CN114964287A - Lane positioning method, computer device, computer-readable storage medium, and vehicle - Google Patents
Lane positioning method, computer device, computer-readable storage medium, and vehicle Download PDFInfo
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- CN114964287A CN114964287A CN202210507812.XA CN202210507812A CN114964287A CN 114964287 A CN114964287 A CN 114964287A CN 202210507812 A CN202210507812 A CN 202210507812A CN 114964287 A CN114964287 A CN 114964287A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The invention relates to the technical field of positioning, in particular to a lane positioning method, computer equipment, a computer readable storage medium and a vehicle, and aims to solve the problem of accurately positioning a current driving lane of the vehicle in a road network with road layers of different heights. For the purpose, the lane positioning method comprises the steps of positioning a vehicle through a two-dimensional map, and determining the position of the vehicle; acquiring lanes around the position of the vehicle and a communication relation between the lanes; and determining the lane ID of the current lane of the vehicle according to the lanes around the vehicle position and the communication relation among the lanes. By the method, even if the vehicle runs in a road network with road layers with different heights, the lane on which the vehicle runs can be accurately determined according to the communication relation between the lanes by the two-dimensional map.
Description
Technical Field
The invention relates to the technical field of positioning, and particularly provides a lane positioning method, computer equipment, a computer-readable storage medium and a vehicle.
Background
A vehicle-mounted map is usually set on a vehicle, and positioning, navigation and the like are performed through the vehicle-mounted map during the driving of the vehicle. When a vehicle runs in a road network with road layers of different heights, if a plurality of roads belonging to the road layers of different heights exist at the same position, the roads are displayed in a crossed manner on a vehicle-mounted map, when the vehicle runs at the position, the road on which the vehicle runs cannot be accurately positioned through the vehicle-mounted map, and further when each layer of road comprises a plurality of lanes, the road on which the vehicle runs cannot be positioned.
Accordingly, there is a need in the art for a new solution to the above problems.
Disclosure of Invention
In order to overcome the above drawbacks, the present invention is proposed to provide a lane localization method, a computer device, a computer readable storage medium and a vehicle that solve or at least partially solve the technical problem of how to accurately localize the current driving lane of a vehicle in a road network of road layers with different heights.
In a first aspect, the present invention provides a lane locating method, the method comprising:
positioning the vehicle through a two-dimensional map to determine the position of the vehicle;
acquiring lanes around the vehicle position and a communication relation between the lanes;
and determining the lane ID of the lane where the vehicle is located at present according to the lanes around the vehicle position and the communication relation between the lanes.
In one embodiment of the above lane positioning method, "determining a lane ID of a lane where the vehicle is currently located according to lanes around the vehicle position and a communication relationship between the lanes" specifically includes:
judging whether the previous lane ID can be determined according to the vehicle position determined last time;
if the lane ID can be determined, determining the lane ID of the current lane of the vehicle according to the map range of the lane corresponding to the last lane ID and falling on the two-dimensional map and the current vehicle position;
if the lane ID of the current lane of the vehicle cannot be determined, determining the lane ID of the current lane of the vehicle according to the map range of the lane, which is located in the preset range with the current vehicle position as the center, on the two-dimensional map and the current vehicle position.
In one embodiment of the above lane locating method, "determining the lane ID of the current lane of the vehicle according to the map range of the lane corresponding to the previous lane ID on the two-dimensional map and the current vehicle position" specifically includes:
judging whether the current vehicle position falls into a map range corresponding to the last lane ID and the two-dimensional map only comprises one lane in the map range;
if so, taking the previous lane ID as the lane ID of the current lane of the vehicle;
if not, acquiring other lanes which belong to the same road layer and have a communication relation with the lane corresponding to the last lane ID, and determining the lane ID of the lane where the vehicle is located currently according to the map range of the other lanes on the two-dimensional map and the current vehicle position.
In one technical solution of the above lane positioning method, "determining a lane ID of a lane where the vehicle is currently located according to a map range where the other lane falls on the two-dimensional map and a current vehicle position" specifically includes:
judging whether the current vehicle position only falls into a map range corresponding to the other lanes;
if so, taking the lane ID of the other lane as the lane ID of the current lane of the vehicle;
if not, determining the lane ID of the current lane of the vehicle according to the map range of the lane, which is located in the preset range with the current vehicle position as the center, on the two-dimensional map and the current vehicle position.
