CN115567875A - Method for judging same lane, electronic device and computer readable storage medium - Google Patents
Method for judging same lane, electronic device and computer readable storage medium Download PDFInfo
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Abstract
The embodiment of the application relates to the technical field of vehicle networking, in particular to a method for judging the same lane, electronic equipment and a computer readable storage medium. The method for judging the same lane comprises the following steps: acquiring a first course angle of the main vehicle and a second course angle of the distant vehicle; determining a first position of the main vehicle and a second position of the distant vehicle; determining the transverse distance between the main vehicle and the distant vehicle according to the first course angle, the second course angle, the first position and the second position; and determining whether the main vehicle and the far vehicle are positioned in the same lane according to the transverse distance and the preset lane width, so that the accuracy and the reliability of the judgment of the same lane can be improved, and the cost and the difficulty of realizing the judgment of the same lane are reduced.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle networking, in particular to a method for judging the same lane, electronic equipment and a computer readable storage medium.
Background
In the running process of the vehicle, whether the vehicle is in the same lane needs to be judged under a special scene. At present, people are needed to judge, and how to accurately, accurately and reliably judge the same lane in the field of vehicle networking is a key technology which needs to be solved at present or in the future.
Disclosure of Invention
The embodiment of the application mainly aims to provide a method for judging the same lane, electronic equipment and a computer readable storage medium, and aims to improve the accuracy and reliability of the same lane judgment and reduce the cost and difficulty of realizing the same lane judgment.
In order to achieve the above object, an embodiment of the present application provides a method for determining a same lane, including: acquiring a first course angle of a main vehicle and a second course angle of a far vehicle; determining a first position of the main vehicle and a second position of the distant vehicle; determining the transverse distance between the main vehicle and the distant vehicle according to the first course angle, the second course angle, the first position and the second position; and confirming whether the main vehicle and the remote vehicle are positioned in the same lane or not according to the transverse distance and the preset lane width.
In order to achieve the above object, an embodiment of the present application further provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the above-mentioned co-lane determination method.
In order to achieve the above object, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the above method for determining the same lane.
In the embodiment of the application, a first course angle of a main vehicle and a second course angle of a far vehicle are obtained, a first position where the main vehicle is located and a second position where the far vehicle is located are determined, then the transverse distance between the main vehicle and the far vehicle is determined according to the first course angle, the second course angle, the first position and the second position, and then whether the main vehicle and the far vehicle are located in the same lane is judged based on the transverse distance and the width of the lane. According to the embodiment of the application, the image of the driving road does not need to be acquired through the camera in the same lane judgment process, so that the cost is relatively low, the calculation of the transverse distance is performed on the basis of the information such as the angle and the position and on the basis of a geometric method, and the transverse distance obtained by the method is more reliable and has lower difficulty compared with that obtained by a visual identification method. Meanwhile, the embodiment of the application avoids the fact that the historical track points are fitted to obtain an inaccurate fitting curve, and therefore the inaccuracy of the same-vehicle judgment result caused by the inaccuracy of the fitting curve is avoided. The embodiment of the application can improve the accuracy and reliability of same-lane judgment and reduce the cost and difficulty of same-lane judgment.
Drawings
Fig. 1 is a flowchart of a co-lane determination method according to an embodiment of the present application;
FIG. 2 is a flow chart of an implementation of step 103 mentioned in an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a geometrical relationship between positions of a main vehicle and a far vehicle in a curve scene according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a geometric relationship between the positions of a main vehicle and a far vehicle in another curve scene mentioned in the embodiments of the present application;
FIG. 5 is a schematic diagram illustrating a geometrical relationship between positions of a main vehicle and a far vehicle in a straight road scene according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device mentioned in the embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in the various embodiments of the present application, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present application, and the embodiments may be mutually incorporated and referred to without contradiction.
