CN117818628A - Lane line generation method and device, storage medium, electronic equipment and vehicle - Google Patents
Lane line generation method and device, storage medium, electronic equipment and vehicle Download PDFInfo
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Abstract
The disclosure relates to a lane line generation method, a lane line generation device, a storage medium, an electronic device and a vehicle, wherein the lane line generation method comprises the following steps: under the condition that the vehicle is determined to be in a target curve, acquiring first curvature radius information of a designated position point on the target curve; when the first curvature radius information is smaller than or equal to a preset curvature radius threshold value, compensating the first curvature radius information according to a preset curvature radius compensation value to obtain second position information of the specified position point after curvature radius compensation; and generating a lane line according to the current vehicle position information and the second position information of the vehicle.
Description
Technical Field
The disclosure relates to the technical field of vehicles, and in particular relates to a lane line generation method, a lane line generation device, a storage medium, electronic equipment and a vehicle.
Background
With the popularization of auxiliary driving technology, the lane line drawing is particularly important as an indispensable part, and the relation of all coordinate points can be efficiently and smoothly converted into a visualized lane line by utilizing the existing radar data so as to provide driving assistance for users.
However, in the case where the vehicle enters a curve with a large radius of curvature (for example, a "sharp turn road"), the displayed lane line curve is too large or even cannot be displayed on the lane line display screen of the vehicle due to the large radius of curvature, so that the over-bending performance of the vehicle is insufficient, and effective driving assistance cannot be provided for the user.
Disclosure of Invention
The purpose of the present disclosure is to provide a lane line generation method, a lane line generation device, a storage medium, an electronic device, and a vehicle, for providing effective driving assistance for a user.
To achieve the above object, in a first aspect, the present disclosure provides a lane line generation method, the method comprising:
under the condition that the vehicle is determined to be in a target curve, acquiring first curvature radius information of a designated position point on the target curve;
when the first curvature radius information is smaller than or equal to a preset curvature radius threshold value, compensating the first curvature radius information according to a preset curvature radius compensation value to obtain second position information of the specified position point after curvature radius compensation;
and generating a lane line according to the current vehicle position information and the second position information of the vehicle.
Optionally, the acquiring the first curvature radius information of the designated location point on the target curve includes:
acquiring the appointed position information of the appointed position point and the current vehicle position information of the vehicle;
and determining the first curvature radius information according to the specified position information and the vehicle position information.
Optionally, the acquiring the first curvature radius information of the designated location point on the target curve includes:
acquiring size data of the target curve;
and determining first curvature radius information of the specified position point according to the corresponding relation between the size data and the preset curvature radius, wherein the corresponding relation of the preset curvature radius comprises preset curvature radius information corresponding to a plurality of pieces of preset curve size data.
Optionally, the compensating the first radius of curvature information according to a preset radius of curvature compensation value, and obtaining the second position information of the specified position point after radius of curvature compensation includes:
acquiring a preset compensation curvature radius value under the condition that the first curvature radius information is smaller than or equal to a preset curvature radius threshold value;
and obtaining second position information of the specified position point after curvature radius compensation according to the preset compensation curvature radius value and the first curvature radius information.
Optionally, the obtaining the second position information of the specified position point after curvature radius compensation according to the preset compensation curvature radius value and the first curvature radius information includes:
determining second position information of the specified position point after curvature radius compensation according to the following formula:
wherein Δx is the variation of the longitudinal distance, R0 is the first radius of curvature information, R1 is the preset compensation radius of curvature value, and x and y are the coordinates of the second position information.
Optionally, the generating the lane line according to the current vehicle position information and the second position information of the vehicle includes:
taking the vehicle position information and the second position information as two endpoints of the lane line respectively;
and determining to generate a lane line according to the two endpoints and the preset compensation curvature radius value.
In a second aspect, the present disclosure provides a lane line generating apparatus, the apparatus comprising:
the acquisition module is used for acquiring first curvature radius information of a designated position point on a target curve under the condition that the vehicle is determined to be in the target curve;
the compensation module is used for compensating the first curvature radius information according to a preset curvature radius compensation value under the condition that the first curvature radius information is smaller than or equal to a preset curvature radius threshold value, so as to obtain second position information of the specified position point after curvature radius compensation;
and the generation module is used for generating a lane line according to the current vehicle position information of the vehicle and the second position information.