In one embodiment of the above lane positioning method, the step of determining the lane ID of the lane where the vehicle is currently located according to the map range where the lane located within the preset range centered on the current vehicle position falls on the two-dimensional map and the current vehicle position specifically includes:
if the current vehicle position only falls into a map range corresponding to a lane in the preset range, taking the lane ID of the lane in the preset range as the lane ID of the lane where the vehicle is currently located;
and if the current vehicle position falls into the map range corresponding to the lanes in the preset range, taking the lanes in the preset range as candidate lanes, and screening out the lane ID of the lane where the vehicle is currently located from the lane IDs of the candidate lanes according to the lane which is communicated with the lane corresponding to the last lane ID and/or the pose of the current vehicle.
In one technical solution of the above lane positioning method, "screening out the lane ID of the lane where the vehicle is currently located from the lane IDs of the candidate lanes according to the lane having a communication relationship with the lane corresponding to the last lane ID and/or the pose of the current vehicle" specifically includes:
judging whether the candidate lane is a virtual lane or not;
when the lane is judged to be a virtual lane, acquiring a virtual lane matched with the pose of the current vehicle, and if the number of the matched virtual lanes is 1, taking the lane ID of the matched virtual lane as the lane ID of the current lane of the vehicle; if the number of the matched virtual lanes is not 1, performing initialization processing according to the current vehicle position, re-determining a starting point lane of the vehicle, and taking a lane ID of the starting point lane as a lane ID of a lane where the vehicle is currently located;
when the lane is not determined to be the virtual lane, acquiring a lane which has a communication relation with a lane corresponding to the last lane ID from the candidate lanes;
if the number of the lanes with the communication relation is 1, taking the lane ID of the lane with the communication relation as the lane ID of the lane where the vehicle is located currently; if the number of the lanes with the communication relation is not 1, performing initialization processing according to the current vehicle position, re-determining a starting point lane of the vehicle, and taking the lane ID of the starting point lane as the lane ID of the lane where the vehicle is currently located.
In one embodiment of the lane locating method, the method further includes performing initialization processing to determine a starting lane of the vehicle according to the current vehicle position by:
acquiring lanes in a preset range with the current vehicle position as the center;
judging whether the current vehicle position falls into a map range corresponding to a lane in the preset range or not;
when the vehicle position only falls into a map range corresponding to one lane in the preset range, acquiring the distance between the current vehicle position and the boundary of the lane in the preset range; if the distance is larger than or equal to a preset distance threshold value, taking the lane in the preset range as a starting point lane of the vehicle; if the distance is smaller than a preset distance threshold, outputting lane positioning abnormity prompt information;
and outputting the prompt information of the abnormal lane positioning when the vehicle does not fall into the map range corresponding to the lane in the preset range.
In a second aspect, a computer arrangement is provided, comprising a processor and a storage device adapted to store a plurality of program codes adapted to be loaded and run by the processor to perform the lane positioning method of any of the above-mentioned aspects of the lane positioning method.
In a third aspect, a computer readable storage medium is provided, having stored therein a plurality of program codes adapted to be loaded and run by a processor to perform the lane locating method of any one of the above-mentioned aspects of the lane locating method.
In a fourth aspect, a vehicle is provided, comprising a computer device according to the above computer device solution.
One or more technical schemes of the invention at least have one or more of the following beneficial effects:
in the technical scheme of implementing the invention, a vehicle can be positioned through a two-dimensional map, the position of the vehicle is determined (the position of the vehicle is two-dimensional information, for example, the position of the vehicle can include the coordinates of an x axis and a y axis of the vehicle in a world coordinate system), then the communication relationship between lanes around the position of the vehicle and the lanes is obtained (if the vehicle normally enters into another lane from one lane, the two lanes have the communication relationship, otherwise, the two lanes do not have the communication relationship), and the lane ID of the lane where the vehicle is located is determined according to the obtained lanes and the communication relationship. According to the technical scheme, even if the vehicle runs in the road network with road layers with different heights, the lane on which the vehicle runs can be accurately determined through the two-dimensional map according to the communication relation between the lanes.
Further, in some embodiments of the present invention, in order to reduce consumption of computing resources, when determining the lane ID of the current lane where the vehicle is located according to the communication relationship between the lanes and the lanes around the vehicle location, the lane ID of the current lane where the vehicle is located may be determined by sequentially determining a map range where the lane corresponding to the previous lane ID falls on the two-dimensional map, a map range where the other lane belonging to the same road layer as the lane corresponding to the previous lane ID and having a communication relationship with the lane corresponding to the previous lane ID falls on the two-dimensional map, and a map range where the lane located within a preset range centered on the current vehicle location falls on the two-dimensional map, in combination with the current vehicle location. In the process, as long as the lane ID of the current lane of the vehicle is determined according to a certain map range and the current vehicle position, subsequent analysis is not needed, so that the consumption of computing resources can be greatly reduced, and the lane positioning efficiency is improved.
