CN113034587B - Vehicle positioning method, device, computer equipment and storage medium - Google Patents
Vehicle positioning method, device, computer equipment and storage medium Download PDFInfo
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- CN113034587B CN113034587B CN201911360235.0A CN201911360235A CN113034587B CN 113034587 B CN113034587 B CN 113034587B CN 201911360235 A CN201911360235 A CN 201911360235A CN 113034587 B CN113034587 B CN 113034587B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30236—Traffic on road, railway or crossing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
Abstract
The application relates to a vehicle positioning method, a vehicle positioning device, computer equipment and a storage medium. The method comprises the following steps: when a vehicle runs to a bifurcation, a first number of lines in front of the vehicle are marked in real time through a camera to obtain the identification of each line; storing the identification of a first number of vehicle lines in front of the vehicle into a first number of storage sets; and when the identification of the vehicle line at the current moment in the first storage set is the same as the identification of the vehicle line at the historical moment in the reference storage set, the reference storage set is used as the second storage set, the sequence relation of the first storage set and the second storage set is determined, the target direction is determined according to the sequence relation, the vehicle is positioned on a lane in the adjacent target direction, and the vehicle positioning accuracy can be achieved.
Description
Technical Field
The present disclosure relates to the field of positioning technologies, and in particular, to a vehicle positioning method, a vehicle positioning device, a computer device, and a storage medium.
Background
With the development of society and economy, vehicles are increasing. In the running process of the vehicle, the vehicle is positioned to acquire the position information of the vehicle, so that whether the vehicle runs on a correct road can be judged. Particularly in some branch intersections, it is more important to position the vehicle at the correct position, so that the driver can be prevented from driving to the wrong intersection.
However, in the conventional vehicle positioning technology at the bifurcation point, there is a problem that the vehicle positioning is inaccurate.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a vehicle positioning method, apparatus, computer device, and storage medium that can improve accuracy.
A vehicle positioning method, the method comprising:
when a vehicle runs to a bifurcation, marking a first number of vehicle lines in front of the vehicle in real time through a camera to obtain the identification of each vehicle line; the first number is at least 2;
storing the identification of a first number of vehicle lines in front of the vehicle into a first number of storage sets; the identification of one train line is stored in one storage set; a first number of said storage sets being arranged in order;
taking the stored storage set with the changed identification of the vehicle line as a first storage set, taking at least one storage set adjacent to the first storage set as a reference storage set, and comparing the identification of the vehicle line at the current moment in the first storage set with the identification of the vehicle line at the historical moment in the reference storage set;
when the identification of the vehicle line at the current moment in the first storage set is the same as the identification of the vehicle line at the historical moment in the reference storage set, the reference storage set is used as a second storage set, the sequence relation between the first storage set and the second storage set is determined, the target direction is determined according to the sequence relation, and the vehicle is positioned on the lane in the adjacent target direction.
In one embodiment, determining a sequence relationship between the first storage set and the second storage set, determining a target direction according to the sequence relationship, and positioning the vehicle on a lane of an adjacent target direction includes:
when the first storage set is positioned in the first horizontal direction of the second storage set, determining the second horizontal direction of the vehicle as a target direction, and positioning the vehicle on a lane in an adjacent target direction; the first horizontal direction is opposite to the second horizontal direction.
In one embodiment, when the identification of the current line in the first storage set is the same as the identification of the historical line in the reference storage set, the reference storage set is used as a second storage set, which includes:
and when the identification of the continuous second number of the current time lines in the first storage set is the same as the identification of the historical time lines in the reference storage set, taking the reference storage set as a second storage set.
In one embodiment, the method further comprises:
determining a first target storage set and a second target storage set from the first number of storage sets; the lane lines corresponding to the identifications stored in the first target storage set and the second target storage set are two lane lines of a lane on which the vehicle runs;
and when the first target storage set is a first storage set and the second target storage set is a second storage set, or the second target storage set is the first storage set and the first target storage set is the second storage set, executing the step of determining the sequence relation between the first storage set and the second storage set.
In one embodiment, after positioning the vehicle on the lane of the adjacent target direction, the method further comprises:
counting the number of groups of the first number of vehicle lines in front of the vehicle marked by the camera; marking the obtained identifications of a first number of vehicle lines in front of the vehicle as a set of data;
and when the group number reaches a group number threshold value, executing the stored set with the stored identification of the vehicle line changed as a first stored set step.
