CN116839605A - Processing method, device, equipment and storage medium for high-precision map abnormal lane lines - Google Patents

Processing method, device, equipment and storage medium for high-precision map abnormal lane lines Download PDF

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Publication number
CN116839605A
CN116839605A CN202310809096.5A CN202310809096A CN116839605A CN 116839605 A CN116839605 A CN 116839605A CN 202310809096 A CN202310809096 A CN 202310809096A CN 116839605 A CN116839605 A CN 116839605A
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China
Prior art keywords
lane line
line segment
segment
preset
lane
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CN202310809096.5A
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Chinese (zh)
Inventor
刘金
贾郭峰
贾双成
万如
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Zhidao Network Technology Beijing Co Ltd
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Zhidao Network Technology Beijing Co Ltd
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Priority to CN202310809096.5A priority Critical patent/CN116839605A/en
Publication of CN116839605A publication Critical patent/CN116839605A/en
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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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3859—Differential updating map data
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Geometry (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)

Abstract

The application relates to a method, a device, equipment and a storage medium for processing an abnormal lane line of a high-precision map. The method comprises the following steps: acquiring lane line data; judging whether the lane line segments in the lane line data meet preset judging conditions or not, wherein the preset judging conditions comprise: the length of the lane line segment is not smaller than a first threshold value, the angle difference between the lane line segment and a preset base line is not larger than a second threshold value, and the distance between the lane line segment and the adjacent side lane line segment is within a preset range; if the lane line segment does not meet any one of the preset judging conditions, determining the lane line segment as an abnormal lane line. The scheme provided by the application can comprehensively eliminate the abnormal lane lines and improve the accuracy of the subsequent navigation calculation path.

Description

Processing method, device, equipment and storage medium for high-precision map abnormal lane lines
Technical Field
The application relates to the technical field of high-precision maps, in particular to a method, a device, equipment and a storage medium for processing abnormal lane lines of a high-precision map.
Background
At present, an automatic driving vehicle mainly depends on a high-precision map to carry out positioning navigation, and the high-precision map lane lines are generated mainly by collecting road data through a sensor and then generating the lane lines through a navigation algorithm. But some abnormal lane lines may be generated due to the influence of a navigation algorithm or external environmental factors.
In the related art, the judgment of the abnormal lane lines is generally based on the angle deviation between the lane lines, but some abnormal lane lines with normal angle deviation and relatively close distance to the adjacent lane lines are omitted in the mode, so that the accuracy of the subsequent navigation calculation is affected.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a method, a device, equipment and a storage medium for processing an abnormal lane line of a high-precision map, which can completely eliminate the abnormal lane line and improve the precision of a subsequent navigation calculation path.
The first aspect of the application provides a method for processing an abnormal lane line of a high-precision map, which comprises the following steps:
acquiring lane line data;
judging whether the lane line segments in the lane line data meet preset judging conditions or not, wherein the preset judging conditions comprise: the length of the lane line segment is not smaller than a first threshold value, the angle difference between the lane line segment and a preset base line is not larger than a second threshold value, and the distance between the lane line segment and the adjacent lane line segment is within a preset range;
and if the lane line segment does not meet any one of the preset judging conditions, determining the lane line segment as an abnormal lane line.
As an optional embodiment, the determining whether the lane line segment in the lane line data meets a preset determination condition includes:
judging whether the length of the lane line segment is not smaller than a first threshold value;
if the length of the lane line segment is smaller than a first threshold value, determining that the lane line segment is an abnormal lane line;
if the length of the lane line segment is not smaller than a first threshold value, judging whether the angle difference between the lane line segment and a preset base line is not larger than a second threshold value;
if the angle difference between the lane line segment and the preset base line is larger than a second threshold value, determining that the lane line segment is an abnormal lane line;
if the angle difference between the lane line segment and the preset base line is not larger than a second threshold value, judging whether the distance between the lane line segment and the adjacent lane line segment is within a preset range or not;
and if the distance between the lane line segment and the adjacent lane line segment is not in the preset range, determining that the lane line segment is an abnormal lane line.
As an alternative embodiment, the method further comprises the step of determining the lane line segment length:
searching a first break point and a tail break point in the lane line data according to the lane line direction; the first break point is the lane line node meeting a first preset condition, and the first preset condition is that the distance between the lane line node and the adjacent lane line node which is positioned at the upstream of the lane line node is larger than a preset threshold value; the tail break point is the lane line node meeting a second preset condition, and the second preset condition is that the distance between the lane line node and the lane line node which is positioned at the downstream of the lane line node and is adjacent to the lane line node is larger than the preset threshold value;
And calculating the distance between the adjacent first break point and the tail break point, and taking the distance as the length of the lane line segment.
As an alternative embodiment, the direction of the preset baseline is a lane line direction or an extension direction of a lane line segment parallel to the lane line segment.
