodiment, the lane change behavior can be detected in a delayed manner, namely, once the lane line information on the left side and the right side of the current lane changes, the lane change event cannot be triggered immediately so as to avoid false detection, for example, the user may be a beginner or the user may drive automatically to control the lane line information, so that the lane change event is not good enough, and the false detection can be caused under the conditions of the change of the lane line information in visual detection. The delay detection takes speed and acceleration information into consideration, for example, when the current lane is blocked, the speed and/or acceleration is reduced, the lane change is definitely needed, and then the lane change event is triggered.
Fig. 3 is a schematic diagram of a lane change of a vehicle according to an embodiment of the present disclosure, in an example, after a lane change event is triggered by changes of lane lines on left and right sides of the current lane, the current position of the vehicle and the lane change event are reported to a cloud, after the cloud receives the report, a positioning aggregation result within a recent period of time is counted near the current position of the vehicle to find whether an abnormal road condition exists on each lane, and once the abnormal road condition is found, the cloud issues the abnormal road condition to a vehicle end (or a navigation system of the vehicle), so that the vehicle guides a user to change lanes in advance according to the abnormal road condition of each lane, for example, the current vehicle changes lanes to a target lane from the current lane in advance, as shown in fig. 3.
By adopting the example, after the lane line information is identified by the Ji-speed computer vision technology, the lane change event can be accurately detected and reported, and the cloud end is utilized to count the gathering event for the report, so that timely abnormal road conditions can be found, the lane change is carried out in advance, and the driving safety is improved.
In one embodiment, the reporting the current position, the current lane, and the lane change event to a cloud, and executing a corresponding lane change process according to a feedback from the cloud includes: reporting the current position, the current lane and the lane change event to the cloud end through an existing communication protocol or a special communication protocol; and analyzing the feedback of the cloud end to execute the processing of changing lanes in advance under the condition that abnormal road conditions exist in the current sampling area. Wherein the current sampling region comprises: and the estimated driving area takes the current position as a reference point during the driving process of the vehicle.
By adopting the embodiment, the reported communication protocol is not limited, the feedback of the cloud is analyzed to be the abnormal road condition, and the lane change is executed in advance, so that the driving safety is improved, and the scheme has expandability.
Application example:
for the lane line level positioning, the lane line level positioning may be performed based on RTK to perform lane change determination based on a positioning trajectory. The RTK may include measurement such as construction lofting, point-by-point lofting, etc. for lane line information, and may realize the lane line level positioning only by using a high reference station and an airborne terminal, which is costly, and may fail and be unusable under a no-signal condition.
The application example can detect behaviors of changing lanes, decelerating and the like of the vehicle based on lane line detection and lane line positioning, count abnormal aggregation of the behaviors, find out abnormal road conditions at lane level, guide a driver to avoid the abnormal road conditions, realize lane-level guidance and improve driving safety.
Fig. 4 is a schematic diagram of a lane change processing apparatus based on lane lines in an application example according to an embodiment of the present disclosure; as shown in fig. 4, the lane line processing apparatus includes: the system comprises a lane line identification module, a lane positioning module, a lane change event detection module, a positioning module, a cloud aggregation statistical module and a lane level navigation guide module.
The processing flow of the lane change processing device based on the lane line comprises the following contents:
1) The lane line information is recognized from the multi-frame image in the driving process of the vehicle through the lane line recognition module based on computer vision, and can comprise each lane and lane lines on the left side and the right side of each lane.
2) And carrying out positioning processing through the positioning module based on GNSS positioning to obtain the current running position of the vehicle.
3) And positioning processing is carried out through a lane positioning module, and the current lane where the vehicle runs is determined according to the lanes, lane lines on the left side and the right side of each lane and the current position where the vehicle runs.
4) The lane change behavior is recognized by the lane line recognition module according to the current lane and lane line changes on the left side and the right side of the current lane, the lane change behavior is sent to the lane change event detection module, the lane change event detection module can also collect speed and acceleration to comprehensively judge whether the current speed is smaller than a given threshold value or whether the acceleration (negative value) demonstration is smaller than a given threshold value, and if the current position, the current lane and the lane change event are reported to a cloud (such as a cloud statistical platform).