In one embodiment, the method further comprises:
and when the number of the first storage sets is at least two and the target directions determined by each first storage set and the corresponding second storage set are the same, positioning the vehicle on the lane of the adjacent target direction.
In one embodiment, the bifurcation point means that at least two bifurcation roads exist in a preset range on the road where the vehicle is located, and the angle between at least one bifurcation road and other bifurcation roads is in the preset range; the bifurcation road includes at least one lane.
A vehicle positioning device, the device comprising:
the marking module is used for marking a first number of vehicle lines in front of the vehicle in real time through the camera when the vehicle runs to the bifurcation, so as to obtain the mark of each vehicle line; the first number is at least 2;
a storage module for storing the identification of a first number of vehicle lines in front of the vehicle into a first number of storage sets; the identification of one train line is stored in one storage set; a first number of said storage sets being arranged in order;
the comparison module is used for taking the stored storage set with the changed identification of the vehicle line as a first storage set, taking at least one storage set adjacent to the first storage set as a reference storage set, and comparing the identification of the vehicle line at the current moment in the first storage set with the identification of the vehicle line at the historical moment in the reference storage set;
and the positioning module is used for determining the sequence relation between the first storage set and the second storage set by taking the reference storage set as the second storage set when the identification of the current-moment wire in the first storage set is the same as the identification of the historical-moment wire in the reference storage set, determining the target direction according to the sequence relation, and positioning the vehicle on the lane in the adjacent target direction.
A computer device comprising a storage set storing a computer program and a processor, characterized in that the processor implements the steps of the method as described above when executing the computer program.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of a method as described above.
When the vehicle runs to the bifurcation point, the first number of lines in front of the vehicle are marked in real time through the camera to obtain the identification of each line; the first number is at least 2; storing the identification of a first number of vehicle lines in front of the vehicle into a first number of storage sets; the identification of a train line is stored in a storage set; the first number of storage sets being arranged in order; taking a storage set with the stored identification of the vehicle line changed as a first storage set, taking at least one storage set adjacent to the first storage set as a reference storage set, and comparing the identification of the vehicle line at the current moment in the first storage set with the identification of the vehicle line at the historical moment in the reference storage set; when the identification of the line at the current moment in the first storage set is the same as the identification of the line at the historical moment in the reference storage set, that is, the line is changed from being stored in the reference storage set to being stored in the first storage set adjacent to the reference storage set, that is, the relative position of the vehicle and the line in front of the line is changed, the lane on which the vehicle runs can be more accurately judged to be changed, the reference storage set is used as the second storage set, the sequence relation between the first storage set and the second storage set is determined, the target direction can be more accurately determined according to the sequence relation, and therefore the vehicle can be positioned on the lane in the adjacent more accurate target direction.
Drawings
FIG. 1 is a flow chart of a method of vehicle positioning in one embodiment;
FIG. 2 is a flow diagram of a target storage set determination step in one embodiment;
FIG. 3a is a schematic illustration of an embodiment of a vehicle prior to lane change;
FIG. 3b is a schematic illustration of a vehicle after a lane change in one embodiment;
FIG. 4 is a block diagram of a vehicle positioning device in one embodiment;
fig. 5 is an internal structural diagram of a computer 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 will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a vehicle positioning method including the steps of:
102, when a vehicle runs to a bifurcation, marking a first number of lines in front of the vehicle in real time through a camera to obtain the identification of each line; the first number is at least 2.
The bifurcation point means that at least two bifurcation roads exist on the road where the vehicle is located in a preset range, and the angle between at least one bifurcation road and other bifurcation roads is in the preset range. The preset range may be 15-60 degrees, that is, at least two bifurcation roads exist, and the angle between at least one bifurcation road and other bifurcation roads is within 15-60 degrees, then the intersection is a bifurcation intersection. The preset range can be 100 meters or 50 meters, and can be set according to the needs of users. The lane refers to a road marking on both sides of a lane on which the vehicle is traveling.