The embodiment of the application relates to a method for judging the same lane, which is used for judging whether a plurality of vehicles are positioned on the same lane, so that a driver can conveniently make timely evasive action, and the driving safety is improved. The co-lane determination method in the present embodiment is applied to an electronic device provided on a host vehicle, such as a V2X device on the host vehicle. The technology of vehicle-to-outside information exchange (V2X for short) is a key technology of future intelligent transportation systems, and enables communication between vehicles, between vehicles and base stations, and between base stations. Therefore, a series of traffic information such as real-time road conditions, road information, pedestrian information and the like is obtained, so that the driving safety is improved, the congestion is reduced, the traffic efficiency is improved, and the vehicle-mounted entertainment information is provided. However, in a specific implementation, the electronic device may also be an On Board Unit (OBU), a vehicle data recorder, or a terminal device such as a mobile phone and a tablet computer, and both the On board device and the terminal device may store an application program for implementing the method for determining the same lane in this embodiment.
The following describes in detail the method for determining the same lane according to the present embodiment, and the following is only provided for easy understanding and is not essential to the present embodiment.
In an embodiment, the flowchart of the same-lane determining method may refer to fig. 1, which includes:
step 101: acquiring a first course angle of a main vehicle and a second course angle of a far vehicle;
step 102: determining a first position of the main vehicle and a second position of the distant vehicle;
step 103: determining the transverse distance between the main vehicle and the distant vehicle according to the first course angle, the second course angle, the first position and the second position;
step 104: and confirming whether the main vehicle and the remote vehicle are positioned in the same lane or not according to the transverse distance and the preset lane width.
According to the embodiment of the application, the image of the driving road does not need to be acquired through the camera in the same lane judgment process, so that the cost is relatively low, the calculation of the transverse distance is performed on the basis of the information such as the angle and the position and on the basis of a geometric method, and the transverse distance obtained by the method is more reliable and has lower difficulty compared with that obtained by a visual identification method. Meanwhile, the method and the device avoid the fact that inaccurate fitting curves are obtained by fitting historical track points, and therefore the inaccuracy of the same-vehicle judgment result caused by the inaccuracy of the fitting curves is avoided. The embodiment of the application can improve the accuracy and reliability of same-lane judgment and reduce the cost and difficulty of same-lane judgment.
In step 101, a V2X device on a host vehicle (hereinafter referred to as a first V2X device) may acquire a first heading angle of the host vehicle and acquire a second heading angle of a distant vehicle. The Host Vehicle (HV) is understood to be the current Vehicle, i.e. the Vehicle that is to be determined which is located in the same lane as the Host Vehicle. A Remote Vehicle (RV) is understood to mean a Vehicle other than the host Vehicle. HV may be understood as a target vehicle equipped with an on-board unit and running an application; the RV may be understood as a background vehicle that in cooperation with the HV can broadcast V2X messages periodically.
In one example, a first V2X device may acquire Global Positioning System (GPS) data of a host vehicle and then calculate a first heading angle of the host vehicle based on the GPS data. The GPS data can comprise longitude and latitude information of continuous multiframes, and the first V2X device can obtain a first heading angle of the host vehicle through calculation according to the longitude and latitude information of the continuous multiframes.
In one example, the first V2X device receives V2X data sent by a distant vehicle, and obtains a second heading angle of the distant vehicle according to the V2X data. The remote vehicle may also be provided with a V2X device, and the V2X device on the remote vehicle (hereinafter referred to as a second V2X device) may acquire V2X data of the remote vehicle, and then transmit the V2X data to the V2X device on the main vehicle.
In one example, the V2X data includes a second heading angle for the oncoming vehicle, and the first V2X device may resolve the second heading angle from the V2X data. For example, the second V2X device may obtain GPS data of the far vehicle, calculate a second heading angle of the far vehicle according to the GPS data of the far vehicle, and send the calculated second heading angle to the first V2X device through the V2X, so that the first V2X device may directly obtain the second heading angle of the far vehicle from the V2X data, thereby avoiding that the first V2X device needs to calculate, and being beneficial to relieving the calculation pressure of the first V2X device.
