CN117184075A - Vehicle lane change detection method and device and computer readable storage medium - Google Patents
Vehicle lane change detection method and device and computer readable storage medium Download PDFInfo
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Abstract
The application discloses a vehicle lane change detection method, a device and a computer readable storage medium, wherein the method comprises the following steps: detecting a vehicle by a monitoring device arranged on the vehicle, and determining position information of the vehicle in a coordinate system established in the monitoring device; determining position information of a lane line; detecting an initial intersection point of an intersection point when the vehicle first intersects the lane line and a final intersection point of an intersection point when the vehicle last intersects the lane line in a lane changing process according to the position information of the vehicle and the position information of the lane line; and determining the lane change direction of the vehicle according to the initial intersection point and the final intersection point. Therefore, whether the vehicle changes the lane and the lane changing method of the vehicle are judged by detecting the intersection point between the vehicle and the lane line, the complexity of the detection method is low, the detection method is not interfered by other factors, and the stability is high.
Description
Technical Field
The present application relates to the field of autopilot, and in particular, to a method and apparatus for detecting lane changes of a vehicle, and a computer readable storage medium.
Background
The rapid development of autopilot technology has enabled vehicles to travel on roads without human intervention, thereby improving the comfort and safety of driving. The lane changing operation of the vehicle is an important link in an automatic driving system, and lane changing of the vehicle can be realized according to road traffic conditions, driving strategies and user intention.
In the prior art, a lane line 3D positioning method is adopted, and 3D coordinates of lane lines of a road surface are recovered, and whether lane change is carried out or not is calculated by combining with vehicle kinematics. The development and application of these techniques requires rigorous testing and verification to ensure safety and reliability. Meanwhile, in practical application, the influence of factors such as different road conditions, weather conditions and the like on the system performance is required to be considered, the implementation is complex, and the stability is poor.
Disclosure of Invention
The application aims to provide a vehicle lane change detection method, a device and a computer readable storage medium, which are used for judging whether a vehicle changes a lane or not and judging the lane change method of the vehicle by detecting the intersection point between the vehicle and a lane line, and have low complexity, no interference from other factors and higher stability.
To achieve the above object:
in a first aspect, an embodiment of the present application provides a vehicle lane change detection method, including the steps of:
detecting a vehicle through a monitoring device arranged on the vehicle, and determining the position information of the vehicle in the monitoring device;
determining position information of a lane line;
detecting an initial intersection point of an intersection point when the vehicle first intersects the lane line and a final intersection point of an intersection point when the vehicle last intersects the lane line in a lane changing process according to the position information of the vehicle and the position information of the lane line;
and determining the lane change direction of the vehicle according to the initial intersection point and the final intersection point.
Optionally, before the detecting the vehicle by the monitoring device provided on the vehicle and determining the position information of the vehicle in the monitoring device, the method further includes:
setting a calibration plate in front of the vehicle, and determining monitoring device parameters of the monitoring device according to known characteristic points on the calibration plate;
determining a vehicle parking space at a preset distance in front of the vehicle, and identifying a parking space corner point of the vehicle parking space through a monitoring device according to the monitoring parameters;
And determining geometric figures related to the vehicle parking spaces in the monitoring device according to the parking space corner points, and translating the geometric figures according to the preset distance to serve as position information of the vehicle.
Optionally, detecting the vehicle by a monitoring device provided on the vehicle, and determining the position information of the vehicle in the monitoring device includes:
taking the geometry determined by translation as the position information of the vehicle, and keeping the position of the geometry fixed in the image of the monitoring device;
and taking the left upper corner of the geometric figure as a left head projection point of the vehicle, taking the right upper corner of the geometric figure as a right head projection point of the vehicle, taking the left lower corner of the geometric figure as a left tail projection point, and taking the right tail of the geometric figure as a right tail projection point of the vehicle.
Optionally, the detecting, according to the position information of the vehicle and the position information of the lane line, an initial intersection point of an intersection point when the vehicle first intersects with the lane line and a final intersection point of an intersection point when the vehicle last intersects with the lane line during a lane change process further includes:
Setting a time interval for image acquisition of the monitoring device in the process of detecting the lane change of the vehicle, and acquiring image information in the process of the lane change of the vehicle according to the time interval to determine the position relationship between the vehicle and the lane line;
the time interval for image acquisition can be expressed by the formula:
wherein fps is the number of frames per second for collecting image information, t is the lane change time of the vehicle, and is specifically expressed as:
wherein w is the vehicle width, l is the vehicle length, v is the running speed, and θ is the included angle between the vehicle body and the lane line.
Optionally, when detecting that the vehicle changes lanes according to the position information of the vehicle and the position information of the lane lines, the first intersection point of the intersection point when the vehicle first intersects with the lane lines and the last intersection point of the intersection point when the vehicle last intersects with the lane lines include:
when detecting that the intersection point exists between the vehicle and the lane line, determining that the vehicle is in a lane change state;
when the vehicle is detected to be in a lane change state, continuous intersection points between the vehicle and the lane lines are obtained, and an initial intersection point of intersection points when the vehicle first intersects the lane lines and a final intersection point of intersection points when the vehicle last intersects the lane lines in the continuous intersection points are determined.