As an optional embodiment, the determining whether the distance between the lane line segment and the adjacent lane line segment is within a preset range includes:
judging the existence condition of left and right adjacent lane line sections of the lane line sections;
if the left and right adjacent lane line segments of the lane line segments are all present, judging whether the distances between the lane line segments and the left and right adjacent lane line segments are all within a preset range;
and if the distance between the lane line segment and the left and right adjacent lane line segments is not in the preset range, determining that the lane line segment is an abnormal lane line.
As an alternative embodiment, further comprising:
if only one of the left and right adjacent lane line segments exists, judging whether the lane line segment has the condition of increasing or decreasing the road;
if the lane line segment does not have the condition of increasing or decreasing the road, judging whether the distance between the lane line segment and the adjacent lane line segment is within the preset range or not;
And if the distance between the lane line segment and the adjacent lane line segment is not in the preset range, determining that the lane line segment is an abnormal lane line.
As an alternative embodiment, further comprising:
if the lane line segment has the condition of increasing or decreasing the road, determining a transition segment with the increasing or decreasing road in the lane line segment, and determining a head node and a tail node of the transition segment according to the lane line direction;
judging whether the distances between the head node and the tail node and the adjacent lane line segments are within the preset range or not;
if the distance between the head node and the adjacent lane line segment is within the preset range and the distance between the tail node and the adjacent lane line segment is not within the preset range, determining that the upper segment positioned at the upstream of the transition segment is a normal lane line and the lower segment positioned at the downstream of the transition segment is an abnormal lane line;
and if the distance between the head node and the adjacent lane line segment is not in the preset range and the distance between the tail node and the adjacent lane line segment is in the preset range, determining that the upper segment positioned upstream of the transition segment is an abnormal lane line.
As an alternative embodiment, the determining the head node and the tail node of the transition segment according to the lane line direction includes:
calculating the angle difference between two adjacent lane line nodes in the transition section according to the lane line direction;
taking a lane line segment with the first occurrence angle difference larger than a preset angle threshold value as a first node of the transition segment;
and taking the lane line node with the last angle difference larger than a preset angle threshold value as the tail node of the transition section.
The second aspect of the present application provides a processing device for an abnormal lane line of a high-precision map, comprising:
the acquisition module is used for acquiring lane line data;
the judging module is used for judging whether the lane line segments in the lane line data meet preset judging conditions or not, and the preset judging conditions are as follows: the length of the lane line segment is not smaller than a first threshold value, the angle difference between the lane line segment and a preset base line is not larger than a second threshold value, and the distance between the lane line segment and the adjacent lane line segment is within a preset range;
the determining module is used for receiving the judging result of the judging module, and determining that the lane line segment is an abnormal lane line when the judging result is that the lane line segment does not meet any one of the preset judging conditions.
A third aspect of the present application provides an electronic apparatus, comprising:
a processor; and
a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the application provides a computer readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform a method as described above.
The technical scheme provided by the application can comprise the following beneficial effects: according to the method, the lane line segments are set to be normal lane lines only when the preset judging conditions are met, namely the length of the lane line segments is not smaller than a first threshold value, the angle difference between the lane line segments and the preset base line is not larger than a second threshold value, and the distance between the lane line segments and the adjacent lane line segments is within a preset range, and the lane lines can be determined to be abnormal lane lines when any one of the preset judging conditions is not met. Therefore, the abnormal lane lines can be comprehensively detected, and the accuracy of the subsequent navigation calculation path is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a flow chart of a method for processing an abnormal lane line of a high-precision map according to an embodiment of the present application;
fig. 2 is a schematic flow chart of judging whether a lane line segment in the lane line data meets a preset judging condition according to an embodiment of the present application;
FIG. 3 is another flow chart of a method for processing an abnormal lane line of a high-precision map according to an embodiment of the present application;
FIG. 4 is a schematic illustration of a lane line segment having a length less than a first threshold in accordance with an embodiment of the present application;
FIG. 5 is a schematic illustration of an embodiment of the present application showing the angular difference between the lane line segment and the preset baseline being greater than a second threshold;
FIG. 6 is a schematic view showing that the distance between the middle lane line and the left and right adjacent lane lines is not within a preset range according to the embodiment of the present application;
FIG. 7 is a schematic diagram showing that the distance between an edge lane line and an adjacent lane line segment is not within a preset range in the absence of an increase or decrease in the road in accordance with an embodiment of the present application;
FIG. 8 is a schematic diagram showing an edge lane line as a normal lane line in the presence of an increase or decrease in the road in accordance with an embodiment of the present application;
FIG. 9 is a schematic diagram showing the upper segment as a normal lane line and the lower segment as an abnormal lane line in the presence of an increase or decrease in the road in accordance with an embodiment of the present application;
FIG. 10 is a schematic view showing an upper segment as an abnormal lane line and a lower segment as a normal lane line in the presence of an increase or decrease in the road according to an embodiment of the present application;
fig. 11 is a schematic structural view of a processing device for abnormal lane lines of a high-precision map according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
At present, an automatic driving vehicle mainly depends on a high-precision map to carry out positioning navigation, and the high-precision map lane lines are generated mainly by collecting road data through a sensor and then generating the lane lines through a navigation algorithm. But some abnormal lane lines may be generated due to the influence of a navigation algorithm or external environmental factors.