Optionally, the acquiring module includes:
the first acquisition sub-module is used for acquiring the appointed position information of the appointed position point and the current vehicle position information of the vehicle;
and the first determining submodule is used for determining the first curvature radius information according to the appointed position information and the vehicle position information.
Optionally, the acquiring module includes:
the second acquisition submodule is used for acquiring the size data of the target curve;
and the second determining submodule is used for determining the first curvature radius information of the appointed position point according to the corresponding relation between the size data and the preset curvature radius, and the corresponding relation of the preset curvature radius comprises preset curvature radius information corresponding to a plurality of pieces of preset curve size data.
Optionally, the compensation module includes:
the third acquisition submodule is used for acquiring a preset compensation curvature radius value under the condition that the first curvature radius information is smaller than or equal to a preset curvature radius threshold value;
and the third determining submodule is used for obtaining second position information of the specified position point after curvature radius compensation according to the preset compensation curvature radius value and the first curvature radius information.
Optionally, the third determining submodule is configured to determine the second position information of the specified position point after the curvature radius compensation according to the following formula:
wherein Deltax is the variation of the longitudinal distance, R 0 For the first curvature radius information, R 1 And for the preset compensation curvature radius value, x and y are coordinates of the second position information.
Optionally, the generating module includes:
a fourth determination sub-module for taking the vehicle position information and the second position information as two end points of the lane line, respectively;
and a fifth determining submodule, configured to determine to generate a lane line according to the two end points and the preset compensation radius of curvature value.
In a third aspect, the present disclosure provides a non-transitory computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of the first aspect of the present disclosure.
In a fourth aspect, the present disclosure provides an electronic device comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of the first aspect of the disclosure.
In a fifth aspect, the present disclosure provides a vehicle comprising the electronic device of the fourth aspect of the present disclosure.
According to the technical scheme, under the condition that the vehicle is determined to be in the target curve, the first curvature radius information of the appointed position point on the target curve is obtained; when the first curvature radius information is smaller than or equal to a preset curvature radius threshold value, compensating the first curvature radius information according to a preset curvature radius compensation value to obtain second position information of the specified position point after curvature radius compensation; and generating a lane line according to the current vehicle position information and the second position information of the vehicle. Therefore, when the first curvature radius information is smaller than or equal to the preset curvature radius threshold value, the first curvature radius information is compensated according to the preset curvature radius compensation value, the lane line is determined to be generated according to the compensated position information, and when the curvature radius of the current curve is too large to be displayed on the vehicle-mounted screen, the lane line which can be displayed on the vehicle-mounted screen is determined to be generated according to the position information after curvature radius compensation, so that effective driving assistance can be provided for a user, and the performance and comfort of the vehicle in the process of over-bending are greatly improved.
Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:
FIG. 1 is a schematic diagram illustrating a target curve according to an exemplary embodiment.
FIG. 2 is a flow chart illustrating a lane line generation according to an exemplary embodiment.
FIG. 3 is a flow chart illustrating a lane line generation according to an exemplary embodiment.
FIG. 4 is a flow chart illustrating a lane line generation according to an exemplary embodiment.
FIG. 5 is a flow chart illustrating another lane line generation according to an exemplary embodiment.
Fig. 6 is a block diagram illustrating a lane line generating apparatus according to an exemplary embodiment.
Fig. 7 is a block diagram of an acquisition module according to the embodiment shown in fig. 6.
Fig. 8 is a block diagram of an acquisition module according to the embodiment shown in fig. 6.
Fig. 9 is a block diagram of an acquisition module according to the embodiment shown in fig. 6.
Fig. 10 is a block diagram of an acquisition module according to the embodiment shown in fig. 6.
Fig. 11 is a block diagram of an electronic device, according to an example embodiment.
FIG. 12 is a schematic diagram of a vehicle, according to an exemplary embodiment.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.
It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
First, an application scenario of the present disclosure is described, and the present disclosure may be applied to an application scenario of lane line generation. With the popularization of auxiliary driving technology, the lane line drawing is particularly important as an indispensable part, and the relation of all coordinate points can be efficiently and smoothly converted into a visualized lane line by utilizing the existing radar data so as to provide driving assistance for users. However, in the case where the vehicle enters a curve with a large radius of curvature (for example, a "sharp turn road"), the displayed lane line curve is too large or even cannot be displayed on the lane line display screen of the vehicle due to the small radius of curvature, so that the over-bending performance of the vehicle is insufficient, and effective driving assistance cannot be provided for the user.