Optionally, the determining the lane-changing direction of the vehicle according to the initial intersection point and the final intersection point includes at least one of the following:
if the initial intersection point is the projected position of the left head of the vehicle and the final intersection point is the projected position of the right tail of the vehicle, determining that the lane of the vehicle at the left side changes lanes;
if the initial intersection point is the projected position of the right head of the vehicle and the final intersection point is the projected position of the left tail of the vehicle, determining that the lane of the vehicle on the right side changes lanes;
and if the initial intersection point and the final intersection point are not any of the conditions, determining that the current vehicle does not change lanes.
In a second aspect, an embodiment of the present application provides a lane change detection apparatus for a vehicle, including:
the processing module is used for detecting the vehicle through a monitoring device arranged on the vehicle and determining the position information of the vehicle in a coordinate system established in the monitoring device; determining position information of a lane line;
the detection module is used for detecting an initial intersection point of an intersection point when the vehicle first intersects with the lane line and a final intersection point of an intersection point when the vehicle last intersects with the lane line when the vehicle changes lanes according to the position information of the vehicle and the position information of the lane line;
And the determining module is used for determining the lane change direction of the vehicle according to the initial intersection point and the final intersection point.
Optionally, the processing module is further configured to:
setting a calibration plate in front of the vehicle, and determining monitoring parameters of the monitoring device according to known characteristic points on the calibration plate;
determining a vehicle parking space at a preset distance in front of the vehicle, and identifying a parking space corner point of the vehicle parking space through a monitoring device according to the monitoring parameters;
and determining geometric figures related to the vehicle parking spaces in the monitoring device according to the parking space corner points, and translating the geometric figures according to the preset distance to serve as position information of the vehicle.
Optionally, detecting the vehicle by a monitoring device provided on the vehicle, and determining the position information of the vehicle in the monitoring device includes:
taking the geometry determined by translation as the position information of the vehicle, and keeping the position of the geometry fixed in the image of the monitoring device;
and taking the left upper corner of the geometric figure as a left head projection point of the vehicle, taking the right upper corner of the geometric figure as a right head projection point of the vehicle, taking the left lower corner of the geometric figure as a left tail projection point, and taking the right tail of the geometric figure as a right tail projection point of the vehicle.
Optionally, the detecting, according to the position information of the vehicle and the position information of the lane line, an initial intersection point of an intersection point when the vehicle first intersects with the lane line and a final intersection point of an intersection point when the vehicle last intersects with the lane line during a lane change process further includes:
setting a time interval for image acquisition of the monitoring device in the process of detecting the lane change of the vehicle, and acquiring image information in the process of the lane change of the vehicle according to the time interval to determine the position relationship between the vehicle and the lane line;
the time interval for image acquisition can be expressed by the formula:
wherein fps is the number of frames per second for collecting image information, t is the lane change time of the vehicle, and is specifically expressed as:
wherein w is the vehicle width, l is the vehicle length, v is the running speed, and θ is the included angle between the vehicle body and the lane line.
Optionally, the detection module is specifically configured to:
when detecting that the intersection point exists between the vehicle and the lane line, determining that the vehicle is in a lane change state;
when the vehicle is detected to be in a lane change state, continuous intersection points between the vehicle and the lane lines are obtained, and an initial intersection point of intersection points when the vehicle first intersects the lane lines and a final intersection point of intersection points when the vehicle last intersects the lane lines in the continuous intersection points are determined.
Optionally, the determining module is specifically configured to:
if the initial intersection point is the projected position of the left head of the vehicle and the final intersection point is the projected position of the right tail of the vehicle, determining that the lane of the vehicle at the left side changes lanes;
if the initial intersection point is the projected position of the right head of the vehicle and the final intersection point is the projected position of the left tail of the vehicle, determining that the lane of the vehicle on the right side changes lanes;
and if the initial intersection point and the final intersection point are not any of the conditions, determining that the current vehicle does not change lanes.
In a third aspect, an embodiment of the present application discloses a vehicle lane change detection apparatus, which specifically includes:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions for performing the vehicle lane change detection method according to the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, which when executed by a processor of an electronic device, enables the electronic device to implement the vehicle lane change detection method according to the first aspect.
The embodiment of the application provides a vehicle lane change detection method, a device and a computer readable storage medium, wherein the method comprises the following steps: detecting a vehicle by a monitoring device arranged on the vehicle, and determining position information of the vehicle in a coordinate system established in the monitoring device; determining position information of a lane line; detecting an initial intersection point of an intersection point when the vehicle first intersects the lane line and a final intersection point of an intersection point when the vehicle last intersects the lane line in a lane changing process according to the position information of the vehicle and the position information of the lane line; and determining the lane change direction of the vehicle according to the initial intersection point and the final intersection point. Therefore, whether the vehicle changes the lane and the lane changing method of the vehicle are judged by detecting the intersection point between the vehicle and the lane line, the complexity of the detection method is low, the detection method is not interfered by other factors, and the stability is high.