In the related art, the judgment of the abnormal lane lines is generally based on the angle deviation between the lane lines, but some abnormal lane lines with normal angle deviation and relatively close distance to the adjacent lane lines are omitted in the mode, so that the accuracy of the subsequent navigation calculation is affected.
Aiming at the problems, the embodiment of the application provides a processing method of an abnormal lane line of a high-precision map, which can comprehensively eliminate the abnormal lane line and improve the precision of a subsequent navigation calculation path.
The following describes the technical scheme of the embodiment of the present application in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for processing an abnormal lane line of a high-precision map according to an embodiment of the present application.
Referring to fig. 1, the method for processing the abnormal lane line of the high-precision map includes steps S10 to S13:
step S10: lane line data is acquired.
According to the embodiment of the application, the lane line data can be obtained by obtaining the picture information and the positioning information acquired by the automatic driving vehicle and utilizing a preset algorithm. The image information can be acquired through the vehicle-mounted camera, and the positioning information can be acquired through the RTK positioning equipment. The preset algorithm may be a slam algorithm.
Step S11: judging whether the lane line segments in the lane line data meet preset judging conditions or not, wherein the preset judging conditions comprise: the length of the lane line segment is not smaller than a first threshold value, the angle difference between the lane line segment and a preset base line is not larger than a second threshold value, and the distance between the lane line segment and the adjacent side lane line segment is in a preset range.
The embodiment of the application can be carried out according to the following steps when judging whether the lane line segment in the lane line data meets the preset judging condition or not: judging whether the length of the lane line segment is not smaller than a first threshold value; if the length of the lane line segment is smaller than the first threshold value, determining that the lane line segment is an abnormal lane line; if the length of the lane line segment is not smaller than the first threshold value, judging whether the angle difference between the lane line segment and the preset base line is not larger than the second threshold value; if the angle difference between the lane line segment and the preset base line is larger than a second threshold value, determining the lane line segment as an abnormal lane line; if the angle difference between the lane line segment and the preset base line is not greater than a second threshold value, judging whether the distance between the lane line segment and the adjacent lane line segment is within a preset range or not; if the distance between the lane line segment and the adjacent lane line segment is not in the preset range, determining the lane line segment as an abnormal lane line; and if the distance between the lane line segment and the adjacent lane line segment is in the preset range, determining that the lane line segment is a normal lane line.
Step S12: if the lane line segment does not meet any one of the preset judging conditions, determining the lane line segment as an abnormal lane line.
Step S13: if the lane line segment meets the preset judging condition, determining that the lane line segment is a normal lane line.
According to the embodiment of the application, the lane line segment is determined to be a normal lane line only when the preset judging condition is met, namely, the length of the lane line segment is not smaller than a first threshold value, the angle difference between the lane line segment and a preset base line is not larger than a second threshold value, and the distance between the lane line segment and the adjacent lane line segment is within a preset range, and any one of the preset judging conditions is not met, so that the lane line is determined to be an abnormal lane line. Therefore, the abnormal lane lines can be comprehensively detected, and the accuracy of the subsequent navigation calculation path is improved.
Fig. 2 is a schematic flow chart of determining whether a lane line segment in lane line data satisfies a preset determination condition according to an embodiment of the present application.
Referring to fig. 2, the step of determining whether the lane line segment in the lane line data satisfies the preset determination condition in the embodiment of the present application includes steps S20 to S26:
step S20: and judging whether the length of the lane line segment is not smaller than a first threshold value.
Firstly, judging whether the length of the lane line segment is not smaller than a first threshold value, wherein the normal lane line segment has a certain extension length, if the length of the lane line segment is smaller than the first threshold value, the lane line segment is likely to be an abnormal lane line, for example, the indication arrow of the road surface is mistakenly identified as the lane line (see fig. 4), the length of the lane line is relatively short, and the obtained lane line data is abnormal data and can be processed as the abnormal data.
Step S21: and if the length of the lane line segment is smaller than the first threshold value, determining the lane line segment as an abnormal lane line.
If the length of the lane line segment is smaller than the first threshold value, the possibility that the lane line segment is misidentified is higher, and the lane line segment can be directly treated as an abnormal lane line.
Step S22: if the length of the lane line segment is not smaller than the first threshold value, judging whether the angle difference between the lane line segment and the preset base line is not larger than the second threshold value.
If the length of the lane line segment is not smaller than the first threshold value, the lane line segment is provided with a certain extension length, and the length judgment standard is met. However, in this case, it is also necessary to determine again whether the angle difference between the lane line segment and the preset base line is not greater than the second threshold value, because even if the length of the lane line segment satisfies the requirement, there is a possibility of a false recognition, for example, that the identification arrow on the road presses the lane line (see fig. 5), resulting in false recognition of the identification arrow and the pressed lane line as one lane line segment ， This is the caseThe angle difference between the lower lane line segment and the lane line direction or the lane line segment parallel to the lane line segment is larger than a second threshold value, belongs to an abnormal lane line, and can be used as abnormal data for processing.