In another example, the V2X data includes GPS data of the far car, and the first V2X device may obtain the GPS data of the far car from the V2X data and then calculate the second heading angle of the far car based on the GPS data of the far car. For example, the second V2X device may acquire GPS data of a distant vehicle, and then send the GPS data of the distant vehicle to the first V2X device through V2X, so that the first V2X device may calculate the second heading angle of the distant vehicle according to the received GPS data of the distant vehicle, which avoids the need for calculation by the second V2X device, and is beneficial to relieving the calculation pressure of the second V2X device.
In a specific implementation, the V2X data may include, in addition to the GPS data of the distant vehicle and the second heading angle of the distant vehicle, information such as a speed and an acceleration of the distant vehicle, which is not specifically limited in this embodiment. Optionally, the heading angle may be calculated by using longitude and latitude information of consecutive multiple frames, or the heading angle of the remote vehicle may be obtained from a Basic Safety Message (BSM), where the BSM may include, in addition to the heading angle: speed, acceleration, steering, braking, double flashing, position, etc.
In step 102, a first V2X device may determine a first location where a host vehicle is located and a second location where a distant vehicle is located. Wherein the first position can be represented by longitude and latitude information of the host vehicle, and the second position can be represented by longitude and latitude information of the remote vehicle. The first V2X device may determine a first location where the host vehicle is located based on GPS data of the host vehicle, and the first V2X device may obtain GPS data of a distant vehicle from the received V2X data transmitted by the second V2X device, and determine a second location where the distant vehicle is located based on the GPS data of the distant vehicle.
In step 103, the first V2X device may determine a lateral distance between the host vehicle and the distant vehicle based on the first heading angle, the second heading angle, the first position, and the second position. The first course angle, the second course angle, the first position and the second position can reflect the geometrical relationship among the linear distance, the transverse distance and the longitudinal distance between the main vehicle and the far vehicle, and the first V2X device can calculate the transverse distance between the main vehicle and the far vehicle according to the geometrical relationship. The lateral distance is understood to be the lateral inter-vehicle distance between vehicles traveling side by side or opposite on the road.
In one embodiment, the implementation of step 103 may be as shown in fig. 2, including:
step 201: calculating the distance of a straight line connecting the first position and the second position;
step 202: determining an included angle between the due north direction of the first position and the straight line;
step 203: and determining the transverse distance between the main vehicle and the distant vehicle according to the first course angle, the second course angle, the distance of the straight line and the included angle.
In order to facilitate understanding of the above steps, the following description is made with reference to a schematic geometrical relationship between the positions of the main vehicle and the remote vehicle, i.e. fig. 3:
in FIG. 3, the first position of the Host Vehicle (HV) is B 1 The second position of the remote vehicle 1 (RV 1) is A 1 The second position of the remote vehicle 2 (RV 2) is G. That is, the lane in fig. 3 is a curved road, and there are three vehicles on the curved road, namely a main vehicle, a far vehicle 1 and a far vehicle 2.
The following assumptions are made in fig. 3 based on the actual situation:
(1) The vehicles needing early warning are on the curve with the same curvature and can be approximately considered to be on a section of circular arc;
(2) And under the normal condition, the vehicle basically runs along the center line of the lane, namely the course is superposed with the tangent line of the circular arc.
If the curve is formed by connecting roads with different curvature radiuses, the same lane can still be judged when the difference value of the curvature radiuses of the two roads is within a certain range. After multiple simulation tests, when the difference value of the curvature radii of the two roads is within 50m, the judgment is more accurate.
In FIG. 3, point A 1 And B 1 Respectively represent RV1 and HV; vectors u and v are velocities of RV1 and HV, at point A with the arc 1 And B 1 The tangent lines of the two are overlapped; vectors w and a both point to the north; alpha = & angle CA 1 B is the course angle of RV1, and beta = & angle AB 1 D is the heading angle of HV. Point G represents RV2 in a lane adjacent to RV1 and travels in the same direction as RV1, i.e., RV2 has the same speed as RV1 and A 1 The connecting line of G passes through the center of the circular arc; the two concentric arcs represent the center lines of adjacent lanes.