Drawings
FIG. 1 is a flow chart of a lane change detection method for a vehicle according to a preferred embodiment of the present application;
FIG. 2 is a schematic diagram of a vehicle lane change detection method according to a preferred embodiment of the present application;
FIG. 3 is a schematic diagram of a road detection method for detecting a lane change of a vehicle according to a preferred embodiment of the present application;
FIG. 4 is a schematic diagram of a lane change detection system according to a preferred embodiment of the present application;
FIG. 5 is a schematic diagram of a lane change detection apparatus for a vehicle according to a preferred embodiment of the present application;
fig. 6 is a schematic structural diagram of a lane change detection apparatus for a vehicle according to another preferred embodiment of the present application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Referring to fig. 1, a vehicle lane change detection method provided by the embodiment of the present application may be implemented by a vehicle lane change detection apparatus provided by the embodiment of the present application, where the vehicle lane change detection apparatus may be implemented in a software and/or hardware manner, and in this embodiment, the vehicle lane change detection method is applied to a server as an example, and the vehicle lane change detection method provided by the embodiment includes the following steps:
Step S101: the method comprises the steps of detecting a vehicle through a monitoring device arranged on the vehicle, and determining position information of the vehicle in the monitoring device.
Specifically, the set parking space is detected through a monitoring device on the vehicle, the specific position projected by the vehicle in the monitoring device is determined through further processing, image information is acquired in the running process of the vehicle, and the position information of the vehicle in the road, such as whether the lane of the vehicle is intersected, whether the vehicle is intersected with a lane line or not, and the lane change condition is generated.
In one embodiment, before the detecting the vehicle by the monitoring device provided on the vehicle and determining the position information of the vehicle in the monitoring device, the method further includes:
setting a calibration plate in front of the vehicle, and determining monitoring device parameters of the monitoring device according to known characteristic points on the calibration plate;
determining a vehicle parking space at a preset distance in front of the vehicle, and identifying a parking space corner point of the vehicle parking space through a monitoring device according to the monitoring parameters;
and determining geometric figures related to the vehicle parking spaces in the monitoring device according to the parking space corner points, and translating the geometric figures according to the preset distance to serve as position information of the vehicle.
Specifically, a monitoring device is first provided on a vehicle, where the monitoring device is typically provided at a position intermediate an instrument desk below a windshield of the vehicle for placing articles. The monitoring device may be a monitoring device capable of acquiring vehicle image information, such as a camera, a video camera, a mobile phone terminal, and the like. After the monitoring device is set, a calibration plate is placed in front of the vehicle, where the calibration plate is typically used in a black and white grid or checkerboard pattern. The pattern should have a certain size, contrast and geometry in order to be identified and measured in the image. The calibration plate is placed at a distance in front of the car to determine the monitoring parameters in the monitoring device, including internal parameters (focal length, principal point, etc.) and external parameters (rotation matrix R and translation vector t). Here, before the vehicle is driven to an empty space, the empty space may be a space which is set by self planning according to the specific size of the vehicle, or may be a normal space, and a preset known distance is maintained between the vehicle and the empty space. In this way, according to the determined monitoring parameters, the image information about the vehicle parking space is obtained through the monitoring device, and four parking space corner points of the parking space are identified, as shown in fig. 2, the image information about the parking space, which is obtained by the monitoring device set by the vehicle, is shown in fig. 2, four parking space corners a, b, c, d of the vehicle are determined, the four identified parking space corner points are identified and connected, and a geometric image abcd about the vehicle parking space is obtained, specifically, the projection of the geometric figure in the monitoring device is an isosceles trapezoid. And translating the projection of the determined geometric figure backwards according to the distance between the vehicle and the parking space, determining the geometric figure of the final position, and taking the geometric figure and the projection position of the geometric figure in the monitoring device as the position information of the projection of the vehicle in the monitoring device.
In one embodiment, the detecting the vehicle by a monitoring device provided on the vehicle, and determining the position information of the vehicle in the monitoring device, includes:
taking the geometry determined by translation as the position information of the vehicle, and keeping the position of the geometry fixed in the image of the monitoring device;
and taking the left upper corner of the geometric figure as a left head projection point of the vehicle, taking the right upper corner of the geometric figure as a right head projection point of the vehicle, taking the left lower corner of the geometric figure as a left tail projection point, and taking the right tail of the geometric figure as a right tail projection point of the vehicle.
Specifically, as shown in fig. 3, a position image of a parking space is translated according to a distance between a vehicle and a lane line, a trapezoid of a fixed position such as ABCD in fig. 3 about the vehicle is determined in a monitoring device as a position of the vehicle, at the same time, a parking space angle point a is translated to determine a left head projection point a of the vehicle, a parking space angle point B is translated to determine a right head projection point B of the vehicle, a parking space angle point C is translated to determine a left tail projection point C of the vehicle, a parking space angle point D is translated to determine a right tail projection point D of the vehicle, so that position information of the vehicle in the monitoring device is determined, and the fixed position is maintained.