It is understood that a camera is mounted on the vehicle, and the road in front of the vehicle can be photographed by the camera, thereby acquiring road information in front of the vehicle. For example, the road information may be the number of lanes in front of the vehicle, the number of lines, the type of lines, the marks of the lanes, and the like. Further, the camera may be used to photograph a road behind the vehicle, or may be used to photograph a road to the left and right of the vehicle, but is not limited thereto.
The camera on the vehicle can also mark the vehicle line in front of the vehicle in real time to obtain the mark of the vehicle line. It will be appreciated that the identity of each lane has a unique nature.
The first number may be set according to the needs of the user, e.g. the first number is 3, the first number is 4, the first number is 5, etc. It will be appreciated that the first number is at least 2, i.e. when there is only one lane, the lane is 2 lanes on both sides of the lane.
In a storage system of a vehicle, a first number of storage sets are included. The first number of storage sets may be stored in one memory or may be stored in a plurality of memories, not limited thereto. One memory may store one memory set, or may store a plurality of memory sets, but is not limited thereto.
A first number of storage sets, e.g., a first number of 4, with 4 storage sets arranged in a left to right order, may be marked for each storage set, e.g., left to right storage sets are marked as storage set 1, storage set 2, storage set 3, and storage set 4 in that order. The marks of the 4 lines obtained through the camera are respectively the marks of the 4 lines in front of the vehicle, namely the 4 lines included in the lane where the vehicle is located, the left lane adjacent to the lane where the vehicle is located and the right lane adjacent to the lane where the vehicle is located, and the sequence of the marks of the 4 lines from left to right can be respectively 3, 8, 2 and 5. The identification of the first number of the vehicle lines in front of the vehicle is stored in the corresponding storage set according to the sequence corresponding to the storage set, namely, the vehicle line identification 3 is stored in the storage set 1, the vehicle line identification 8 is stored in the storage set 2, the vehicle line identification 2 is stored in the storage set 3, and the vehicle line identification 5 is stored in the storage set 4.
When the number of the vehicle lines in front of the vehicle is smaller than the first number, a storage set corresponding to the identification of no vehicle line is determined, and data in the storage set is treated as 0 or null. The identifiers of the plurality of vehicle lines can be stored in the storage set, and when the stored identifiers of the vehicle lines exceed a threshold value, the identifier of the vehicle line stored first can be removed.
And 106, taking the stored storage set with the changed identification of the vehicle line as a first storage set, taking at least one storage set adjacent to the first storage set as a reference storage set, and comparing the identification of the vehicle line at the current moment in the first storage set with the identification of the vehicle line at the historical moment in the reference storage set.
When the identification of the vehicle line stored in the storage set is changed, the storage set is taken as a first storage set, and at least one storage set adjacent to the first storage set is taken as a reference storage set. The number of reference storage sets may be 1 or 2. For example, in a first number of storage sets, the first storage set is the first or last, and then the number of reference storage sets is 1; the first storage set is not first nor last, and the number of reference storage sets is 2.
In the storage set, the identifications of a plurality of vehicle lines can be stored, the stored identification of the vehicle line at the current moment is the latest identification of the vehicle line, and the current moment is earlier than the historical moment. The identification of the vehicle line at the historical moment can be multiple, and the identification of the vehicle line at the current moment in the first storage set is compared with the identification of the vehicle line at the multiple historical moments in the reference storage set respectively.
And step 108, when the identification of the vehicle line at the current moment in the first storage set is the same as the identification of the vehicle line at the historical moment in the reference storage set, using the reference storage set as the second storage set, determining the sequence relation between the first storage set and the second storage set, determining the target direction according to the sequence relation, and positioning the vehicle on the lane in the adjacent target direction.
When the identification of the line at the current moment in the first storage set is the same as the identification of the line at the historical moment in the reference storage set, the relative position of the line and the vehicle is changed, the line identification stored in the reference storage set at the historical moment is stored in the first storage set at the current moment, namely the lane on which the vehicle runs is changed.
Therefore, the order relation of the first storage set and the second storage set can be determined, the target direction is determined according to the order relation, and then the vehicle is positioned on the lane of the adjacent target direction. When the first number of storage sets are arranged in a horizontal direction, i.e., from left to right or from right to left, the order in which the first storage set and the second storage set exist may be such that the first storage set is located on the left side of the second storage set and the first storage set is located on the right side of the second storage set.