Fig. 1 shows a situation in which a displayed lane line is curved too much, or even impossible, on a lane line display screen of a vehicle due to a smaller radius of curvature of the curve. As shown in fig. 1, the target curve may be an annular ramp, and after the vehicle 100 enters the curve, the curvature radius of the curve is smaller, at this time, it may be determined that the left and right lane line static boundaries 101 and 102 determined according to the signals received from the sensors are on the lane line display screen of the vehicle, and the displayed lane line curve is too large or wrong, or even cannot be displayed, so that effective driving assistance cannot be provided for the user, but is rather unfavorable for the over-bending performance and comfort of the vehicle.
In order to solve the problems, the present disclosure provides a lane line generating method, a device, a storage medium, an electronic device and a vehicle, by which, in the case that it is determined that the vehicle is in a target curve, first curvature radius information of a designated position point on the target curve is obtained; when the first curvature radius information is smaller than or equal to a preset curvature radius threshold value, compensating the first curvature radius information according to a preset curvature radius compensation value to obtain second position information of the specified position point after curvature radius compensation; and generating a lane line according to the current vehicle position information and the second position information of the vehicle. Therefore, when the first curvature radius information is smaller than or equal to the preset curvature radius threshold value, the first curvature radius information is compensated according to the preset curvature radius compensation value, the lane line is determined to be generated according to the compensated position information, and when the curvature radius of the current curve is too large to be displayed on the vehicle-mounted screen, the lane line which can be displayed on the vehicle-mounted screen is determined to be generated according to the position information after curvature radius compensation, so that effective driving assistance can be provided for a user, and the performance and comfort of the vehicle in the process of over-bending can be greatly improved.
The present disclosure is described below in connection with specific embodiments.
FIG. 2 is a flow chart illustrating a lane line generation according to an exemplary embodiment. As shown in fig. 2, the method may be applied to a vehicle, where the vehicle may include a sedan, a van, a passenger car, or a Sport Utility Vehicle (SUV), and in addition, the method may be a fuel vehicle, or may be a new energy vehicle such as a pure electric vehicle, a hybrid vehicle, and the like, and the method may not limit the type of the vehicle, and may include the following steps:
in step S201, in the case where it is determined that the vehicle is in the target curve, first curvature radius information of a specified position point on the target curve is acquired.
The target curve can be a single left-turn intersection, a single right-turn intersection or a bidirectional intersection which can turn left and right; the turning path reference line may be a left turning path reference line of a single left turning intersection, a right turning path reference line of a single right turning intersection, or may be a left turning path reference line or a right turning path reference of a bidirectional turning intersection, and the present disclosure does not limit the kind of the curve.
In this step, it may be first determined that the vehicle is in a target curve, and then, in the case where it is determined that the vehicle is in the target curve, first curvature radius information of a specified position point on the target curve is acquired.
For example, the vehicle may acquire the road route in the intersection provided by the high-precision map in real time during driving, determine the radius of curvature of the current driving road in real time according to the road route in the intersection provided by the high-precision map, and determine that the vehicle has entered the target curve in the case of determining the radius of curvature within a preset time period or a preset road length according to the radius of curvature of the current driving road.
Then, in the case where it is determined that the vehicle is in the target curve, first curvature radius information of a specified position point on the target curve may be acquired.
In some embodiments, as shown in FIG. 3, the first radius of curvature information for a specified location point on the target curve may be obtained by the following steps.
In step S2011, the specified position information of the specified position point and the current vehicle position information of the vehicle are acquired.
The specified position point may be a position point specified in advance in the target curve, and may be set as an end point of the target curve, that is, a point where the radius of curvature of the target curve is 0, for example.
In this step, the specified position information of the specified position point may be acquired through a high-precision map, and a positioning device may be provided on the vehicle for acquiring the current vehicle position information of the vehicle.
In step S2012, the first radius of curvature information is determined based on the specified position information and the vehicle position information.
Wherein the first radius of curvature information includes a radius of curvature at the specified location point.