5) The cloud end (such as a cloud end statistical platform) analyzes the report through a cloud end aggregation statistical module, for example, a positioning aggregation result (each lane change event reported by a plurality of vehicles at the positioning position and the like) in a recent period of time is counted near the positioning position, after an abnormal road condition is found, the abnormal road condition is issued to a lane-level navigation guiding module through the cloud end aggregation statistical module (the lane-level navigation guiding module can be arranged in a vehicle-end navigation system), and a user is guided to change lanes in advance according to the road condition of each lane, so that accidents are avoided, and the driving experience is improved. The abnormal road conditions can be directly sent to the vehicle which initiates the report through the cloud aggregation statistical module, the user can be guided to change lanes in advance, accidents are avoided, and driving experience is improved.
According to an embodiment of the present disclosure, a lane change processing device based on lane lines is provided, and fig. 5 is a schematic structural diagram of a lane change processing device based on lane lines according to an embodiment of the present disclosure, as shown in fig. 5, the device includes: the acquisition module 41 is configured to acquire a plurality of frames of images in a vehicle driving process, where the plurality of frames of images include lane line information; a position acquisition module 42, configured to acquire a current position where the vehicle runs; the information acquisition module 43 is configured to obtain a current lane where the vehicle runs and lane line information on left and right sides of the current lane according to the multi-frame image and the current position; the lane change triggering module 44 is configured to trigger a lane change event when lane line information on the left and right sides of the current lane changes; and a lane change reporting module 45, configured to report the current position, the current lane, and the lane change event to a cloud, and execute a corresponding lane change process according to feedback from the cloud.
In one embodiment, the information obtaining module is configured to extract an image to be identified that is temporally matched with the current position from the multiple frames of images, where the image to be identified is a plurality of image frames that are temporally greater than a current time corresponding to the current position and do not exceed a sampling time threshold; and obtaining the current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the lane change related characteristic information in the image to be recognized.
In one embodiment, the lane change triggering module is configured to determine a first lane change behavior when lane line information on left and right sides of the current lane changes, and trigger the lane change event according to the first lane change behavior.
In one embodiment, the lane change triggering module is configured to detect a speed and/or an acceleration of a vehicle when lane line information on left and right sides of the current lane changes; and under the condition that the running speed and/or the running acceleration of the vehicle are/is lower than a threshold value, determining a second lane changing behavior, and triggering the lane changing event according to the second lane changing behavior.
In one embodiment, the lane change reporting module is configured to report the current location, the current lane, and the lane change event to the cloud via an existing communication protocol or a dedicated communication protocol; analyzing the feedback of the cloud end, and executing the processing of changing lanes in advance under the condition that abnormal road conditions exist in the current sampling area; wherein the current sampling region comprises: and the estimated driving area takes the current position as a reference point during the driving process of the vehicle.
The functions of each module in each apparatus in the embodiments of the present disclosure may refer to the corresponding description in the above method, and are not described herein again.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
As shown in fig. 6, it is a block diagram of an electronic device for implementing the lane change processing method based on lane lines according to the embodiment of the present disclosure. The electronic device may be the aforementioned deployment device or proxy device. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 6, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the device 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (12)
1. A lane change processing method based on lane lines comprises the following steps:
collecting a plurality of frames of images in the driving process of a vehicle, wherein the plurality of frames of images comprise lane line information;
acquiring the current running position of the vehicle;
obtaining the current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the multi-frame image and the current position; the lane line information is obtained according to characteristic information related to lane change;
under the condition that lane line information on the left side and the right side of the current lane changes, a lane changing event is triggered;
reporting the current position, the current lane and the lane change event to a cloud end to request the cloud end to feed back the possibility whether lane change behaviors can be executed or not, and executing corresponding lane change processing according to the feedback of the cloud end.