Further, in some embodiments of the present invention, an initialization process may be performed according to the vehicle position immediately after the start of lane positioning, so as to determine the starting lane of the vehicle, and use the lane ID of the starting lane as the first lane ID of the lane where the vehicle is located. Meanwhile, in the process of determining the lane ID of the current lane of the vehicle according to the communication relationship between the lanes around the vehicle position, if the lane ID of the current lane of the vehicle cannot be determined finally, initialization processing may be performed according to the vehicle position to determine the starting point lane of the vehicle, and the lane ID of the starting point lane is used as the lane ID of the lane of the vehicle.
Drawings
The disclosure of the present invention will become more readily understood with reference to the accompanying drawings. As is readily understood by those skilled in the art: these drawings are for illustrative purposes only and are not intended to constitute a limitation on the scope of the present invention. Moreover, in the drawings, like numerals are used to indicate like parts, and in which:
FIG. 1 is a flow chart illustrating the main steps of a lane locating method according to one embodiment of the present invention;
FIG. 2 is a schematic view of roads at different height road levels according to one embodiment of the present invention;
FIG. 3 is a first schematic diagram of a virtual lane according to one embodiment of the present invention;
FIG. 4 is a second schematic view of a virtual lane according to one embodiment of the present invention;
FIG. 5 is a third schematic view of a virtual lane according to one embodiment of the present invention;
fig. 6 is a flowchart illustrating main steps of a starting point lane determining method according to an embodiment of the present invention.
Detailed Description
Some embodiments of the invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, a "processor" may include hardware, software, or a combination of both. The processor may be a central processing unit, microprocessor, image processor, digital signal processor, or any other suitable processor. The processor has data and/or signal processing functionality. The processor may be implemented in software, hardware, or a combination thereof. The computer readable storage medium includes any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random-access memory, and the like. The term "a and/or B" denotes all possible combinations of a and B, such as a alone, B alone or a and B. The term "at least one A or B" or "at least one of A and B" means similar to "A and/or B" and may include only A, only B, or both A and B. The singular forms "a", "an" and "the" may include the plural forms as well.
Referring to fig. 1, fig. 1 is a flow chart illustrating the main steps of a lane positioning method according to an embodiment of the present invention. As shown in fig. 1, the lane positioning method in the embodiment of the present invention mainly includes the following steps S101 to S103.
Step S101: and positioning the vehicle through the two-dimensional map to determine the initial vehicle position.
The two-dimensional map is a map expressed on a plane in a two-dimensional form, and the two-dimensional map is used for positioning the vehicle to obtain two-dimensional coordinates of the vehicle in a two-dimensional rectangular coordinate system corresponding to the two-dimensional map, wherein the two-dimensional coordinates comprise coordinates of an x axis and a y axis of the vehicle in the two-dimensional rectangular coordinate system.
Step S102: and acquiring lanes around the position of the vehicle and the communication relation between the lanes.
If a vehicle can drive from one lane to another lane, the two lanes have a communication relationship, i.e., the two lanes are communicated.
In the embodiment of the invention, the position of each lane in a road network and the communication relation among different lanes can be predetermined, and after the position of the vehicle is determined, the lanes around the vehicle can be inquired according to the position of the vehicle, so that the communication relation among the lanes can be inquired and obtained. In addition, each lane is provided with a unique lane ID so as to distinguish different lanes.
Step S103: and determining the lane ID of the current lane of the vehicle according to the lanes around the vehicle position and the communication relation among the lanes.
When a vehicle travels in a road network including a plurality of road levels of different heights, the height of the different roads cannot be displayed because the two-dimensional map lacks the z-axis coordinate in the world coordinate system. If there are a plurality of roads belonging to road layers of different heights at the same position, the roads are displayed in a cross manner on the two-dimensional map, and when the vehicle travels at the position, it cannot be determined by the two-dimensional map on which lane the vehicle has traveled. However, even if a plurality of roads belonging to different road levels are displayed at the same position of the two-dimensional map in a crossed manner, the vehicle can only travel on the lanes with the communication relationship without entering another lane without the communication relationship from the current lane. As shown in fig. 2, the vehicle travels on a lane of the road of the local layer, and an upper layer road is further provided on the road of the local layer, and the road of the local layer and the upper layer road are displayed in a two-dimensional map in a crossing manner at a position in front of the vehicle. Because the lane of the road on the layer is not communicated with the lane of the road on the upper layer, even if the vehicle runs to the position, the vehicle can be determined not to run into the road on the upper layer and still continues to run on the lane of the road on the layer.