Step S102: position information of the lane line is determined.
Specifically, an edge detection algorithm (such as a Canny algorithm) can be used for detecting the lane lines in the image, so as to determine the position information of the lane lines; or detecting straight line segments in the image through Hough transformation so as to find the position of the lane line; or the position information of the lane line is determined by extracting the lane line and other methods by using color filtering, threshold segmentation and other methods according to the specific color and brightness characteristics of the lane line.
In a real-time manner, detecting and tracking lane line position through deep learning, comprising: a plurality of image and video data containing lane lines are collected and the positions of the lane lines are marked. And meanwhile, preprocessing the collected image data, including image size adjustment, normalization, enhancement and other operations, and selecting a deep learning model architecture suitable for a lane line detection task. Common models may include Convolutional Neural Networks (CNNs) and models with attention mechanisms such as U-Net, segNet, and models for target detection such as YOLO (You Only Look Once) and Faster R-CNN. Training the selected deep learning model by using the marking data, and carrying out corresponding processing adjustment to determine the final lane line position information.
Step S103: and detecting an initial intersection point of an intersection point when the vehicle first intersects the lane line and a final intersection point of an intersection point when the vehicle last intersects the lane line in a lane changing process according to the position information of the vehicle and the position information of the lane line.
Specifically, the position information and the correlation between the vehicle and the lane line are detected in real time, and when the vehicle and the lane line have continuous intersection points in the lane changing process, the initial intersection point of the intersection points in the first intersection and the final intersection point of the intersection points in the last intersection are determined. It will be appreciated that both the initial intersection point and the final intersection point herein should be position information of the vehicle's specific corresponding head or tail. It is to be understood that the initial intersection point and the final intersection point herein may refer to position information of the head or the tail of the vehicle on both sides of the vehicle, or position information of wheels on different sides of the front and rear of the vehicle.
In an embodiment, the detecting, according to the position information of the vehicle and the position information of the lane line, an initial intersection point of an intersection point when the vehicle first intersects the lane line and a final intersection point of an intersection point when the vehicle last intersects the lane line during a lane change process further includes:
Setting a time interval for image acquisition of the monitoring device in the process of detecting the lane change of the vehicle, and acquiring image information in the process of the lane change of the vehicle according to the time interval to determine the position relationship between the vehicle and the lane line;
the time interval for image acquisition can be expressed by the formula:
wherein fps is the number of frames per second for collecting image information, t is the lane change time of the vehicle, and is specifically expressed as:
wherein w is the vehicle width, l is the vehicle length, v is the running speed, and θ is the included angle between the vehicle body and the lane line.
Specifically, as shown in fig. 3, after determining the position projected by the vehicle in the monitoring device, the running of the vehicle is detected in real timeInformation about the position of the road in the journey, where the vehicle in fig. 3 is in l 1 And l 2 When the vehicle is driven on the road, it can be understood that if the vehicle needs to change lanes, the vehicle and the lane line l 1 Or l 2 Detecting the intersection point of the vehicle and the lane line l 1 Or l 2 Since the vehicle lane change has a certain timeliness, the period interval at which the monitoring device acquires the vehicle image information needs to be specifically limited, and as shown in fig. 4, when the vehicle is determined to start lane change, the vehicle speed of the vehicle is determined by the monitoring device, including the transverse vehicle speed and the longitudinal vehicle speed of the vehicle, and the lane change time of the vehicle is calculated according to the determined vehicle speed v, the determined vehicle length l and the determined vehicle width w of the vehicle, and the included angle θ at which the vehicle changes lanes when the vehicle changes lanes, and is specifically expressed as:
Setting the time period of image acquisition of the monitoring device according to the calculated lane change time of the vehicle:
where fps is the number of frames per second of acquired image information and t is the vehicle lane change time.
In an embodiment, when detecting a lane change of the vehicle according to the position information of the vehicle and the position information of the lane line, the first intersection point of the intersection point when the lane line intersects the vehicle for the first time and the last intersection point of the intersection point when the lane line intersects the vehicle for the last time include:
when detecting that the intersection point exists between the vehicle and the lane line, determining that the vehicle is in a lane change state;
when the vehicle is detected to be in a lane change state, continuous intersection points between the vehicle and the lane lines are obtained, and an initial intersection point of intersection points when the vehicle first intersects the lane lines and a final intersection point of intersection points when the vehicle last intersects the lane lines in the continuous intersection points are determined.