In this step, an imaginary circle tangential to the vehicle position of the vehicle and intersecting the specified position point may be first determined to be given based on the first position information and the vehicle position information, and then the radius of the imaginary circle may be taken as the first radius of curvature information.
In some embodiments, as shown in fig. 4, the first radius of curvature information for a specified location point on the target curve may be obtained by the following steps.
In step S2013, the size data of the target curve is acquired.
The size data may include, among other things, a curve length of the target curve, a radius of curvature of the curve, and location information of a plurality of points of the curve.
Alternatively, the curve length of the target curve, the curvature radius of the curve, and the position information of a plurality of points of the curve may be acquired through a high-precision map to obtain the size data of the target curve.
In step S2014, first radius of curvature information of the specified position point is determined according to the correspondence between the size data and the preset radius of curvature.
The preset curvature radius corresponding relation comprises preset curvature radius information corresponding to a plurality of preset curve size data.
In this step, candidate preset curve size data consistent with the size data may be determined from the plurality of preset curve size data by a correspondence between the plurality of preset curve size data and the corresponding preset radius of curvature information, and then the radius of curvature information corresponding to the candidate preset curve size data may be used as the first radius of curvature information of the specified position point.
In step S202, when the first radius of curvature information is less than or equal to a preset radius of curvature threshold, the first radius of curvature information is compensated according to a preset radius of curvature compensation value, so as to obtain second position information of the specified position point after radius of curvature compensation.
In some embodiments, a preset compensation radius value may be first obtained if the first radius of curvature information is less than or equal to a preset radius of curvature threshold; and then obtaining second position information of the specified position point after curvature radius compensation according to the preset compensation curvature radius value and the first curvature radius information.
Alternatively, the second position information of the specified position point after the curvature radius compensation may be determined as follows:
wherein Deltax is the variation of the longitudinal distance, R 0 For the first radius of curvature information, i.e. the first radius of curvature, R 1 And (3) the preset compensation curvature radius value, namely the preset compensation curvature radius, wherein x and y are coordinates of the second position information.
In step S203, a lane line is generated from the current vehicle position information of the vehicle and the second position information.
In this step, the vehicle position information and the second position information may be first taken as two end points of the lane line, respectively; the lane line may then be determined to be generated based on the two endpoints and the preset compensation radius of curvature value.
By adopting the technical scheme, under the condition that the vehicle is determined to be in the target curve, the first curvature radius information of the appointed position point on the target curve is acquired; when the first curvature radius information is smaller than or equal to a preset curvature radius threshold value, compensating the first curvature radius information according to a preset curvature radius compensation value to obtain second position information of the specified position point after curvature radius compensation; and generating a lane line according to the current vehicle position information and the second position information of the vehicle. Therefore, when the first curvature radius information is smaller than or equal to the preset curvature radius threshold value, the first curvature radius information is compensated according to the preset curvature radius compensation value, the lane line is determined to be generated according to the compensated position information, and when the curvature radius of the current curve is too large to be displayed on the vehicle-mounted screen, the lane line which can be displayed on the vehicle-mounted screen is determined to be generated according to the position information after curvature radius compensation, so that effective driving assistance can be provided for a user, and the performance and comfort of the vehicle in the process of over-bending can be greatly improved.
FIG. 5 is a flow chart illustrating another lane line generation according to an exemplary embodiment. As shown in fig. 5, the method may be applied to a vehicle, where the vehicle may include a sedan, a van, a passenger car, or a Sport Utility Vehicle (SUV), and in addition, the method may be a fuel vehicle, or may be a new energy vehicle such as a pure electric vehicle, a hybrid vehicle, and the like, and the method may not limit the type of the vehicle, and may include the following steps:
in step S301, the specified position information of the specified position point, and the current vehicle position information of the vehicle are acquired.
The specified position point may be a position point specified in advance in the target curve, and may be set as an end point of the target curve, that is, a point where the radius of curvature of the target curve is 0, for example.
In this step, the specified position information of the specified position point may be acquired through a high-precision map, and a positioning device may be provided on the vehicle for acquiring the current vehicle position information of the vehicle.
In step S302, in the case where it is determined that the vehicle is in the target curve, the first radius of curvature information is determined based on the specified position information and the vehicle position information.
Wherein the first radius of curvature information includes a radius of curvature at the specified location point.