2. The method according to claim 1, wherein the obtaining, according to the multi-frame images and the current position, the current lane in which the vehicle is traveling and lane line information on the left and right sides of the current lane comprises:
extracting an image to be identified which is matched with the current position in time from the multi-frame images, wherein the image to be identified is a plurality of image frames which are larger than the current moment corresponding to the current position in time and do not exceed a sampling time threshold;
and obtaining the current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the lane change related characteristic information in the image to be recognized.
3. The method according to claim 1 or 2, wherein in case of change of lane line information on the left and right sides of the current lane, a lane change event is triggered, comprising:
and under the condition that the lane line information on the left side and the right side of the current lane changes, determining a first lane changing behavior, and triggering the lane changing event according to the first lane changing behavior.
4. The method according to claim 1 or 2, wherein in case of change of lane line information on the left and right sides of the current lane, a lane change event is triggered, comprising:
detecting the running speed and/or acceleration of the vehicle under the condition that the lane line information of the left side and the right side of the current lane changes;
and under the condition that the running speed and/or acceleration of the vehicle is lower than a threshold value, determining a second lane changing behavior, and triggering the lane changing event according to the second lane changing behavior.
5. The method according to claim 1 or 2, wherein the reporting the current position, the current lane and the lane change event to a cloud, and performing corresponding lane change processing according to feedback from the cloud comprises:
reporting the current position, the current lane and the lane change event to the cloud end through an existing communication protocol or a special communication protocol;
analyzing the feedback of the cloud end, and executing the processing of changing lanes in advance under the condition that abnormal road conditions exist in the current sampling area;
wherein the current sampling region comprises: and the vehicle is in a predicted driving area with the current position as a reference point during driving.
6. A lane change processing apparatus based on a lane line, the apparatus comprising:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring multi-frame images in the driving process of a vehicle, and the multi-frame images comprise lane line information;
the position acquisition module is used for acquiring the current position of the vehicle in running;
the information acquisition module is used for acquiring the current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the multi-frame images and the current position; the lane line information is obtained according to characteristic information related to lane change;
the lane change triggering module is used for triggering a lane change event under the condition that lane line information on the left side and the right side of the current lane changes;
and the lane change reporting module is used for reporting the current position, the current lane and the lane change event to a cloud end so as to request the cloud end to feed back the possibility of whether the lane change behavior can be executed or not, and executing corresponding lane change processing according to the feedback of the cloud end.
7. The apparatus of claim 6, wherein the information acquisition module is configured to:
extracting images to be identified which are matched with the current position in time from the multi-frame images, wherein the images to be identified are a plurality of image frames which are larger than the current moment corresponding to the current position in time and do not exceed a sampling time threshold value;
and obtaining the current lane where the vehicle runs and lane line information on the left side and the right side of the current lane according to the lane change related characteristic information in the image to be recognized.
8. The apparatus of claim 6 or 7, wherein the lane change triggering module is to:
and under the condition that lane line information on the left side and the right side of the current lane changes, determining a first lane changing behavior, and triggering the lane changing event according to the first lane changing behavior.
9. The apparatus of claim 6 or 7, wherein the lane change triggering module is to:
detecting the running speed and/or acceleration of the vehicle under the condition that the lane line information of the left side and the right side of the current lane changes;
and under the condition that the running speed and/or the running acceleration of the vehicle are/is lower than a threshold value, determining a second lane changing behavior, and triggering the lane changing event according to the second lane changing behavior.
10. The apparatus of claim 6 or 7, wherein the lane change reporting module is configured to:
reporting the current position, the current lane and the lane change event to the cloud end through an existing communication protocol or a special communication protocol;
analyzing the feedback of the cloud, and executing advanced lane changing processing under the condition that abnormal road conditions exist in the current sampling area;
wherein the current sampling region comprises: and the vehicle is in a predicted driving area with the current position as a reference point during driving.
11. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-5.
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| CN117723070A (en) * | 2024-02-06 | 2024-03-19 | 合众新能源汽车股份有限公司 | Method and device for determining map matching initial value, electronic equipment and storage medium |
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