Step S23: and if the angle difference between the lane line segment and the preset base line is larger than a second threshold value, determining the lane line segment as an abnormal lane line.
If the angle difference between the lane line segment and the preset base line is larger than a second threshold value, the overall extending direction of the lane line segment is larger than the lane line direction, or the extending direction of the lane line segment parallel to the lane line segment is larger, so that the lane line segment can be directly treated as an abnormal lane line.
Step S24: if the angle difference between the lane line segment and the preset base line is not larger than a second threshold value, judging whether the distance between the lane line segment and the adjacent lane line segment is within a preset range or not.
If the angle difference between the lane line segment and the preset base line is not greater than the second threshold value, it is indicated that the length and the angle of the lane line segment meet the conditions for judging the normal lane line, but in order to more accurately eliminate the abnormal lane line, the distance between the lane line segment and the adjacent lane line segment is further judged, and whether the distance is within the preset range is judged, so that the abnormal lane line is more accurately detected, and the omission of the abnormal lane line is prevented.
The direction of the preset base line may be a lane line direction or an extending direction of a lane line segment parallel to the lane line segment.
Step S25: if the distance between the lane line segment and the adjacent lane line segment is not in the preset range, determining the lane line segment as an abnormal lane line.
If the lane line segment meets the preset judging condition of the length and the angle difference, but does not meet the preset judging condition of the distance, the lane line segment is still determined to be an abnormal lane line.
Step S26: and if the distance between the lane line segment and the adjacent lane line segment is in the preset range, determining that the lane line segment is a normal lane line.
Only when the lane line segment meets three preset judging conditions of length, angle difference and distance, the lane line segment is determined to be a normal lane line.
Fig. 3 is another flow chart of a method for processing abnormal lane lines of a high-precision map according to an embodiment of the present application.
Referring to fig. 3, the method for processing the abnormal lane line of the high-precision map includes:
step S300: lane line data is acquired.
The embodiment of the application firstly collects the image data of the lane lines through the camera equipment, and the positioning equipment collects the position data of the camera equipment; obtaining pixel coordinates of the lane lines from the image data; then obtaining camera coordinates of the lane lines according to the pixel coordinates of the lane lines and the position data of the image pickup equipment; and finally, converting the camera coordinates of the lane lines into actual space coordinates of the lane lines, thereby obtaining lane line data.
Step S301: the lane line segment length is determined.
According to the embodiment of the application, the first break point and the last break point in the lane line data are searched according to the lane line direction; the distance between the adjacent start break point and the tail break point is calculated and used as the length of the lane line segment. The first break point is a lane line node meeting a first preset condition, and the first preset condition is that the distance between the lane line node and the adjacent lane line node positioned at the upstream of the lane line node is larger than a preset threshold value; the tail break point is a lane line node meeting a second preset condition, and the second preset condition is that the distance between the lane line node and the lane line node which is positioned at the downstream of the lane line node and is adjacent to the lane line node is larger than a preset threshold value.
Step S302: and judging whether the length of the lane line segment in the lane line data is not smaller than a first threshold value.
Firstly, judging whether the length of the lane line segment is not smaller than a first threshold value, wherein the normal lane line segment has a certain extension length, if the length of the lane line segment is smaller than the first threshold value, the lane line segment is likely to be an abnormal lane line, for example, the indication arrow of the road surface is mistakenly identified as the lane line, the length of the lane line is relatively short, and the obtained lane line data is abnormal data and can be processed as the abnormal data. The first threshold may be 20m, 25m, or 30m, or may be set according to actual situations.
Step S303: and if the length of the lane line segment is smaller than the first threshold value, determining the lane line segment as an abnormal lane line.
If the length of the Lane line segment Lane1 is smaller than the first threshold (see fig. 4), it is indicated that the Lane line segment Lane1 is likely to be misidentified, and the Lane line segment Lane1 may be directly treated as an abnormal Lane line.
Step S304: if the length of the lane line segment is not smaller than the first threshold value, judging whether the angle difference between the lane line segment and the preset base line is not larger than the second threshold value.
If the length of the lane line segment is not smaller than the first threshold value, the lane line segment is provided with a certain extension length, and the length judgment standard is met. However, in this case, it is also necessary to determine again whether the angle difference between the lane line segment and the preset base line is not greater than the second threshold value, because even if the length of the lane line segment satisfies the requirement, there is a possibility of erroneous recognition, for example, that the marking arrow on the road presses the lane line, resulting in erroneous recognition of the marking arrow and the pressed lane line as one lane line segment ， The angle difference between the lane line segment and the lane line direction or the lane line segment parallel to the lane line segment in this case is larger than the second threshold, belongs to an abnormal lane line, and can be processed as abnormal data. The preset base line may be a lane line direction or an extending direction of a lane line segment parallel to the lane line segment; the second threshold may be 3 ° or 5 °, or may be set according to actual situations.