By the method described in the above steps S101 to S103, even if the vehicle travels in a road network having road layers of different heights, it is possible to accurately determine which lane the vehicle travels on from the connection relationship between the lanes by the two-dimensional map.
The above step S103 will be further explained.
The lanes around the vehicle may include a plurality of lanes, and if the communication relationship determination and the position matching are performed on each lane, respectively, consumption of computing resources is significantly increased, so that in order to reduce consumption of computing resources, the lane ID of the current lane of the vehicle may be determined according to the map range of the lane corresponding to the previous lane ID, which falls on the two-dimensional map, and the current position of the vehicle, and if the lane ID cannot be determined according to the map range of the lane corresponding to the previous lane ID, which falls on the two-dimensional map, the communication relationship determination and the position matching are continuously performed on other lanes.
Specifically, in some embodiments of step S103 described above, the lane ID of the lane in which the vehicle is currently located may be determined through the following steps S1031 to S1033, and according to the lanes around the vehicle position and the communication relationship between the lanes.
Step S1031: judging whether the previous lane ID can be determined according to the vehicle position determined last time; if the previous lane ID can be determined, go to step S1032; if the previous lane ID cannot be determined, the process proceeds to step S1033.
Step S1032: and determining the lane ID of the lane where the vehicle is located at present according to the map range of the lane corresponding to the previous lane ID and the current vehicle position, wherein the lane is located on the two-dimensional map.
The map range of the lane on the two-dimensional map refers to the map range of the lane on the two-dimensional map determined according to the actual position of the lane according to the map scale of the two-dimensional map.
If the current vehicle position is located in the map range of the lane corresponding to the last lane ID falling on the two-dimensional map, the fact that the vehicle is likely to still continue to run on the lane corresponding to the last lane ID is shown, and the lane ID of the lane where the vehicle is located is still the last lane ID; if the current vehicle position is not located in the map range of the two-dimensional map where the lane corresponding to the last lane ID falls, it is indicated that the vehicle has driven away from the lane corresponding to the last lane ID, and at this time, the lane ID of the lane where the vehicle is currently located can be determined from other lanes around the vehicle position.
Further, in some preferred embodiments of step S1032, the lane ID of the current lane of the vehicle may be determined through the following steps 11 to 13 and according to the map range of the lane falling on the two-dimensional map and the current vehicle position corresponding to the previous lane ID.
Step 11: judging whether the current vehicle position falls into a map range corresponding to the last lane ID and the two-dimensional map only comprises one lane in the map range; if the current vehicle position falls into the map range corresponding to the last lane ID and the two-dimensional map only comprises one lane in the map range, turning to step 12; otherwise, go to step 13.
Step 12: and taking the last lane ID as the lane ID of the lane where the vehicle is located currently.
If the current vehicle position is located in the map range of the lane corresponding to the last lane ID falling on the two-dimensional map, the vehicle is most likely to continue to run on the lane corresponding to the last lane ID. Furthermore, if the two-dimensional map only contains one lane in the map range, the vehicle is necessarily continuously driven on the lane corresponding to the last lane ID, so that the last lane ID can be directly used as the lane ID of the lane where the vehicle is currently located.
Step 13: and acquiring other lanes which belong to the same road layer as the lane corresponding to the last lane ID and have a communication relation with the lane corresponding to the last lane ID, and determining the lane ID of the lane where the vehicle is located at present according to the map range of the other lanes on the two-dimensional map and the current vehicle position.
If the current vehicle position is not located in the map range corresponding to the last lane ID, it is possible that other lanes located near the same road layer fall within the map range on the two-dimensional map, so the lane ID of the lane where the vehicle is currently located can be determined according to the map range of the other lanes falling on the two-dimensional map and the current vehicle position.