Specifically, whether the intersection exists between the vehicle and the lane line or not is detected according to the position information of the vehicle and the position information of the lane line, and if the intersection exists between the vehicle and the lane line, the current vehicle is judged to be in a lane change state. The method comprises the steps of obtaining the intersection point between the vehicle and the lane line in the vehicle lane change process, marking the obtained intersection point, and understanding that the vehicle lane change is a continuous change process, so that when the vehicle detects the coordinates of the vehicle and the lane line in the lane change process, the intersection points between a plurality of continuous vehicles and the lane line can be marked, and after marking the plurality of intersection points, the initial intersection point of the intersection point when the vehicle intersects the lane line for the first time and the final intersection point of the intersection point when the vehicle intersects the lane line for the last time are obtained. It will be appreciated that the first intersection and the last intersection should be position information corresponding to the head or tail of the vehicle. For example, the initial intersection point may be the position of the projection of the left head of the vehicle, or the position of the projection of the right head of the vehicle; the final intersection point can be the position of the projection of the left tail of the vehicle or the position of the projection of the right tail of the vehicle.
Step S104: and determining the lane change direction of the vehicle according to the initial intersection point and the final intersection point.
Specifically, according to the determined position information of the vehicle corresponding to the initial intersection point and the final intersection point between the vehicle and the lane line, the position of the vehicle which is intersected with the lane line first and the position of the vehicle which is intersected with the lane line last are determined, so that the lane changing method of the vehicle is determined to change lanes for a left lane or a right lane.
In an embodiment, the determining the lane-change direction of the vehicle according to the initial intersection and the final intersection includes at least one of:
if the initial intersection point is the projected position of the left head of the vehicle and the final intersection point is the projected position of the right tail of the vehicle, determining that the lane of the vehicle at the left side changes lanes;
if the initial intersection point is the projected position of the right head of the vehicle and the final intersection point is the projected position of the left tail of the vehicle, determining that the lane of the vehicle on the right side changes lanes;
and if the initial intersection point and the final intersection point are not any of the conditions, determining that the current vehicle does not change lanes.
Specifically, the lane change method for determining the vehicle according to the position information specifically corresponding to the intersection point between the vehicle and the lane line when the vehicle changes lanes may be any of the following cases when detecting that the intersection point between the vehicle and the lane line is generated: if the initial intersection point of the vehicle and the lane line is the position of the projection of the left head of the vehicle, and the final intersection point of the vehicle and the lane line is the position of the projection of the right tail of the vehicle in the continuous intersection process, the lane change of the vehicle to the left lane can be determined, and the intersection point of the vehicle and the lane line on the left side is generated; if the initial intersection point of the vehicle and the lane line is the position of the projection of the right head of the vehicle, and the final intersection point of the vehicle and the lane line is the position of the projection of the left tail of the vehicle in the continuous intersection process, the vehicle can be determined to change lanes towards the right lane, and the vehicle and the lane line on the right side generate an intersection point; if the vehicle intersects the lane line, the initial intersection point where the vehicle intersects the lane line is the position projected by the left head of the vehicle, and the final intersection point is not the position projected by the right tail of the vehicle; the initial intersection point of the vehicle and the lane line is the projected position of the right head of the vehicle, and the final intersection point is the projected position of the left tail of the vehicle; or when the initial intersection point and the final intersection point of the vehicle and the lane line are not the position information corresponding to the head or the tail of the vehicle, judging that the vehicle does not change the lane, for example, when the vehicle is in a line pressing running condition, the initial intersection point and the final intersection point between the vehicle and the lane line are positioned on the same side, and the condition that the lane change is unsuccessful due to interference of other external factors in the lane change process of the vehicle is also possible.
In summary, in the vehicle lane change detection method provided in the above embodiment, whether the vehicle changes lanes or not and the lane change method of the vehicle are determined by detecting the intersection point between the vehicle and the lane line, so that the detection method is low in complexity, free from interference of other factors, and high in stability.
Referring to fig. 5, a lane change detection apparatus for a vehicle according to an embodiment of the present application includes a processing module, a detection module, and a determination module, where,
the processing module is used for detecting the vehicle through a monitoring device arranged on the vehicle and determining the position information of the vehicle in the monitoring device; determining position information of a lane line;
the detection module is used for detecting an initial intersection point of an intersection point when the vehicle first intersects with the lane line and a final intersection point of an intersection point when the vehicle last intersects with the lane line when the vehicle changes lanes according to the position information of the vehicle and the position information of the lane line;
and the determining module is used for determining the lane change direction of the vehicle according to the initial intersection point and the final intersection point.
In an embodiment, the processing module is further configured to:
setting a calibration plate in front of the vehicle, and determining monitoring device parameters of the monitoring device according to known characteristic points on the calibration plate;
Determining a vehicle parking space at a preset distance in front of the vehicle, and identifying a parking space corner point of the vehicle parking space through a monitoring device according to the monitoring parameters;
and determining geometric figures related to the vehicle parking spaces in the monitoring device according to the parking space corner points, and translating the geometric figures according to the preset distance to serve as position information of the vehicle.