Step S305: and if the angle difference between the lane line segment and the preset base line is not smaller than a second threshold value, determining the lane line segment as an abnormal lane line.
If the angle difference a between the Lane line segment Lane2 and the preset baseline Lane0 is greater than the second threshold (see fig. 5), it is indicated that there is a large deviation between the overall extending direction of the Lane line segment Lane2 and the Lane line direction, or the extending direction of the Lane line segment parallel to the Lane line segment, so that the Lane line segment Lane2 can be directly treated as an abnormal Lane line.
Step S306: if the angle difference between the lane line segment and the preset base line is smaller than a second threshold value, judging the existence condition of the left and right adjacent lane line segments of the lane line segment.
If the angle difference between the lane line segment and the preset base line is not greater than the second threshold value, it is indicated that the length and the angle of the lane line segment meet the conditions for judging the normal lane line, but in order to more accurately eliminate the abnormal lane line, the distance between the lane line segment and the adjacent lane line segment is further judged, and whether the distance is within the preset range is judged, so that the abnormal lane line is more accurately detected, and the omission of the abnormal lane line is prevented.
Step S307: if the left and right adjacent lane line segments of the lane line segments are all present, judging whether the distances between the lane line segments and the left and right adjacent lane line segments are all within a preset range.
If the left and right adjacent lane line segments of the lane line segment are both present, it is indicated that the lane line segment is a middle lane line lane m, and the middle lane line lane m is present in the left and right adjacent lane line segments, so it can be determined whether the middle lane line lane m is an abnormal lane line by determining whether the distance between the middle lane line lane m and the left and right adjacent lane line segments is within a preset range.
Step S308: if the distance between the lane line segment and the left and right adjacent lane line segments is not within the preset range, determining the lane line segment as an abnormal lane line.
If the distance L1 between the middle lane line lane m and the left and right adjacent lane line segments is not within the preset range (see fig. 6), which indicates that the distance L1 between the middle lane line lane m and the left and right adjacent lane line segments is too small to drive, the middle lane line lane m may be caused by a calculation error, so that it may be determined that the middle lane line lane m is treated as an abnormal lane line. The preset range may be 3.5m±0.01m, or may be set according to practical situations.
Step S309: and if the distances between the lane line segments and the left and right adjacent lane line segments are all within the preset range, determining the lane line segments as normal lane lines.
If the distances between the lane line segments and the left and right adjacent lane line segments are all within the preset range, the distance between the lane line segments and the left and right adjacent lane line segments is indicated to be capable of driving. And the length, the angle difference and the distance of the lane line segment all meet preset judging conditions, so that the lane line segment is determined to be a normal lane line.
Step S310: if only one lane line segment exists between the left adjacent lane line segment and the right adjacent lane line segment, judging whether the lane line segment has the condition of increasing or decreasing the road.
If only one of the left and right adjacent lane line segments exists in the lane line segment, the lane line segment is an edge lane line LaneB, and only a left lane line or a right lane line exists. Aiming at the edge lane line LaneB, the embodiment of the application processes the dividing situation of the edge lane line LaneB by judging whether the edge lane line LaneB has the increasing or decreasing situation of the road.
Step S311: if the lane line segment does not have the condition that the road is increased or decreased, judging whether the distance between the lane line segment and the adjacent lane line segment is within a preset range.
If the edge lane line lane b does not have a condition of increasing or decreasing the road, for example, the lane line segments do not have a condition of dividing and converging, which means that there is no portion with an excessively large angle change in the entire length of the edge lane line lane b, the edge lane line lane b may be analyzed as a whole, so that whether the edge lane line lane b is an abnormal lane line may be determined by determining a relationship between a distance L2 between the edge lane line lane b and an adjacent lane line segment (for example, a left lane line or a right lane line) and a preset range.
Step S312: and if the distance between the lane line segment and the adjacent lane line segment is not in the preset range, determining the lane line segment as an abnormal lane line.
If the distance L2 between the edge lane line lane b and the adjacent lane line segment is not within the preset range (see fig. 7), which means that the distance L2 between the edge lane line lane b and the adjacent lane line segment is too small to drive, the edge lane line lane b may be caused by a calculation error, so that the edge lane line lane b may be determined to be treated as an abnormal lane line.
Step S313: and if the distance between the lane line segment and the adjacent lane line segment is within the preset range, determining the lane line segment as a normal lane line.
If the distance L2 between the edge lane line lane b and the adjacent lane line segment is within the preset range, it is indicated that the distance L2 between the edge lane line lane b and the adjacent lane line segment (left lane line) can be driven. And the length, the angle difference and the distance of the edge lane line LaneB all meet preset judging conditions, so that the edge lane line LaneB is determined to be a normal lane line.
Step S314: if the lane line segment has the condition of increasing or decreasing the road, determining a transition segment with the increasing or decreasing road in the lane line segment, and determining a head node and a tail node of the transition segment according to the lane line direction.