When the first storage set is positioned at the left side of the second storage set, the mark representing the lane marking is stored to the first storage set at the left side by the second storage set, namely, the vehicle changes lanes towards the adjacent right side, the target direction can be determined to be the right side, and the vehicle is positioned on the lane at the adjacent right side. When the first storage set is positioned on the right side of the second storage set, the mark representing the lane marking is stored to the first storage set on the right side by the second storage set, namely, the lane change of the vehicle to the adjacent left side, the target direction can be determined to be the left side, and the vehicle is positioned on the lane on the adjacent left side.
As shown in table 1, the current time is 16:10:58.94, the lane identifier 8 at the current time in the storage set 1 is the same as the lane identifier 8 at the historical time of the adjacent storage set 2, and the sequential relationship between the storage set 1 and the storage set 2 is determined that the storage set 1 is located at the left side of the storage set 2, the lane identifier 8 is offset to the left, and the lane identifier 8 is offset to the right, so that the vehicle can be positioned on the lane on the adjacent right side.
| Time | Storage set 1 | Storage set 2 | Storage set 3 | Storage set 4 |
| 16:10:58.44 | 0 | 8 | 2 | 5 |
| 16:10:58.54 | 0 | 8 | 2 | 5 |
| 16:10:58.64 | 0 | 8 | 2 | 0 |
| 16:10:58.74 | 0 | 8 | 4 | 0 |
| 16:10:58.84 | 0 | 8 | 4 | 0 |
| 16:10:58.94 | 8 | 2 | 4 | 0 |
TABLE 1
According to the vehicle positioning method, when a vehicle runs to a bifurcation, a first number of lines in front of the vehicle are marked in real time through the camera, so that the marks of the lines are obtained; the first number is at least 2; storing the identification of a first number of vehicle lines in front of the vehicle into a first number of storage sets; the identification of a train line is stored in a storage set; the first number of storage sets being arranged in order; taking a storage set with the stored identification of the vehicle line changed as a first storage set, taking at least one storage set adjacent to the first storage set as a reference storage set, and comparing the identification of the vehicle line at the current moment in the first storage set with the identification of the vehicle line at the historical moment in the reference storage set; when the identification of the line at the current moment in the first storage set is the same as the identification of the line at the historical moment in the reference storage set, that is, the line is changed from being stored in the reference storage set to being stored in the first storage set adjacent to the reference storage set, that is, the relative position of the vehicle and the line in front of the line is changed, the lane on which the vehicle runs can be more accurately judged to be changed, the reference storage set is used as the second storage set, the sequence relation between the first storage set and the second storage set is determined, the target direction can be more accurately determined according to the sequence relation, and therefore the vehicle can be positioned on the lane in the adjacent more accurate target direction.
In one embodiment, determining a sequential relationship of the first and second stored sets, determining a target direction from the sequential relationship, positioning a vehicle onto a lane of an adjacent target direction, comprises: when the first storage set is positioned in the first horizontal direction of the second storage set, determining the second horizontal direction of the vehicle as a target direction, and positioning the vehicle on a lane in an adjacent target direction; the first horizontal direction is opposite to the second horizontal direction.
When the first horizontal direction is horizontal leftwards, the second horizontal direction is horizontal rightwards; when the first horizontal direction is horizontal to the right, the second horizontal direction is horizontal to the left.
When the first horizontal direction is horizontal to the left, i.e., the first storage set is located in the horizontal to left direction of the second storage set, indicating that the vehicle line in front of the vehicle is shifted to the left, then, relatively, the vehicle is shifted to the right, i.e., the vehicle changes lanes to the right, it can be determined that the second horizontal direction of the vehicle is horizontal to the right, and the vehicle is positioned on an adjacent lane horizontal to the right.
When the first horizontal direction is horizontal to the right, i.e., the first storage set is located in the horizontal to right direction of the second storage set, indicating that the vehicle line in front of the vehicle is shifted to the right, the vehicle is shifted to the left, i.e., the vehicle changes lanes to the left, relatively, the second horizontal direction of the vehicle can be determined to be horizontal to the left, and the vehicle can be positioned on an adjacent lane horizontal to the left.