In step 201, the first V2X device may calculate a distance of a straight line connecting between the first location and the second location based on GPS data of the host vehicle and GPS data of the remote vehicle. The GPS data of the host vehicle may include longitude and latitude information of the host vehicle, the GPS data of the distant vehicle may include longitude and latitude information of the distant vehicle, and the first V2X device may calculate a distance of a straight line connecting between the first position and the second position from the longitude and latitude information of the host vehicle and the longitude and latitude information of the distant vehicle. Referring to fig. 3, if the distance of a straight line connecting a first position where the host vehicle HV is located and a second position where the distant vehicle RV1 is located is calculated, the distance of the straight line may be a 1 And B 1 The linear distance h between the two points; if the distance of a straight line connecting the first position of the host vehicle HV and the second position of the distant vehicle RV2 is calculated, the distance of the straight line can be B 1 And G the linear distance l between the two points.
In step 202, the first V2X device may determine an angle between a due north direction of the first location and the line (i.e., the line connecting the first location and the second location). In a specific implementation, if the lateral distance between the host vehicle HV and the distant vehicle RV1 is to be calculated, with reference to fig. 3, the included angle obtained in step 202 is: first position B 1 North (vector w) and straight line (A) 1 B 1 ) Angle theta = ≈ A B 1 A 1 . θ may also be referred to as the starting angle of the shortest path h of RV1 and HV. If the transverse distance between the host vehicle HV and the remote vehicle RV2 is to be calculated, the included angle obtained in step 202 is: first position B 1 North (vector w) and straight line (B) 1 G) Angle of (A) B 1 G。
In step 203, the first V2X device may obtain a lateral distance between the host vehicle and the distant vehicle according to the first heading angle, the second heading angle, the distance of the straight line, and the included angle under the constructed geometric model for calculating the lateral distance; wherein the geometric model is constructed according to the first position, the second position, the speed direction of the main vehicle, the speed direction of the far vehicle, the due north direction of the first position and the due north direction of the second position. The geometric model may be pre-constructed and stored in the first V2X device such that the first V2X device may calculate the lateral distance between the host vehicle and the distant vehicle from the geometric model. The transverse distance between the main vehicle and the distant vehicle can be simply and quickly obtained through the geometric model.
In one example, referring to FIG. 3, according to a first position (B) 1 ) A second position (A) 1 ) The geometric model constructed by the velocity direction of the main vehicle (vector v), the velocity direction of the far vehicle (vector u), the north-ward direction of the first position (vector w) and the north-ward direction of the second position (vector a) can be as follows:
wherein dis lateral The distance is the transverse distance, beta is the first course angle, alpha is the second course angle, and dis is the distance of the straight line. Dis is h in fig. 3 for the faraway car RV1 and l in fig. 3 for the faraway car RV 1. In a specific implementation, the values of α, β, θ, dis may be substituted into the geometric model to calculate the lateral distance between the host vehicle and the distant vehicle.
As can be seen from fig. 3, HV and RV1 are located on the same lane, and the lateral distance between them is 0; HV and RV2 are located in different lanes, and the transverse distance between the HV and the RV2 is GA 1 . Referring to fig. 4, dotted lines f and g are arcs of circlesAt point A 1 And B 1 Tangent line of (HB), angle HB 1 A 1 =θ-β,∠HB 1 A 1 =∠H A 1 B 1 ,∠H A 1 B = α - θ, so when HV and RV1 are on the same lane line, heading angles β, α of HV and RV1 and starting angle θ of the shortest path between HV and RV1 satisfy the following relationship:
then will beBy substituting into the above geometric model, it can be obtained that the lateral distance between HV and RV1 is 0.