If the current vehicle position is located in the map range corresponding to the last lane ID, but the two-dimensional map in the map range contains a plurality of lanes, the vehicle may be located in the intersection region of the road layers with different heights (such as an overpass). Therefore, in order to reduce the consumption of the computing resources, position matching may be performed on "another lane which belongs to the same road layer as the lane corresponding to the previous lane ID and has a communication relationship with the lane corresponding to the previous lane ID", and if the current vehicle position is located within the map range corresponding to the other lane, it is indicated that the vehicle is most likely to travel on the other lane, and then the lane ID of the lane where the vehicle is currently located may be determined.
By the method described in the above step 11 to step 13, matching the "map range corresponding to the previous lane ID" with the current vehicle position can accurately determine whether the vehicle continues to travel on the lane corresponding to the previous lane ID.
Further, in some preferred embodiments of the step 13, the lane ID of the lane where the vehicle is currently located may be determined through the following steps 131 to 133 according to the map range where the other lanes fall on the two-dimensional map and the current vehicle position.
Step 131: judging whether the current vehicle position only falls into a map range corresponding to the other lanes; if the vehicle only falls into the map range corresponding to the other lane, go to step 132; otherwise, go to step 133.
Step 132: and taking the lane ID of the other lane as the lane ID of the current lane of the vehicle.
If the current vehicle position is located in the map range of the other lane falling on the two-dimensional map, the vehicle is most likely to travel on the other lane. Furthermore, if the current vehicle position is only located in the map range corresponding to the other lane, it is indicated that the vehicle must travel on the other lane, and therefore, the lane ID of the other lane can be directly used as the lane ID of the lane where the vehicle is currently located.
Step 133: and determining the lane ID of the current lane of the vehicle according to the map range of the lane, which is positioned in the preset range taking the current vehicle position as the center, on the two-dimensional map and the current vehicle position.
And under the condition that the current vehicle position is not located in the map range of the two-dimensional map, the lanes located in the preset range with the current vehicle position as the center are obtained to enlarge the lane searching range, and the number of roads around the vehicle position is increased, so that the lanes where the vehicle is located currently can be determined from the roads.
By the method described in the above steps 131 to 133, it is possible to accurately determine whether or not the vehicle is traveling in the other lane by matching the current vehicle position with "the other lane which belongs to the same road layer as the lane corresponding to the previous lane ID and has a communication relationship with the lane corresponding to the previous lane ID".
Further, in some preferred embodiments of the above step 133, after determining that the lanes within the preset range centered on the current vehicle position fall within the map range on the two-dimensional map, the map range where the current vehicle position falls within several lanes may be obtained, and the lane ID of the lane where the vehicle is currently located may be determined in different manners according to the number of lanes.
Specifically, if the current vehicle position only falls within a map range corresponding to a lane within a preset range, which indicates that the vehicle must travel on the lane, the lane ID of the lane may be used as the lane ID of the lane where the vehicle is currently located.
If the current vehicle position falls into the map range corresponding to the lanes in the preset ranges, the lanes can be used as candidate lanes, and the lane ID of the lane where the vehicle is currently located is screened out from the lane IDs of the candidate lanes according to the lane which is in communication relation with the lane corresponding to the last lane ID and/or the pose of the current vehicle. Specifically, a candidate lane having a connected relationship with a lane corresponding to the last lane ID among the candidate lanes may be taken as the lane where the vehicle is currently located. Meanwhile, a candidate lane matched with the pose of the current vehicle can be selected from the candidate lanes to serve as the current lane of the vehicle. In some cases, a candidate lane having a connected relation with a lane corresponding to the last lane ID and matching with the pose of the current vehicle at the same time may also be taken as the lane where the vehicle is currently located. The Pose of the vehicle refers to the position and attitude (Pose) of the vehicle. For example, two candidate lanes toward the left side and two candidate lanes toward the right side are determined according to the position of the vehicle, and the posture of the vehicle turns to the left, then it can be determined that the candidate lane toward the left side is matched with the posture of the current vehicle, and the candidate lane toward the left side can be taken as the current lane of the vehicle.
Further, in some preferred embodiments, the lane ID of the lane where the vehicle is currently located may be screened out from the lane IDs of the candidate lanes through the following steps 1331 to 1335 and according to the lane having a connection relationship with the lane corresponding to the last lane ID and/or the pose of the current vehicle.
Step 1331: judging whether the candidate lane is a virtual lane or not; if the lane is a virtual lane, go to step 1332; if not, go to step 1334.
The virtual lane is a lane which is planned when a vehicle is navigated by a two-dimensional map and has no actual lane line on an actual road.