In this embodiment, a more accurate target direction can be determined by the sequential relationship of the first storage set and the second storage set, so that the vehicle can be positioned more accurately.
In one embodiment, when the identification of the current time line in the first storage set is the same as the identification of the historical time line in the reference storage set, the reference storage set is used as the second storage set, including: and when the identification of the continuous second number of the current time lines in the first storage set is the same as the identification of the historical time lines in the reference storage set, taking the reference storage set as the second storage set.
In order to avoid accidental errors of marking the vehicle lines by the camera, accuracy of vehicle positioning is improved, and when the continuous second number of the vehicle lines at the current moment in the first storage set is identical to the mark of the vehicle lines at the historical moment in the reference storage set, the reference storage set is used as the second storage set. The second number may be set according to the user requirement, for example, the second number is 5, that is, the identification of the current time line of 5 consecutive times in the first storage set is the same as the identification of the current time line in the reference storage set.
As shown in table 2, the second number is 4, and the identification 8 of the current time line of 4 consecutive times in the storage set 1 is the same as the identification 8 of the historical time line in the adjacent storage set 2, and the storage set 2 is taken as the second storage set.
| Time | Storage set 1 | Storage set 2 | Storage set 3 | Storage set 4 |
| 16:10:58.44 | 0 | 8 | 2 | 5 |
| 16:10:58.54 | 0 | 8 | 2 | 5 |
| 16:10:58.64 | 8 | 2 | 4 | 0 |
| 16:10:58.74 | 8 | 2 | 4 | 0 |
| 16:10:58.84 | 8 | 2 | 4 | 0 |
| 16:10:58.94 | 8 | 2 | 4 | 0 |
TABLE 2
In one embodiment, as shown in fig. 2, the method further includes:
The lane lines corresponding to the identifications stored in the first target storage set and the second target storage set are two lane lines of a lane on which the vehicle runs, that is, the identifications of the two lane lines on the lane on which the vehicle runs are respectively stored in the first target storage set and the second target storage set.
The stored set storing the identification of the left lane of the lane on which the vehicle is traveling may be taken as the first target stored set, and correspondingly, the stored set storing the identification of the right lane of the lane on which the vehicle is traveling may be taken as the second target stored set. The stored set storing the identification of the right lane of the lane on which the vehicle is traveling may also be taken as the first target stored set, and correspondingly, the stored set storing the identification of the left lane of the lane on which the vehicle is traveling may be taken as the second target stored set.
When the first target storage set is the first storage set and the second target storage set is the second storage set, namely the identification of the line at the current moment in the first target storage set is the same as the identification of the line at the historical moment in the second target storage set. When the second target storage set is the first storage set and the first target storage set is the second storage set, namely the identification of the line at the current moment in the second target storage set is the same as the identification of the line at the historical moment in the first target storage set.
It can be understood that the marks of the lines stored in the first target storage set and the second target storage set are marks of two lines on the lane where the vehicle runs, and are closer to the vehicle and closer to the camera on the vehicle, so that whether the vehicle changes lanes or not can be judged more accurately according to the first target storage set and the second target storage set, and the vehicle can be positioned more accurately.
As shown in table 3, the first target storage set and the second target storage set are the storage set 2 and the storage set 3, respectively, and of the 4 storage sets, only the identification of the current-time line of the storage set 1 is the same as the identification of the historical-time line of the adjacent storage set 2, but the storage set 1 is not the first target storage set or the second target storage set, so that the marking of the line in front of the vehicle is continued in real time.
| Time | Storage set 1 | Storage set 2 | Storage set 3 | Storage set 4 |
| 16:10:58.44 | 0 | 8 | 2 | 5 |
| 16:10:58.54 | 0 | 8 | 2 | 5 |
| 16:10:58.64 | 8 | 0 | 4 | 0 |
| 16:10:58.74 | 8 | 0 | 4 | 0 |
| 16:10:58.84 | 8 | 0 | 4 | 0 |
| 16:10:58.94 | 8 | 0 | 4 | 0 |
TABLE 3 Table 3
In one embodiment, after positioning the vehicle on the lane of the adjacent target direction, further comprising: counting the number of groups of marks of the first number of vehicle lines in front of the vehicle by the camera; marking the obtained identifications of a first number of lines in front of the vehicle as a set of data; when the number of groups reaches the threshold number of groups, a step of changing the stored set of identifications of the stored vehicle lines as a first stored set is performed.