That is, when the host vehicle and the remote vehicle are located in the same lane, the first heading angle β, the second heading angle α, and the included angle θ satisfy the following relationship:
aiming at HV and RV2, namely when the transverse distance between HV and RV2 is calculated, the heading angle of HV is beta at the moment, the heading angle alpha of RV2 and the starting angle theta '= &' A B of the shortest path between HV and RV2 1 G (i.e. the north direction w and the straight line B of the position of HV) 1 The angle between G). By passingCan know the angle A 1 B 1 G=θ’-θ=θ’-(α+β)/2,∠B 1 A 1 G=∠HA 1 G-∠HA 1 B 1 =90°-(α-θ)=90°-((α-β)/2),∠B 1 G A 1 =90 ° - θ' + α, the linear distance dis between HV and RV2 being B 1 G. According to the sine theorem, the transverse distance A between HV and RV2 1 G is:
in one embodiment, the geometric model is used for calculating the transverse distance between the main vehicle and the distant vehicle in a curve scene, and is used for calculating the transverse distance between the main vehicle and the distant vehicle in a straight road scene, that is, the same-lane judgment method in the application is also suitable for the same-lane judgment of the vehicle in the straight road. The above embodiment introduces the geometric model for calculating the transverse distance between the host vehicle and the distant vehicle in a curve scene, and the following mainly introduces the geometric model for calculating the transverse distance between the host vehicle and the distant vehicle in a straight road scene:
referring to fig. 5, when both the host vehicle HV and the distant vehicle RV are located on a straight road, since the straight road can be regarded as a circular arc having an infinite radius of curvature, the above-described geometric model for calculating the lateral distance derived from the general circular arc is also applicable to calculating the lateral distance between the two vehicles in the straight road. For example, in fig. 5, point a represents the position of the host vehicle HV, point B represents the position of RV1 on the same lane as the HV, and point C represents the position of RV2 on a different lane from the HV. Obviously, the lateral distance of HV from RV1 should be 0; the lateral distance of HV from RV2 should be BC. The following verifies that the geometric model described above is equally applicable to the calculation of the lateral distance between vehicles in a straight road by calculating the lateral distance through the geometric model described above:
when the transverse distance between the HV and the RV1 is calculated, the heading angle of the HV is β, the heading angle α of the RV1, and the starting angle θ of the shortest path between the HV and the RV1 (i.e., the included angle between the due north direction of the position where the HV is located and the straight line AB), the three included angles are equal in magnitude, i.e., θ = α = β, and the relative distance dis = AB between the two vehicles of the HV and the RV1, and the vertical distance between the HV and the RV1 can be calculated by substituting the values of α, β, θ, dis into the above geometric model, and the calculation process is as follows:
it can be seen that when the lateral distance between the host vehicle HV and the distant vehicle RV1 is calculated using the above geometric model, the result of the calculation is the same as the theoretical lateral distance of HV and RV 1.
When the transverse distance between the HV and the RV2 is calculated, the heading angle of the HV is beta, the heading angle alpha of the RV1 is alpha = beta, the starting angle of the shortest path from the HV to the RV2 is theta (namely, an included angle between the due north direction of the position where the HV is located and a straight line AC is phi EAC), the relative distance between two vehicles is dis = AC, the vertical distance between the HV and the RV2 can be calculated by substituting the values of alpha, beta, theta and dis into the geometric model, and the calculation process is as follows:
it follows that when the lateral distance between the host vehicle HV and the distant vehicle RV2 is calculated using the above-described geometric model, the result of the calculation is the same as the theoretical lateral distance of HV and RV 2.
The geometric model in the embodiment of the application is suitable for calculating the transverse distance between the vehicles in the curve and the transverse distance between the vehicles in the straight road, so that the method for judging the same lane in the embodiment has strong scene applicability and can be suitable for most roads. In the correlation technique, the historical track points are fitted, so that the path of the curve is difficult to fit, that is, the method is not very suitable for judging the same lane in a curve scene.