In the embodiment of the application, a part of the lane line section with an excessively large angle difference with the lane line direction due to the increase or decrease of the road is taken as a transition section Lane G, the part of the lane line section with the excessively large angle difference with the lane line direction is taken as an upper section Lane U which is positioned upstream of the transition section Lane G along the lane line direction, and the part of the lane line section with the excessively large angle difference with the lane line direction is taken as a lower section Lane D which is positioned downstream of the transition section Lane G.
Determining a head node and a tail node of the transition segment according to the lane line direction, including steps S40 to S42:
step S40: the angle difference between two adjacent lane line nodes in the transition section is calculated according to the lane line direction.
The transition segment Lane G is formed by a plurality of lane line nodes, and the angle difference between two adjacent lane line nodes in the transition segment Lane G is calculated.
Step S41: and taking the lane line node with the first occurrence angle difference larger than the preset angle threshold value as the first node of the transition section.
The lane line node with the angle difference larger than the preset angle threshold value appears in the transition section Laneg for the first time is used as the first node S0 of the transition section, namely the node with the increased or decreased road appears.
Step S42: and taking the lane line node with the last angle difference larger than the preset angle threshold value as the tail node of the transition section.
And taking a lane line node with the last angle difference larger than a preset angle threshold value in the transition section Lane G as a tail node E0 of the transition section, namely a node at which the increase or decrease of the road is ended.
Step S315: and judging whether the distances between the head node and the tail node and the adjacent lane line segments are within a preset range or not.
And judging whether the distance L3 between the head node S0 and the adjacent lane line segment Lane S is within a preset range and whether the distance L4 between the tail node E0 and the adjacent lane line segment Lane E is within the preset range, so as to determine whether the lane line segment is an abnormal lane line.
Step S316: and if the distances between the head node and the tail node and the adjacent lane line segments are in the preset range, determining the lane line segments as normal lane lines.
If the distance L3 between the head node S0 and the adjacent lane line segment lane S is within the preset range, and the distance L4 between the tail node E0 and the adjacent lane line segment lane E is also within the preset range (see fig. 8), it is indicated that the upper segment lane u located upstream of the transition segment lane g is a normal lane line, and the lower segment lane d located downstream of the transition segment lane g is also a normal lane line, then the transition segment lane g is also a normal lane line, so as to determine that the entire lane line segment is a normal lane line.
Step S317: if the distance between the head node and the adjacent lane line segment is within the preset range and the distance between the tail node and the adjacent lane line segment is not within the preset range, determining that the upper segment positioned at the upstream of the transition segment is a normal lane line, and the lower segment positioned at the downstream of the transition segment is an abnormal lane line.
If the distance L3 between the head node S0 and the adjacent lane line segment lane S is within the preset range, and the distance L4 between the tail node E0 and the adjacent lane line segment E is not within the preset range (see fig. 9), it is indicated that the distance between the upper segment lane u located upstream of the transition segment lane g and the adjacent lane line segment may normally run, and the distance between the lower segment lane d located downstream of the transition segment lane g and the adjacent lane line segment may not normally run, so that the upper segment lane u located upstream of the transition segment lane g is determined as a normal lane line, and the lower segment lane d located downstream of the transition segment lane g is determined as an abnormal lane line.
Step S318: if the distance between the first node and the adjacent lane line segment is not within the preset range and the distance between the tail node and the adjacent lane line segment is within the preset range, determining that the upper segment positioned at the upstream of the transition segment is an abnormal lane line, and the lower segment positioned at the downstream of the transition segment is a normal lane line.
If the distance L3 between the head node S0 and the adjacent lane line segment lane S is not within the preset range and the distance L4 between the tail node E0 and the adjacent lane line segment lane E is within the preset range (see fig. 10), it is indicated that the distance between the upper segment lane u located upstream of the transition segment lane g and the adjacent lane line segment may not normally run, and the distance between the lower segment lane d located downstream of the transition segment lane g and the adjacent lane line segment may normally run, so that the upper segment lane u located upstream of the transition segment lane g is determined as an abnormal lane line and the lower segment lane d located downstream of the transition segment lane g is determined as a normal lane line.
Corresponding to the embodiment of the application function implementation method, the application also provides a processing device of the high-precision map abnormal lane line, electronic equipment and corresponding embodiments.
Fig. 11 is a schematic structural diagram of a processing device for abnormal lane lines of a high-precision map according to an embodiment of the present application.
Referring to fig. 11, the processing apparatus of the high-precision map abnormal lane line includes an acquisition module 30, a judgment module 31, and a determination module 32.
The acquisition module 30 is used for acquiring lane line data.
The embodiment of the application firstly collects the image data of the lane lines through the camera equipment, and the positioning equipment collects the position data of the camera equipment; obtaining pixel coordinates of the lane lines from the image data; then obtaining camera coordinates of the lane lines according to the pixel coordinates of the lane lines and the position data of the image pickup equipment; and finally, converting the camera coordinates of the lane lines into actual space coordinates of the lane lines, thereby obtaining lane line data.