After the vehicle is positioned on the lane in the adjacent target direction, there may be a situation that the vehicle does not completely change the lane to the adjacent lane, and after the vehicle is positioned on the lane in the adjacent target direction, in order to more accurately detect whether the vehicle changes the lane next time, the number of groups of the first number of lines in front of the vehicle marked by the camera may be counted, when the number of groups reaches the threshold value of the number of groups, which indicates that the vehicle has completely changed the lane, the step of continuously executing the stored set in which the stored identifications of the lines are changed as the first stored set is performed, and the next lane change of the vehicle is detected.
It is noted that the identification obtained by marking the first number of lines in front of the vehicle is used as a set of data. For example, if the first number is 4, the camera is used for marking 4 lines in front of the vehicle in real time, and 4 marks obtained by marking the 4 lines are used as a group of data.
In one embodiment, when the number of first storage sets is at least two and the target directions determined by each first storage set and the corresponding second storage set are the same, the vehicle is positioned on the lane of the adjacent target direction.
For example, the first storage set includes an a storage set and a B storage set, the target direction determined by the a storage set and the corresponding second storage set is horizontal to the right, and the target direction determined by the B storage set and the corresponding second storage set is also horizontal to the right, so that it is possible to more accurately determine that the vehicle changes lanes to the right, and to position the vehicle on an adjacent lane on the right.
In one embodiment, a bifurcation point means that at least two bifurcation roads exist, and the angle of at least one bifurcation road and other bifurcation roads is within a preset range; the bifurcation road includes at least one lane.
The bifurcation point means that at least two bifurcation roads exist on the road where the vehicle is located in a preset range, and the angle between at least one bifurcation road and other bifurcation roads is in the preset range. The preset range may be 15-60 degrees, that is, at least two bifurcation roads exist, and the angle between at least one bifurcation road and other bifurcation roads is within 15-60 degrees, then the intersection is a bifurcation intersection. The range of the bifurcation point can be 100 meters or 50 meters, and can be set according to the needs of users.
In one embodiment, as shown in fig. 3a, when the vehicle 302 travels to the bifurcation, the first number is 4, the 4 lines in front of the vehicle (the first number is 4) are marked in real time by the camera, and the identifications of the 4 lines in front of the vehicle are stored in 4 storage sets, namely, storage set 1, storage set 2, storage set 3 and storage set 4. Obtaining an identifier of a left lane 304 of a lane where the vehicle runs through a camera, and storing the identifier into a storage set 2; the identification of the right lane 306 of the lane in which the vehicle is traveling, storing the identification into the storage set 3; the identification of the right lane 308 of the adjacent right lane of the lane in which the vehicle is traveling, which is stored into the storage set 4; since the lane in which the vehicle is traveling does not have a left lane, the flag in the storage set 1 may be 0.
When the vehicle 302 changes to the right onto the adjacent lane, as shown in fig. 3b, the identification of the left lane 306 of the lane on which the vehicle is traveling is obtained through the camera and stored into the storage set 2; the identification of the right lane 310 of the lane in which the vehicle is traveling is stored in the storage set 3; the identification of the left lane 304 of the adjacent left lane of the lane where the vehicle is traveling is stored in the storage set 1; since the lane in which the vehicle is traveling does not have a right-hand lane, the identification in the storage set 4 may be 0.
The identification of the current time line 304 in the storage set 1 is the same as the identification of the historical time line 304 in the storage set 2, the identification of the current time line 306 in the storage set 2 is the same as the identification of the historical time line 306 in the storage set 3, it is determined that the storage set 1 is positioned on the left side of the storage set 2, the storage set 2 is positioned on the left side of the storage set 3, the line is offset to the left relative to the vehicle, the vehicle is offset to the right relative to the vehicle, the target direction is horizontal to the right, and the vehicle 302 is positioned on an adjacent lane on the right side.
It should be understood that, although the steps in the flowcharts of fig. 1 and 2 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 and 2 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily occur in sequence, but may be performed alternately or alternately with at least a portion of the other steps or sub-steps of other steps.