In this step, an imaginary circle tangential to the vehicle position of the vehicle and intersecting the specified position point may be first determined to be given based on the first position information and the vehicle position information, and then the radius of the imaginary circle may be taken as the first radius of curvature information.
In step S303, in the case where the first curvature radius information is less than or equal to the preset curvature radius threshold value, a preset compensation curvature radius value is acquired.
In step S304, second position information of the specified position point after the radius of curvature compensation is obtained according to the preset compensation radius of curvature value and the first radius of curvature information.
In some embodiments, a preset compensation radius value may be first obtained if the first radius of curvature information is less than or equal to a preset radius of curvature threshold; and then obtaining second position information of the specified position point after curvature radius compensation according to the preset compensation curvature radius value and the first curvature radius information.
Alternatively, the second position information of the specified position point after the curvature radius compensation may be determined as follows:
wherein Deltax is the variation of the longitudinal distance, R 0 For the first curvature radius information, R 1 And for the preset compensation curvature radius value, x and y are coordinates of the second position information.
In step S305, the vehicle position information and the second position information are respectively taken as two end points of the lane line.
In step S306, a lane line is determined to be generated according to the two end points and the preset compensation radius of curvature value.
By adopting the technical scheme, under the condition that the vehicle is determined to be in the target curve, the first curvature radius information of the appointed position point on the target curve is acquired; when the first curvature radius information is smaller than or equal to a preset curvature radius threshold value, compensating the first curvature radius information according to a preset curvature radius compensation value to obtain second position information of the specified position point after curvature radius compensation; and generating a lane line according to the current vehicle position information and the second position information of the vehicle. Therefore, when the first curvature radius information is smaller than or equal to the preset curvature radius threshold value, the first curvature radius information is compensated according to the preset curvature radius compensation value, the lane line is determined to be generated according to the compensated position information, and when the curvature radius of the current curve is too large to be displayed on the vehicle-mounted screen, the lane line which can be displayed on the vehicle-mounted screen is determined to be generated according to the position information after curvature radius compensation, so that effective driving assistance can be provided for a user, and the performance and comfort of the vehicle in the process of over-bending can be greatly improved.
Fig. 6 is a block diagram of a lane line generating apparatus according to an exemplary embodiment, and as shown in fig. 6, the apparatus 400 includes:
an obtaining module 401, configured to obtain first curvature radius information of a designated location point on a target curve when it is determined that the vehicle is in the target curve;
the compensation module 402 is configured to compensate the first radius of curvature information according to a preset radius of curvature compensation value, to obtain second location information of the specified location point after radius of curvature compensation, when the first radius of curvature information is less than or equal to a preset radius of curvature threshold;
a generating module 403, configured to generate a lane line according to the current vehicle position information of the vehicle and the second position information.
Fig. 7 is a block diagram of an acquisition module according to the embodiment shown in fig. 6, and as shown in fig. 7, the acquisition module 401 includes:
a first acquiring submodule 4011, configured to acquire specified position information of the specified position point and current vehicle position information of the vehicle;
a first determination submodule 4012 for determining the first radius of curvature information based on the specified position information and the vehicle position information.
Fig. 8 is a block diagram of an acquisition module according to the embodiment shown in fig. 6, and as shown in fig. 8, the acquisition module 401 includes:
a second acquiring submodule 4013 for acquiring size data of the target curve;
the second determining submodule 4014 is configured to determine the first radius of curvature information of the specified location point according to a corresponding relationship between the size data and a preset radius of curvature, where the preset radius of curvature corresponding relationship includes preset radius of curvature information corresponding to a plurality of preset curve size data.
Fig. 9 is a block diagram of an acquisition module according to the embodiment shown in fig. 6, and as shown in fig. 9, the compensation module 402 includes:
the third obtaining sub-module 4021 is configured to obtain a preset compensation radius of curvature value when the first radius of curvature information is less than or equal to a preset radius of curvature threshold;
the third determining submodule 4022 is configured to obtain second position information of the specified position point after radius of curvature compensation according to the preset compensation radius of curvature value and the first radius of curvature information.
Optionally, the third determining submodule 4022 is configured to determine the second position information of the specified position point after the radius of curvature compensation according to the following formula:
wherein Deltax is the variation of the longitudinal distance, R 0 For the first curvature radius information, R 1 And for the preset compensation curvature radius value, x and y are coordinates of the second position information.