Specifically, a monitoring device is first provided on a vehicle, where the monitoring device is typically provided at a position intermediate an instrument desk below a windshield of the vehicle for placing articles. The monitoring device may be a monitoring device capable of acquiring vehicle image information, such as a camera, a video camera, a mobile phone terminal, and the like. After the monitoring device is set, a calibration plate is placed in front of the vehicle, where the calibration plate is typically used in a black and white grid or checkerboard pattern. The pattern should have a certain size, contrast and geometry in order to be identified and measured in the image. The calibration plate is placed at a distance in front of the car to determine the monitoring parameters in the monitoring device, including internal parameters (focal length, principal point, etc.) and external parameters (rotation matrix R and translation vector t). Here, before the vehicle is driven to an empty space, the empty space may be a space which is set by self planning according to the specific size of the vehicle, or may be a normal space, and a preset known distance is maintained between the vehicle and the empty space. In this way, image information about the vehicle parking space is obtained through the monitoring device according to the determined monitoring parameters, four parking space corner points of the vehicle parking space are identified, and the geometric figure is translated according to the preset distance to be used as the position information of the vehicle.
In one embodiment, the detection module is specifically configured to:
taking the geometry determined by translation as the position information of the vehicle, and keeping the position of the geometry fixed in the image of the monitoring device;
and taking the left upper corner of the geometric figure as a left head projection point of the vehicle, taking the right upper corner of the geometric figure as a right head projection point of the vehicle, taking the left lower corner of the geometric figure as a left tail projection point, and taking the right tail of the geometric figure as a right tail projection point of the vehicle.
Specifically, the position image of the parking space is translated according to the distance between the vehicle and the lane line, the trapezoid of the fixed position of the vehicle is determined in the monitoring device to be the position of the vehicle, and meanwhile, the parking space corner point is translated to determine the left head projection point, the right head projection point, the left tail projection point and the right tail projection point of the vehicle, so that the position information of the vehicle in the monitoring device is determined, and the fixed position is kept.
In one embodiment, the processing module is specifically configured to:
setting a time interval for image acquisition of the monitoring device in the process of detecting the lane change of the vehicle, and acquiring image information in the process of the lane change of the vehicle according to the time interval to determine the position relationship between the vehicle and the lane line;
The time interval for image acquisition can be expressed by the formula:
wherein fps is the number of frames per second for collecting image information, t is the lane change time of the vehicle, and is specifically expressed as:
wherein w is the vehicle width, l is the vehicle length, v is the running speed, and θ is the included angle between the vehicle body and the lane line.
Specifically, after determining the position of the projection of the vehicle in the monitoring device, detecting the position information of the vehicle on the road in real time during the running process, wherein it can be understood that the vehicle runs on the road, if the vehicle needs to change lanes, the intersection point between the vehicle and the lane line is detected, and the intersection point between the vehicle and the lane line is detected, wherein the vehicle has certain timeliness, therefore, the period interval for the monitoring device to acquire the image information of the vehicle needs to be specifically limited, when the vehicle is determined to start changing lanes, the speed of the vehicle, including the transverse speed and the longitudinal speed of the vehicle, is determined by the monitoring device, and the lane changing time of the vehicle is calculated according to the determined speed v of the vehicle, the length l and the width w of the vehicle, and the included angle theta of the vehicle during lane changing, and is specifically expressed as:
setting the time period of image acquisition of the monitoring device according to the calculated lane change time of the vehicle:
Where fps is the number of frames per second of acquired image information and t is the vehicle lane change time.
In one embodiment, the detection module is specifically configured to:
when detecting that the intersection point exists between the vehicle and the lane line, determining that the vehicle is in a lane change state;
when the vehicle is detected to be in a lane change state, continuous intersection points between the vehicle and the lane lines are obtained, and an initial intersection point of intersection points when the vehicle first intersects the lane lines and a final intersection point of intersection points when the vehicle last intersects the lane lines in the continuous intersection points are determined.
Specifically, whether the intersection exists between the vehicle and the lane line or not is detected according to the position information of the vehicle and the position information of the lane line, and if the intersection exists between the vehicle and the lane line, the current vehicle is judged to be in a lane change state. The method comprises the steps of obtaining the intersection point between the vehicle and the lane line in the vehicle lane change process, marking the obtained intersection point, and understanding that the vehicle lane change is a continuous change process, so that when the vehicle detects the coordinates of the vehicle and the lane line in the lane change process, the intersection points between a plurality of continuous vehicles and the lane line can be marked, and after marking the plurality of intersection points, the initial intersection point of the intersection point when the vehicle intersects the lane line for the first time and the final intersection point of the intersection point when the vehicle intersects the lane line for the last time are obtained. It will be appreciated that the first intersection and the last intersection should be position information corresponding to the head or tail of the vehicle. For example, the initial intersection point may be the position of the projection of the left head of the vehicle, or the position of the projection of the right head of the vehicle; the final intersection point can be the position of the projection of the left tail of the vehicle or the position of the projection of the right tail of the vehicle.
In an embodiment, the determining module is specifically configured to:
if the initial intersection point is the projected position of the left head of the vehicle and the final intersection point is the projected position of the right tail of the vehicle, determining that the lane of the vehicle at the left side changes lanes;
if the initial intersection point is the projected position of the right head of the vehicle and the final intersection point is the projected position of the left tail of the vehicle, determining that the lane of the vehicle on the right side changes lanes;
and if the initial intersection point and the final intersection point are not any of the conditions, determining that the current vehicle does not change lanes.