In one embodiment, as shown in FIG. 4, there is provided a vehicle locating apparatus 400 comprising: a tagging module 402, a storage module 404, a comparison module 406, and a positioning module 408, wherein:
the marking module 402 is configured to mark a first number of lines in front of the vehicle in real time by using the camera when the vehicle travels to the bifurcation, so as to obtain a mark of each line; the first number is at least 2.
A storage module 404 for storing an identification of a first number of vehicle lines in front of the vehicle into a first number of storage sets; the identification of a train line is stored in a storage set; the first number of storage sets is arranged in order.
The comparing module 406 is configured to use the stored storage set with the changed identification of the vehicle line as the first storage set, use at least one storage set adjacent to the first storage set as the reference storage set, and compare the identification of the vehicle line at the current time in the first storage set with the identification of the vehicle line at the historical time in the reference storage set.
And the positioning module 408 is configured to, when the identification of the line at the current time in the first storage set is the same as the identification of the line at the historical time in the reference storage set, determine a sequential relationship between the first storage set and the second storage set, determine a target direction according to the sequential relationship, and position the vehicle on the lane in the adjacent target direction.
When the vehicle runs to the bifurcation point, the first number of lines in front of the vehicle are marked in real time through the camera to obtain the identification of each line; the first number is at least 2; storing the identification of a first number of vehicle lines in front of the vehicle into a first number of storage sets; the identification of a train line is stored in a storage set; the first number of storage sets being arranged in order; taking a storage set with the stored identification of the vehicle line changed as a first storage set, taking at least one storage set adjacent to the first storage set as a reference storage set, and comparing the identification of the vehicle line at the current moment in the first storage set with the identification of the vehicle line at the historical moment in the reference storage set; when the identification of the line at the current moment in the first storage set is the same as the identification of the line at the historical moment in the reference storage set, that is, the line is changed from being stored in the reference storage set to being stored in the first storage set adjacent to the reference storage set, that is, the relative position of the vehicle and the line in front of the line is changed, the lane on which the vehicle runs can be more accurately judged to be changed, the reference storage set is used as the second storage set, the sequence relation between the first storage set and the second storage set is determined, the target direction can be more accurately determined according to the sequence relation, and therefore the vehicle can be positioned on the lane in the adjacent more accurate target direction.
In one embodiment, the positioning module 408 is further configured to determine that the second horizontal direction of the vehicle is the target direction when the first storage set is located in the first horizontal direction of the second storage set, and position the vehicle on the lane of the adjacent target direction; the first horizontal direction is opposite to the second horizontal direction.
In one embodiment, the positioning module 408 is further configured to use the reference storage set as the second storage set when the identification of the consecutive second number of lines at the current time in the first storage set is the same as the identification of the lines at the historical time in the reference storage set.
In one embodiment, the vehicle positioning device 400 further includes a target storage set determining module configured to determine a first target storage set and a second target storage set from a first number of storage sets; the lane corresponding to the identification stored in the first target storage set and the second target storage set is two lanes of a lane on which the vehicle runs; and when the first target storage set is the first storage set and the second target storage set is the second storage set, or the second target storage set is the first storage set and the first target storage set is the second storage set, executing the step of determining the sequence relation between the first storage set and the second storage set.
In one embodiment, the vehicle positioning device 400 further includes a statistics module, configured to count a number of groups of the first number of lines in front of the vehicle marked by the camera; marking the obtained identifications of a first number of lines in front of the vehicle as a set of data; when the number of groups reaches the threshold number of groups, a step of changing the stored set of identifications of the stored vehicle lines as a first stored set is performed.
In one embodiment, the positioning module 408 is further configured to position the vehicle on the lane in the adjacent target direction when the number of the first storage sets is at least two and the target directions determined by each of the first storage sets and the corresponding second storage sets are the same.
In one embodiment, the bifurcation point refers to at least two bifurcation roads in a preset range of the road where the vehicle is located, and the angle between at least one bifurcation road and other bifurcation roads is in the preset range; the bifurcation road includes at least one lane.