In step 104, the first V2X device may confirm whether the host vehicle and the distant vehicle are located in the same lane according to the lateral distance and the preset lane width. For example, if the lateral distance between the host vehicle and the distant vehicle is smaller than or equal to the width of the lane, it may be determined that the host vehicle and the distant vehicle are located on the same lane, and if the lateral distance between the host vehicle and the distant vehicle is larger than the width of the lane, it may be determined that the host vehicle and the distant vehicle are not located on the same lane. The width of the lane can be preset, and the width of the lane where the main vehicle is located can also be directly recognized. For example, according to the standard specification of our country, the factors of "design vehicle speed, vehicle type, intersection, reconstruction and extension conditions" and the like are mainly considered about the lane width, the width value is generally 2.8-3.75 meters, and if the lane width is preset, a person skilled in the art can select one of 2.8-3.75 meters as the preset lane width to be stored in the first V2X device. In some embodiments, the preset lane width may also be obtained from a received MAP message.
In the embodiment, sensors (cameras and radars) are not needed, the positions of the vehicles, namely longitude and latitude information, are provided only through the GPS data of the main vehicle and the far vehicle, the course angle is calculated through the positions of the main vehicle and the far vehicle at the front and rear moments, geometric calculation is carried out according to the positions and the orientation angles, the transverse distance between the main vehicle and the far vehicle is solved, and whether the main vehicle and the far vehicle are located in the same lane is determined according to the transverse distance. The method based on the geometric model saves calculation power, reduces the difficulty and cost of judgment, and is more reliable than the traditional visual identification method. The method for judging the same lane is suitable for both straight lanes and curved lanes, has strong scene applicability, and can be suitable for most roads. In addition, historical track points do not need to be fitted, the transverse distance is calculated according to the positions of the main vehicle and the far vehicle and the positions of the main vehicle and the far vehicle, and the fact that inaccurate fitting curves are obtained by fitting the historical track points is avoided, so that the inaccuracy of the same-vehicle judgment result caused by the inaccuracy of the fitting curves is avoided.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of this patent to add insignificant modifications or introduce insignificant designs to the algorithms or processes, but not to change the core designs of the algorithms and processes.
Embodiments of the present application also relate to an electronic device, as shown in fig. 6, comprising at least one processor 601; and a memory 602 communicatively coupled to the at least one processor 601; the memory 602 stores instructions executable by the at least one processor 601, and the instructions are executed by the at least one processor 601, so that the at least one processor 601 can execute the method for determining the same lane in the above embodiments.
Where the memory 602 and the processor 601 are coupled by a bus, the bus may comprise any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 601 and the memory 602 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 601 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 601.
The processor 601 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. While memory 602 may be used to store data used by processor 601 in performing operations.
An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of practicing the invention, and that various changes in form and detail may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. A method for judging the same lane, comprising:
acquiring a first course angle of the main vehicle and a second course angle of the distant vehicle;
determining a first position of the main vehicle and a second position of the distant vehicle;
determining the transverse distance between the main vehicle and the distant vehicle according to the first course angle, the second course angle, the first position and the second position;
and confirming whether the main vehicle and the remote vehicle are positioned in the same lane or not according to the transverse distance and the preset lane width.
2. The co-lane judging method according to claim 1, wherein the determining a lateral distance between the host vehicle and the distant vehicle based on the first heading angle, the second heading angle, and the distance of the straight line comprises:
calculating a distance of a straight line connecting the first position and the second position;
determining an included angle between the due north direction of the first position and the straight line;
and determining the transverse distance between the main vehicle and the distant vehicle according to the first course angle, the second course angle, the distance of the straight line and the included angle.
3. The co-lane judging method according to claim 2, wherein the determining the lateral distance between the host vehicle and the distant vehicle according to the first heading angle, the second heading angle, the distance of the straight line and the included angle comprises:
obtaining the transverse distance between the main vehicle and the far vehicle according to the first course angle, the second course angle, the distance of the straight line and the included angle under the constructed geometric model for calculating the transverse distance; wherein the geometric model is constructed from the first position, the second position, the velocity direction of the host vehicle, the velocity direction of the distant vehicle, the due north direction of the first position, and the due north direction of the second position.