Specifically, the lane change method for determining the vehicle according to the position information specifically corresponding to the intersection point between the vehicle and the lane line when the vehicle changes lanes may be any of the following cases when detecting that the intersection point between the vehicle and the lane line is generated: if the initial intersection point of the vehicle and the lane line is the position of the projection of the left head of the vehicle, and the final intersection point of the vehicle and the lane line is the position of the projection of the right tail of the vehicle in the continuous intersection process, the lane change of the vehicle to the left lane can be determined, and the intersection point of the vehicle and the lane line on the left side is generated; if the initial intersection point of the vehicle and the lane line is the position of the projection of the right head of the vehicle, and the final intersection point of the vehicle and the lane line is the position of the projection of the left tail of the vehicle in the continuous intersection process, the vehicle can be determined to change lanes towards the right lane, and the vehicle and the lane line on the right side generate an intersection point; if the vehicle intersects the lane line, the initial intersection point where the vehicle intersects the lane line is the position projected by the left head of the vehicle, and the final intersection point is not the position projected by the right tail of the vehicle; the initial intersection point of the vehicle and the lane line is the projected position of the right head of the vehicle, and the final intersection point is the projected position of the left tail of the vehicle; or when the initial intersection point and the final intersection point of the vehicle and the lane line are not the position information corresponding to the head or the tail of the vehicle, judging that the vehicle does not change the lane, for example, when the vehicle is in a line pressing running condition, the initial intersection point and the final intersection point between the vehicle and the lane line are positioned on the same side, and the condition that the lane change is unsuccessful due to interference of other external factors in the lane change process of the vehicle is also possible.
In summary, in the vehicle lane change detection device provided in the above embodiment, the processing module determines the real-time position information of the vehicle, the detection module detects the intersection point of the vehicle and the lane line, the determining module determines the lane change direction of the vehicle, and the detection method determines whether the vehicle changes lanes and the lane change method of the vehicle by detecting the intersection point between the vehicle and the lane line, so that the detection method has low complexity, is not interfered by other factors, and has higher stability.
Based on the same inventive concept as the previous embodiments, an embodiment of the present invention provides a lane change detection apparatus for a vehicle, as shown in fig. 6, including: a processor 210 and a memory 211 storing a computer program; the number of the processors 210 illustrated in fig. 6 is not used to refer to one number of the processors 210, but is merely used to refer to a positional relationship of the processors 210 with respect to other devices, and in practical applications, the number of the processors 210 may be one or more; likewise, the memory 211 illustrated in fig. 6 is also used in the same sense, that is, only to refer to the positional relationship of the memory 211 with respect to other devices, and in practical applications, the number of the memories 211 may be one or more. The vehicle lane change detection method applied to the above-described apparatus is implemented when the processor 210 runs the computer program.
The apparatus may further include: at least one network interface 212. The various components in the device are coupled together by a bus system 213. It is understood that the bus system 213 is used to enable connected communication between these components. The bus system 213 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled as bus system 213 in fig. 6.
The memory 211 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Wherein the nonvolatile Memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable programmable Read Only Memory (EEPROM, electrically Erasable Programmable Read-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access Memory), flash Memory (Flash Memory), magnetic surface Memory, optical disk, or compact disk Read Only Memory (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronous Static Random Access Memory), dynamic random access memory (DRAM, dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The memory 211 described in embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The memory 211 in the embodiment of the present invention is used to store various types of data to support the operation of the apparatus. Examples of such data include: any computer program for operating on the device, such as an operating system and application programs; contact data; telephone book data; a message; a picture; video, etc. The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application programs may include various application programs such as a Media Player (Media Player), a Browser (Browser), etc. for implementing various application services. Here, a program for implementing the method of the embodiment of the present invention may be included in an application program.
Based on the same inventive concept as the previous embodiments, the present embodiment further provides a computer readable storage medium having a computer program stored therein, where the computer readable storage medium may be a Memory such as a magnetic random access Memory (FRAM, ferromagnetic random access Memory), a Read Only Memory (ROM), a programmable Read Only Memory (PROM, programmable Read-Only Memory), an erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), an electrically erasable programmable Read Only Memory (EEPROM, electrically Erasable Programmable Read-Only Memory), a Flash Memory (Flash Memory), a magnetic surface Memory, a compact disc, or a compact disc Read Only Memory (CD-ROM, compact Disc Read-Only Memory); but may be a variety of devices including one or any combination of the above-described memories, such as a mobile phone, computer, tablet device, personal digital assistant, or the like. The computer program stored in the computer readable storage medium realizes the vehicle lane change detection method applied to the above device when being executed by a processor. The specific step flow implemented when the computer program is executed by the processor is described with reference to the embodiment shown in fig. 1, and will not be described herein.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of elements is included, and may include other elements not expressly listed.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle lane change detection method, the method comprising the steps of:
detecting a vehicle through a monitoring device arranged on the vehicle, and determining the position information of the vehicle in the monitoring device;
Determining position information of a lane line;
detecting an initial intersection point of an intersection point when the vehicle first intersects the lane line and a final intersection point of an intersection point when the vehicle last intersects the lane line in a lane changing process according to the position information of the vehicle and the position information of the lane line;
and determining the lane change direction of the vehicle according to the initial intersection point and the final intersection point.