The judging module 31 is configured to judge whether the lane line segment in the lane line data meets preset judging conditions, where the preset judging conditions include: the length of the lane line segment is not smaller than a first threshold value, the angle difference between the lane line segment and a preset base line is not larger than a second threshold value, and the distance between the lane line segment and the adjacent side lane line segment is in a preset range.
The judging module 31 includes a first judging sub-module, a first determining sub-module, a second judging sub-module, a second determining sub-module, a third judging sub-module, and a third determining sub-module, where the first judging sub-module is used for judging whether the length of the lane line segment is not less than a first threshold; the first determination submodule is used for receiving the judging result of the first judging submodule, and determining the lane line segment as an abnormal lane line when the judging result is that the length of the lane line segment is smaller than a first threshold value; the second judging submodule is used for judging whether the angle difference between the lane line segment and the preset base line is not larger than a second threshold value or not if the length of the lane line segment is not smaller than the first threshold value; the second determining submodule is used for receiving the judging result of the second judging submodule, and determining that the lane line segment is an abnormal lane line when the judging result is that the angle difference between the lane line segment and the preset base line is larger than a second threshold value; the third judging submodule is used for judging whether the distance between the lane line segment and the adjacent lane line segment is in a preset range or not if the angle difference between the lane line segment and the preset base line is not larger than a second threshold value; the third determining submodule is used for receiving the judging result of the third judging submodule, and determining that the lane line segment is an abnormal lane line when the judging result is that the distance between the lane line segment and the adjacent lane line segment is not in the preset range; and determining the lane line segment as a normal lane line when the distance between the lane line segment and the adjacent lane line segment is within the preset range as a judgment result.
The determining module 32 is configured to receive the determination result of the determining module, and determine that the lane line segment is an abnormal lane line when the determination result is that the lane line segment does not satisfy any one of the preset determination conditions. And the method is also used for determining the lane line segment as a normal lane line when the judgment result is that the lane line segment meets the preset judgment condition.
The processing device of the high-precision map abnormal lane line also comprises a length determining module, wherein the length determining module is used for searching a first break point and a tail break point in lane line data according to the direction of the lane line; the distance between the adjacent start break point and the tail break point is calculated and used as the length of the lane line segment. The first break point is a lane line node meeting a first preset condition, and the first preset condition is that the distance between the lane line node and the adjacent lane line node positioned at the upstream of the lane line node is larger than a preset threshold value; the tail break point is a lane line node meeting a second preset condition, and the second preset condition is that the distance between the lane line node and the lane line node which is positioned at the downstream of the lane line node and is adjacent to the lane line node is larger than a preset threshold value.
According to the embodiment of the application, the lane line segment is determined to be a normal lane line only when three preset judging conditions are simultaneously met, namely, the length of the lane line segment is not smaller than a first threshold value, the angle difference between the lane line segment and a preset base line is not larger than a second threshold value, and the distance between the lane line segment and the adjacent lane line segment is within a preset range, and the lane line is determined to be an abnormal lane line when any one of the preset judging conditions is not met. Therefore, the abnormal lane lines can be comprehensively detected, and the accuracy of the subsequent navigation calculation path is improved.
The specific manner in which the respective modules perform the operations in the apparatus of the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail herein.
Fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Referring to fig. 12, an electronic device 400 includes a memory 410 and a processor 420.
The processor 420 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 410 may include various types of storage units, such as system memory, read Only Memory (ROM), and persistent storage. Where the ROM may store static data or instructions that are required by the processor 420 or other modules of the computer. The persistent storage may be a readable and writable storage. The persistent storage may be a non-volatile memory device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the persistent storage may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store instructions and data that are required by some or all of the processors at runtime. Furthermore, memory 410 may include any combination of computer-readable storage media including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks, and/or optical disks may also be employed. In some implementations, memory 410 may include readable and/or writable removable storage devices such as Compact Discs (CDs), digital versatile discs (e.g., DVD-ROMs, dual layer DVD-ROMs), blu-ray discs read only, super-density discs, flash memory cards (e.g., SD cards, min SD cards, micro-SD cards, etc.), magnetic floppy disks, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory 410 has stored thereon executable code that, when processed by the processor 420, can cause the processor 420 to perform some or all of the methods described above.
Furthermore, the method according to the application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the application.
Alternatively, the application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having stored thereon executable code (or a computer program or computer instruction code) which, when executed by a processor of an electronic device (or a server, etc.), causes the processor to perform part or all of the steps of the above-described method according to the application.
The foregoing description of embodiments of the application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (11)

1. The method for processing the abnormal lane line of the high-precision map is characterized by comprising the following steps of:
acquiring lane line data;
judging whether the lane line segments in the lane line data meet preset judging conditions or not, wherein the preset judging conditions comprise: the length of the lane line segment is not smaller than a first threshold value, the angle difference between the lane line segment and a preset base line is not larger than a second threshold value, and the distance between the lane line segment and the adjacent lane line segment is within a preset range;
and if the lane line segment does not meet any one of the preset judging conditions, determining the lane line segment as an abnormal lane line.