For specific limitations on the vehicle positioning device, reference may be made to the above limitations on the vehicle positioning method, and no further description is given here. The various modules in the vehicle locating apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile 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 the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle positioning method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory having a computer program stored therein and a processor that implements the steps of the method described above when the computer program is executed.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, implements the steps of the above method.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A vehicle positioning method, the method comprising:
when a vehicle runs to a bifurcation, marking a first number of vehicle lines in front of the vehicle in real time through a camera to obtain the identification of each vehicle line; the first number is at least 2;
storing the identification of a first number of vehicle lines in front of the vehicle into a first number of storage sets; the identification of one train line is stored in one storage set; a first number of said storage sets being arranged in order;
taking the stored storage set with the changed identification of the vehicle line as a first storage set, taking at least one storage set adjacent to the first storage set as a reference storage set, and comparing the identification of the vehicle line at the current moment in the first storage set with the identification of the vehicle line at the historical moment in the reference storage set;
when the identification of the vehicle line at the current moment in the first storage set is the same as the identification of the vehicle line at the historical moment in the reference storage set, the reference storage set is used as a second storage set, the sequence relation between the first storage set and the second storage set is determined, the target direction is determined according to the sequence relation, and the vehicle is positioned on the lane in the adjacent target direction.
2. The method of claim 1, wherein determining a sequential relationship of the first and second stored sets, determining a target direction from the sequential relationship, positioning the vehicle on a lane of an adjacent target direction, comprises:
when the first storage set is positioned in the first horizontal direction of the second storage set, determining the second horizontal direction of the vehicle as a target direction, and positioning the vehicle on a lane in an adjacent target direction; the first horizontal direction is opposite to the second horizontal direction.
3. The method of claim 1, wherein the taking the reference storage set as the second storage set when the identification of the current time line in the first storage set is the same as the identification of the historical time line in the reference storage set comprises:
and when the identification of the continuous second number of the current time lines in the first storage set is the same as the identification of the historical time lines in the reference storage set, taking the reference storage set as a second storage set.
4. The method according to claim 1, wherein the method further comprises:
determining a first target storage set and a second target storage set from the first number of storage sets; the lane lines corresponding to the identifications stored in the first target storage set and the second target storage set are two lane lines of a lane on which the vehicle runs;
and when the first target storage set is a first storage set and the second target storage set is a second storage set, or the second target storage set is the first storage set and the first target storage set is the second storage set, executing the step of determining the sequence relation between the first storage set and the second storage set.
5. The method of claim 1, wherein after positioning the vehicle on the lane of the adjacent target direction, further comprising:
counting the number of groups of the first number of vehicle lines in front of the vehicle marked by the camera; marking the obtained identifications of a first number of vehicle lines in front of the vehicle as a set of data;
and when the group number reaches a group number threshold value, executing the stored set with the stored identification of the vehicle line changed as a first stored set step.
6. The method according to claim 1, wherein the method further comprises:
and when the number of the first storage sets is at least two and the target directions determined by each first storage set and the corresponding second storage set are the same, positioning the vehicle on the lane of the adjacent target direction.
7. The method according to any one of claims 1 to 6, wherein the bifurcation point means that at least two bifurcation roads exist on a road where the vehicle is located within a preset range, and an angle of at least one bifurcation road with other bifurcation roads is within a preset range; the bifurcation road includes at least one lane.
8. A vehicle positioning device, the device comprising:
the marking module is used for marking a first number of vehicle lines in front of the vehicle in real time through the camera when the vehicle runs to the bifurcation, so as to obtain the mark of each vehicle line; the first number is at least 2;
a storage module for storing the identification of a first number of vehicle lines in front of the vehicle into a first number of storage sets; the identification of one train line is stored in one storage set; a first number of said storage sets being arranged in order;
the comparison module is used for taking the stored storage set with the changed identification of the vehicle line as a first storage set, taking at least one storage set adjacent to the first storage set as a reference storage set, and comparing the identification of the vehicle line at the current moment in the first storage set with the identification of the vehicle line at the historical moment in the reference storage set;
and the positioning module is used for determining the sequence relation between the first storage set and the second storage set by taking the reference storage set as the second storage set when the identification of the current-moment wire in the first storage set is the same as the identification of the historical-moment wire in the reference storage set, determining the target direction according to the sequence relation, and positioning the vehicle on the lane in the adjacent target direction.
9. A computer device comprising a storage set storing a computer program and a processor, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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