4. The method for determining the same lane according to claim 3, wherein the geometric model is as follows:
wherein dis lateral The distance is a transverse distance, beta is a first course angle, alpha is a second course angle, dis is a distance of a straight line, and theta is the included angle.
5. The method for judging the same lane according to claim 3 or 4, wherein the geometric model is used for calculating a lateral distance between the host vehicle and the distant vehicle in a curve scene, and for calculating a lateral distance between the host vehicle and the distant vehicle in a straight scene.
6. The co-lane determination method according to any one of claims 1 to 4, wherein the acquiring of the first heading angle of the host vehicle includes:
the method comprises the steps of obtaining GPS data of a main vehicle, and calculating a first course angle of the main vehicle according to the GPS data of the main vehicle.
7. The method for determining the same lane according to any one of claims 1 to 4, wherein the obtaining of the second heading angle of the far vehicle comprises:
receiving V2X data sent by a remote vehicle;
and acquiring a second course angle of the far vehicle according to the V2X data.
8. The method for determining the same lane according to claim 7, wherein the V2X data includes a second heading angle of the far vehicle, and the obtaining the second heading angle of the far vehicle according to the V2X data includes: analyzing the second course angle from the V2X data; or,
the V2X data comprises GPS data of the far vehicle, and the acquiring of the second course angle of the far vehicle according to the V2X data comprises the following steps: and calculating a second course angle of the far vehicle according to the GPS data of the far vehicle.
9. An electronic device, comprising: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the co-lane determination method of any of claims 1 to 8.
10. A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the co-lane determination method according to any one of claims 1 to 8.
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CN202110736285.5A CN115567875A (en) | 2021-06-30 | 2021-06-30 | Method for judging same lane, electronic device and computer readable storage medium |
PCT/CN2022/086696 WO2023273511A1 (en) | 2021-06-30 | 2022-04-13 | Same lane determination method, electronic device, and computer readable storage medium |
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US8473144B1 (en) * | 2012-10-30 | 2013-06-25 | Google Inc. | Controlling vehicle lateral lane positioning |
CN104044594B (en) * | 2014-06-23 | 2016-08-17 | 中国北方车辆研究所 | A kind of arithmetic unit towards lateral separation early warning |
DE102017223364A1 (en) * | 2017-01-04 | 2018-07-05 | Honda Motor Co., Ltd. | SYSTEM AND METHOD FOR VEHICLE CONTROL IN TERRITORY SITUATIONS |
CN109693669B (en) * | 2018-12-29 | 2021-02-19 | 北京经纬恒润科技股份有限公司 | Method and system for determining nearest on-path front vehicle |
CN109859528B (en) * | 2019-02-27 | 2021-12-10 | 中国第一汽车股份有限公司 | V2X Internet of vehicles-based method for classifying positions of vehicles at curves |
CN110782703A (en) * | 2019-10-30 | 2020-02-11 | 长安大学 | Forward collision early warning method based on LTE-V communication |
CN111145574B (en) * | 2019-12-30 | 2021-11-02 | 东软集团股份有限公司 | Method, device and equipment for determining position relation of vehicle in curve |
CN111429741B (en) * | 2020-03-24 | 2022-04-01 | 江苏徐工工程机械研究院有限公司 | Traffic management method, device and system, server and storage medium |
CN111591296B (en) * | 2020-04-29 | 2021-07-02 | 惠州市德赛西威智能交通技术研究院有限公司 | Vehicle same-lane position judgment method based on V2X technology |
CN112017430A (en) * | 2020-07-27 | 2020-12-01 | 南京市德赛西威汽车电子有限公司 | Intersection blind area auxiliary driving method and system based on V2X |
CN113568025A (en) * | 2020-10-12 | 2021-10-29 | 株式会社电装 | Lane distinguishing method and device based on GNSS |
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