2. The method according to claim 1, characterized in that before the detection of the vehicle by a monitoring device provided on the vehicle, determining the position information of the vehicle in the monitoring device, further comprises:
setting a calibration plate in front of the vehicle, and determining monitoring parameters of the monitoring device according to known characteristic points on the calibration plate;
determining a vehicle parking space at a preset distance in front of the vehicle, and identifying a parking space corner point of the vehicle parking space through a monitoring device according to the monitoring parameters;
and determining geometric figures related to the vehicle parking spaces in the monitoring device according to the parking space corner points, and translating the geometric figures according to the preset distance to serve as position information of the vehicle.
3. The method according to claim 2, wherein the determining the position information of the vehicle in the monitoring device by detecting the vehicle by the monitoring device provided on the vehicle includes:
taking the geometry determined by translation as the position information of the vehicle, and keeping the position of the geometry fixed in the image of the monitoring device;
and taking the left upper corner of the geometric figure as a left head projection point of the vehicle, taking the right upper corner of the geometric figure as a right head projection point of the vehicle, taking the left lower corner of the geometric figure as a left tail projection point, and taking the right tail of the geometric figure as a right tail projection point of the vehicle.
4. The method according to claim 1, wherein the detecting of the initial intersection point of the intersection point when the vehicle first intersects the lane line and the final intersection point of the intersection point when the vehicle last intersects the lane line during the lane change based on the position information of the vehicle and the position information of the lane line further includes:
setting a time interval for image acquisition of the monitoring device in the process of detecting the lane change of the vehicle, and acquiring image information in the process of the lane change of the vehicle according to the time interval to determine the position relationship between the vehicle and the lane line;
The time interval for image acquisition can be expressed by the formula:
wherein fps is the number of frames per second for collecting image information, t is the lane change time of the vehicle, and is specifically expressed as:
wherein w is the vehicle width, l is the vehicle length, v is the running speed, and θ is the included angle between the vehicle body and the lane line.
5. The method according to claim 1, wherein the detecting of the vehicle lane change based on the position information of the vehicle and the position information of the lane line includes:
when detecting that the intersection point exists between the vehicle and the lane line, determining that the vehicle is in a lane change state;
when the vehicle is detected to be in a lane change state, continuous intersection points between the vehicle and the lane lines are obtained, and an initial intersection point of intersection points when the vehicle first intersects the lane lines and a final intersection point of intersection points when the vehicle last intersects the lane lines in the continuous intersection points are determined.
6. The method of claim 1, wherein said determining a lane-change direction of the vehicle from the initial intersection and the final intersection comprises at least one of:
If the initial intersection point is the projected position of the left head of the vehicle and the final intersection point is the projected position of the right tail of the vehicle, determining that the lane of the vehicle at the left side changes lanes;
if the initial intersection point is the projected position of the right head of the vehicle and the final intersection point is the projected position of the left tail of the vehicle, determining that the lane of the vehicle on the right side changes lanes;
and if the initial intersection point and the final intersection point are not any of the conditions, determining that the current vehicle does not change lanes.
7. A lane change detection apparatus for a vehicle, the apparatus comprising:
the processing module is used for detecting the vehicle through a monitoring device arranged on the vehicle and determining the position information of the vehicle in the monitoring device; determining position information of a lane line;
the detection module is used for detecting an initial intersection point of an intersection point when the vehicle first intersects with the lane line and a final intersection point of an intersection point when the vehicle last intersects with the lane line when the vehicle changes lanes according to the position information of the vehicle and the position information of the lane line;
and the determining module is used for determining the lane change direction of the vehicle according to the initial intersection point and the final intersection point.
8. The apparatus of claim 7, wherein the detection module is specifically configured to:
setting a time interval for image acquisition of the monitoring device in the process of detecting the lane change of the vehicle, and acquiring image information in the process of the lane change of the vehicle according to the time interval to determine the position relationship between the vehicle and the lane line;
the time interval for image acquisition can be expressed by the formula:
wherein fps is the number of frames per second for collecting image information, t is the lane change time of the vehicle, and is specifically expressed as:
wherein w is the vehicle width, l is the vehicle length, v is the running speed, and θ is the included angle between the vehicle body and the lane line.
9. A lane change detection apparatus for a vehicle, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the vehicle lane change detection method of any one of claims 1-6.
10. A computer readable storage medium, characterized in that the instructions in the computer readable storage medium, when executed by a processor, implement the vehicle lane change detection method according to any one of claims 1-6.
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