As shown in fig. 3, when the vehicle travels forward, the vehicle passes through a t-junction, and no specific lane is defined in the t-junction, i.e., no lane line is present. When the vehicle is navigated through the two-dimensional map, two virtual lanes (shown by dotted lines in fig. 3) are generated at the t-junction, the vehicle can drive into the lane on the north side from the south to the north along one virtual lane (straight virtual lane), and the vehicle can drive into the lane on the east side from the south to the east along the other virtual lane (right-turn virtual lane).
Step 1332: and acquiring a virtual lane matched with the pose of the current vehicle.
Referring to fig. 3 and 4, when the vehicle travels from the position shown in fig. 3 to the position shown in fig. 4, the vehicle position falls within the map range corresponding to the two virtual lanes at the same time. However, only the straight-ahead virtual lane is a virtual lane that matches the pose of the current vehicle.
Referring to fig. 3 and 5, when the vehicle travels from the position shown in fig. 3 to the position shown in fig. 5, the vehicle position falls within the map range corresponding to the two virtual lanes at the same time. However, only the right-turn virtual lane is a virtual lane that matches the pose of the current vehicle.
Step 1333: judging whether the number of virtual lanes matched with the pose of the current vehicle is 1 or not; if the number of the lanes is 1, taking the lane ID of the matched virtual lane as the lane ID of the current lane of the vehicle; if not, performing initialization processing according to the current vehicle position, re-determining the starting point lane of the vehicle, and taking the lane ID of the starting point lane as the lane ID of the current lane of the vehicle.
Step 1334: and acquiring the lane which has a communication relation with the lane corresponding to the last lane ID from the candidate lanes.
Step 1335: judging whether the number of the lanes which are in communication relation with the lanes corresponding to the last lane ID is 1 or not; if the number of the lanes is 1, taking the lane ID of the lane with the communication relation as the lane ID of the lane where the vehicle is located currently; if not, performing initialization processing according to the current vehicle position, re-determining the starting point lane of the vehicle, and taking the lane ID of the starting point lane as the lane ID of the current lane of the vehicle.
Through the method described in the above steps 1331 to 1335, when the current vehicle position falls within the map range corresponding to the lanes in the plurality of preset ranges, the lane ID of the lane where the vehicle is currently located can be accurately determined according to the lane having a communication relationship with the lane corresponding to the last lane ID and the pose of the current vehicle.
The above is a specific description of step S1032, and the description of step S1033 is continued below.
Step S1033: and determining the lane ID of the current lane of the vehicle according to the map range and the current vehicle position of the lane, which is positioned in the preset range taking the current vehicle position as the center, on the two-dimensional map.
In the case where the previous lane ID is not determined, the search range of the lanes is expanded by acquiring lanes located within a preset range centered on the current vehicle position, and the number of roads around the vehicle position is increased so that the lane where the vehicle is currently located can be determined from these roads.
It should be noted that the method for "determining the lane ID of the current lane of the vehicle according to the map range of the lane located in the preset range centered on the current vehicle position on the two-dimensional map and the current vehicle position in step S1033 is the same as the method described in step S1032, and is not repeated here.
Referring to fig. 6, in an embodiment according to the present invention, when the vehicle has just started the lane locating function or other needs to re-determine the starting lane of the vehicle (as in the case of steps 1333 and 1335), the starting lane of the vehicle may be determined by performing an initialization process through the following steps S201 to S206.
Step S201: a lane located within a preset range centered on a current vehicle position is acquired.
Step S202: judging whether the current vehicle position falls into a map range corresponding to a lane in a preset range or not; if the vehicle lane falls into a map range corresponding to a lane in a preset range, the step S203 is executed; otherwise, go to step S206.
Step S203: and acquiring the distance between the current vehicle position and the boundary of the lane in the preset range.
Step S204: if the distance is greater than or equal to a preset distance threshold value; if yes, go to step S205; if not, go to step S206.
Step S205: and taking the lane in the preset range as a starting lane of the vehicle.
When determining the vehicle position by locating the vehicle on the two-dimensional map, the vehicle position may fluctuate within a certain range, for example, within a range of 5cm to 30 cm. If the vehicle location is too close to the boundary of the lane, it may not be possible to accurately determine whether the vehicle is over the sidebar lane. In order to avoid the influence of the fluctuation on the judgment, a distance threshold value may be set, and if the distance between the current vehicle position and the boundary of the lane is greater than or equal to the distance threshold value, it is judged that the vehicle is traveling in the lane, and the lane may be used as the starting lane of the vehicle.