2. The method of claim 1, wherein the determining whether the lane line segment in the lane line data satisfies a preset determination condition comprises:
judging whether the length of the lane line segment is not smaller than a first threshold value;
if the length of the lane line segment is smaller than a first threshold value, determining that the lane line segment is an abnormal lane line;
if the length of the lane line segment is not smaller than a first threshold value, judging whether the angle difference between the lane line segment and a preset base line is not larger than a second threshold value;
If the angle difference between the lane line segment and the preset base line is larger than a second threshold value, determining that the lane line segment is an abnormal lane line;
if the angle difference between the lane line segment and the preset base line is not larger than a second threshold value, judging whether the distance between the lane line segment and the adjacent lane line segment is within a preset range or not;
and if the distance between the lane line segment and the adjacent lane line segment is not in the preset range, determining that the lane line segment is an abnormal lane line.
3. The method of claim 1, further comprising the step of determining the lane line segment length:
searching a first break point and a tail break point in the lane line data according to the lane line direction; the first break point is the lane line node meeting a first preset condition, and the first preset condition is that the distance between the lane line segment and the adjacent lane line node positioned at the upstream of the lane line node is larger than a preset threshold value; the tail break point is the lane line node meeting a second preset condition, and the second preset condition is that the distance between the lane line node and the lane line node which is positioned at the downstream of the lane line node and is adjacent to the lane line node is larger than the preset threshold value;
And calculating the distance between the adjacent first break point and the tail break point, and taking the distance as the length of the lane line segment.
4. The method of claim 1, wherein the direction of the preset baseline is a lane line direction or an extension direction of a lane line segment parallel to the lane line segment.
5. The method of claim 1, wherein the determining whether the distance between the lane line segment and the adjacent lane line segment is within a preset range comprises:
judging the existence condition of left and right adjacent lane line sections of the lane line sections;
if the left and right adjacent lane line segments of the lane line segments are all present, judging whether the distances between the lane line segments and the left and right adjacent lane line segments are all within a preset range;
and if the distance between the lane line segment and the left and right adjacent lane line segments is not in the preset range, determining that the lane line segment is an abnormal lane line.
6. The method as recited in claim 5, further comprising:
if only one of the left and right adjacent lane line segments exists, judging whether the lane line segment has the condition of increasing or decreasing the road;
If the lane line segment does not have the condition of increasing or decreasing the road, judging whether the distance between the lane line segment and the adjacent lane line segment is within the preset range or not;
and if the distance between the lane line segment and the adjacent lane line segment is not in the preset range, determining that the lane line segment is an abnormal lane line.
7. The method as recited in claim 6, further comprising:
if the lane line segment has the condition of increasing or decreasing the road, determining a transition segment with the increasing or decreasing road in the lane line segment, and determining a head node and a tail node of the transition segment according to the lane line direction;
judging whether the distances between the head node and the tail node and the adjacent lane line segments are within the preset range or not;
if the distance between the head node and the adjacent lane line segment is within the preset range and the distance between the tail node and the adjacent lane line segment is not within the preset range, determining that the upper segment positioned at the upstream of the transition segment is a normal lane line and the lower segment positioned at the downstream of the transition segment is an abnormal lane line;
and if the distance between the head node and the adjacent lane line segment is not in the preset range and the distance between the tail node and the adjacent lane line segment is in the preset range, determining that the upper segment positioned upstream of the transition segment is an abnormal lane line.
8. The method of claim 7, wherein the determining the leading and trailing nodes of the transition segment in terms of lane line direction comprises:
calculating the angle difference between two adjacent lane line nodes in the transition section according to the lane line direction;
taking a lane line segment with the first occurrence angle difference larger than a preset angle threshold value as a first node of the transition segment;
and taking the lane line node with the last angle difference larger than a preset angle threshold value as the tail node of the transition section.
9. The utility model provides a processing apparatus of unusual lane line of high-accuracy map which characterized in that includes:
the acquisition module is used for acquiring lane line data;
the judging module is used for judging whether the lane line segments in the lane line data meet preset judging conditions or not, and the preset judging conditions comprise: the length of the lane line segment is not smaller than a first threshold value, the angle difference between the lane line segment and a preset base line is not larger than a second threshold value, and the distance between the lane line segment and the adjacent lane line segment is within a preset range;
the determining module is used for receiving the judging result of the judging module, and determining that the lane line segment is an abnormal lane line when the judging result is that the lane line segment does not meet any one of the preset judging conditions.
10. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-8.
11. A computer readable storage medium having stored thereon executable code which when executed by a processor of an electronic device causes the processor to perform the method of any of claims 1-8.
CN202310809096.5A 2023-07-04 2023-07-04 Processing method, device, equipment and storage medium for high-precision map abnormal lane lines Pending CN116839605A (en)

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