Step S206: and outputting prompt information of abnormal lane positioning.
If the starting point lane of the vehicle cannot be determined through initialization processing, manual intervention or other means are needed for solving the problem, so that lane positioning abnormity prompt information can be output in the case so as to remind a vehicle user or other personnel of processing the abnormity.
It should be noted that, although the foregoing embodiments describe each step in a specific sequence, those skilled in the art will understand that, in order to achieve the effect of the present invention, different steps do not necessarily need to be executed in such a sequence, and they may be executed simultaneously (in parallel) or in other sequences, and these changes are all within the protection scope of the present invention.
It will be understood by those skilled in the art that all or part of the flow of the method according to the above-described embodiment may be implemented by a computer program, which may be stored in a computer-readable storage medium and used to implement the steps of the above-described embodiments of the method when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying said computer program code, medium, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunications signal, software distribution medium, or the like. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
Furthermore, the invention also provides computer equipment. In an embodiment of the computer device according to the invention, the computer device comprises a processor and a storage, the storage may be configured to store a program for performing the lane locating method of the above-mentioned method embodiment, and the processor may be configured to execute the program in the storage, the program comprising but not limited to the program for performing the lane locating method of the above-mentioned method embodiment. For convenience of explanation, only the parts related to the embodiments of the present invention are shown, and details of the specific techniques are not disclosed. The computer device may be a device formed by including various electronic devices.
Further, the invention also provides a computer readable storage medium. In one computer-readable storage medium embodiment according to the present invention, a computer-readable storage medium may be configured to store a program that executes the lane locating method of the above-described method embodiment, which may be loaded and executed by a processor to implement the above-described lane locating method. For convenience of explanation, only the parts related to the embodiments of the present invention are shown, and specific technical details are not disclosed. The computer readable storage medium may be a storage device formed by including various electronic devices, and optionally, the computer readable storage medium is a non-transitory computer readable storage medium in the embodiment of the present invention.
Further, the invention also provides a vehicle. In an embodiment of a vehicle according to the invention, the vehicle may comprise a computer device as described above for the embodiment of the computer device. The vehicle may be an autonomous vehicle, an unmanned vehicle, or the like in the present embodiment. In addition, the vehicle in the embodiment may be a fuel vehicle, an electric vehicle, a hybrid vehicle in which electric energy and fuel are mixed, or a vehicle using other new energy, and the like, classified according to the power source type.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. A lane locating method, characterized in that the method comprises:
positioning the vehicle through a two-dimensional map to determine the position of the vehicle;
acquiring lanes around the vehicle position and a communication relation between the lanes;
and determining the lane ID of the lane where the vehicle is located at present according to the lanes around the vehicle position and the communication relation between the lanes.
2. The lane positioning method according to claim 1, wherein the step of determining the lane ID of the lane where the vehicle is currently located according to the lanes around the vehicle position and the communication relationship between the lanes specifically comprises:
judging whether the previous lane ID can be determined according to the vehicle position determined last time;
if the lane ID can be determined, determining the lane ID of the current lane of the vehicle according to the map range of the lane corresponding to the last lane ID and falling on the two-dimensional map and the current vehicle position;
if the lane ID of the current lane of the vehicle cannot be determined, determining the lane ID of the current lane of the vehicle according to the map range of the lane, which is located in the preset range with the current vehicle position as the center, on the two-dimensional map and the current vehicle position.
3. The lane positioning method according to claim 2, wherein the step of determining the lane ID of the current lane of the vehicle according to the map range of the previous lane ID corresponding to the lane on the two-dimensional map and the current vehicle position specifically comprises:
judging whether the current vehicle position falls into a map range corresponding to the last lane ID and the two-dimensional map only comprises one lane in the map range;
if so, taking the last lane ID as the lane ID of the current lane of the vehicle;
if not, acquiring other lanes which belong to the same road layer and have a communication relation with the lane corresponding to the last lane ID, and determining the lane ID of the lane where the vehicle is located currently according to the map range of the other lanes on the two-dimensional map and the current vehicle position.
4. The lane positioning method according to claim 3, wherein the step of determining the lane ID of the lane where the vehicle is currently located according to the map range of the other lane on the two-dimensional map and the current vehicle position specifically comprises:
judging whether the current vehicle position only falls into a map range corresponding to the other lanes;
if so, taking the lane ID of the other lane as the lane ID of the current lane of the vehicle;
if not, determining the lane ID of the current lane of the vehicle according to the map range of the lane, which is located in the preset range with the current vehicle position as the center, on the two-dimensional map and the current vehicle position.
5. The lane locating method according to any one of claims 2 to 4, wherein the step of determining the lane ID of the lane in which the vehicle is currently located according to the map range in which the lane located within the preset range centered on the current vehicle position falls on the two-dimensional map and the current vehicle position specifically comprises:
if the current vehicle position only falls into a map range corresponding to a lane in the preset range, taking the lane ID of the lane in the preset range as the lane ID of the current lane of the vehicle;
if the current vehicle position falls into the map range corresponding to the lanes in the preset ranges, taking the lanes in the preset ranges as candidate lanes, and screening out the lane ID of the lane where the vehicle is currently located from the lane IDs of the candidate lanes according to the lane which is communicated with the lane corresponding to the last lane ID and/or the pose of the current vehicle.
6. The lane positioning method according to claim 5, wherein the step of screening out the lane ID of the lane where the vehicle is currently located from the lane IDs of the candidate lanes according to the lane having a connection relationship with the lane corresponding to the last lane ID and/or the pose of the current vehicle specifically comprises:
judging whether the candidate lane is a virtual lane or not;
when the lane is judged to be a virtual lane, acquiring a virtual lane matched with the pose of the current vehicle, and if the number of the matched virtual lanes is 1, taking the lane ID of the matched virtual lane as the lane ID of the current lane of the vehicle; if the number of the matched virtual lanes is not 1, performing initialization processing according to the current vehicle position, re-determining a starting point lane of the vehicle, and taking a lane ID of the starting point lane as a lane ID of a lane where the vehicle is currently located;
when the lane is not determined to be the virtual lane, acquiring a lane which has a communication relation with a lane corresponding to the last lane ID from the candidate lanes;
if the number of the lanes with the communication relation is 1, taking the lane ID of the lane with the communication relation as the lane ID of the lane where the vehicle is located currently; if the number of the lanes with the communication relation is not 1, performing initialization processing according to the current vehicle position, re-determining a starting point lane of the vehicle, and taking the lane ID of the starting point lane as the lane ID of the lane where the vehicle is currently located.
7. The lane locating method according to claim 2, 3, 4 or 6, further comprising performing an initialization process to determine a starting lane of the vehicle according to a current vehicle position by:
acquiring lanes in a preset range with the current vehicle position as the center;
judging whether the current vehicle position falls into a map range corresponding to a lane in the preset range or not;
when the vehicle position only falls into a map range corresponding to one lane in the preset range, acquiring the distance between the current vehicle position and the boundary of the lane in the preset range; if the distance is larger than or equal to a preset distance threshold value, taking the lane in the preset range as a starting point lane of the vehicle; if the distance is smaller than a preset distance threshold, outputting lane positioning abnormity prompt information;
and outputting the prompt information of the abnormal lane positioning when the vehicle does not fall into the map range corresponding to the lane in the preset range.
8. A computer arrangement comprising a processor and a memory device, said memory device being adapted to store a plurality of program codes, characterized in that said program codes are adapted to be loaded and run by said processor to perform the vehicle localization method according to any one of claims 1 to 7.
9. A computer readable storage medium having a plurality of program codes stored therein, wherein the program codes are adapted to be loaded and executed by the processor to perform the vehicle localization method according to any one of claims 1 to 7.
10. A vehicle characterized in that it comprises a computer device according to claim 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210507812.XA CN114964287A (en) | 2022-05-10 | 2022-05-10 | Lane positioning method, computer device, computer-readable storage medium, and vehicle |
| PCT/CN2023/073864 WO2023216651A1 (en) | 2022-05-09 | 2023-01-30 | Lane positioning method, computer device, computer-readable storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210507812.XA CN114964287A (en) | 2022-05-10 | 2022-05-10 | Lane positioning method, computer device, computer-readable storage medium, and vehicle |
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| CN114964287A true CN114964287A (en) | 2022-08-30 |
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| CN202210507812.XA Pending CN114964287A (en) | 2022-05-09 | 2022-05-10 | Lane positioning method, computer device, computer-readable storage medium, and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023216651A1 (en) * | 2022-05-09 | 2023-11-16 | 安徽蔚来智驾科技有限公司 | Lane positioning method, computer device, computer-readable storage medium and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023216651A1 (en) * | 2022-05-09 | 2023-11-16 | 安徽蔚来智驾科技有限公司 | Lane positioning method, computer device, computer-readable storage medium and vehicle |
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