Fig. 10 is a block diagram of an acquisition module according to the embodiment shown in fig. 6, and as shown in fig. 10, the generation module 403 includes:
a fourth determination submodule 4031 for taking the vehicle position information and the second position information as two end points of the lane line, respectively;
a fifth determination submodule 4032 is configured to determine to generate a lane line according to the two end points and the preset compensation radius of curvature value.
By adopting the device, the first curvature information can be compensated according to the preset curvature compensation value under the condition that the first curvature information is smaller than or equal to the preset curvature threshold value, the lane line is determined to be generated according to the compensated position information, and the lane line which can be displayed on the vehicle-mounted screen can be determined to be generated according to the position information after curvature compensation under the condition that the curvature of the current curve is too large to be displayed on the vehicle-mounted screen, so that effective driving assistance can be provided for a user, and the performance and the comfort of the vehicle during the over-bending can be greatly improved.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
Fig. 11 is a block diagram of an electronic device 1100, according to an example embodiment. As shown in fig. 11, the electronic device 1100 may include: processor 1101, memory 1102. The electronic device 1100 can also include one or more of a multimedia component 1103, an input/output (I/O) interface 1104, and a communication component 1105.
The processor 1101 is configured to control the overall operation of the electronic device 1100 to perform all or part of the steps in the lane line generating method described above. The memory 1102 is used to store various types of data to support operation on the electronic device 1100, which may include, for example, instructions for any application or method operating on the electronic device 1100, as well as application-related data, such as contact data, transceived messages, pictures, audio, video, and the like. The Memory 1102 may be implemented by any type or combination of volatile or non-volatile Memory devices, such as static random access Memory (Static Random Access Memory, SRAM for short), electrically erasable programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM for short), programmable Read-Only Memory (Programmable Read-Only Memory, PROM for short), read-Only Memory (ROM for short), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia component 1103 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen, the audio component being for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 1102 or transmitted through communications component 1105. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 1104 provides an interface between the processor 1101 and other interface modules, which may be a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 1105 is used for wired or wireless communication between the electronic device 1100 and other devices. Wireless communication, such as Wi-Fi, bluetooth, near field communication (Near Field Communication, NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or a combination of more of them, is not limited herein. The corresponding communication component 1105 may thus comprise: wi-Fi module, bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic device 1100 may be implemented by one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), digital signal processors (Digital Signal Processor, abbreviated as DSP), digital signal processing devices (Digital Signal Processing Device, abbreviated as DSPD), programmable logic devices (Programmable Logic Device, abbreviated as PLD), field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), controllers, microcontrollers, microprocessors, or other electronic components for performing the lane line generation method described above.
FIG. 12 is a schematic diagram of a vehicle, according to an exemplary embodiment. As shown in fig. 12, the vehicle 1200 includes the electronic device 1100 described above in the present disclosure.
In another exemplary embodiment, a computer readable storage medium is also provided, comprising program instructions which, when executed by a processor, implement the steps of the lane line generation method described above. For example, the computer readable storage medium may be the memory 1102 including program instructions described above, which are executable by the processor 1101 of the electronic device 1100 to perform the lane line generation method described above.
The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.
Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.
Claims (10)
1. A lane line generation method, the method comprising:
under the condition that the vehicle is determined to be in a target curve, acquiring first curvature radius information of a designated position point on the target curve;
when the first curvature radius information is smaller than or equal to a preset curvature radius threshold value, compensating the first curvature radius information according to a preset curvature radius compensation value to obtain second position information of the specified position point after curvature radius compensation;
and generating a lane line according to the current vehicle position information and the second position information of the vehicle.
2. The method of claim 1, wherein the obtaining first radius of curvature information for a specified location point on the target curve comprises:
acquiring the appointed position information of the appointed position point and the current vehicle position information of the vehicle;
and determining the first curvature radius information according to the specified position information and the vehicle position information.
3. The method of claim 1, wherein the obtaining first radius of curvature information for a specified location point on the target curve comprises:
acquiring size data of the target curve;
and determining first curvature radius information of the specified position point according to the corresponding relation between the size data and the preset curvature radius, wherein the corresponding relation of the preset curvature radius comprises preset curvature radius information corresponding to a plurality of pieces of preset curve size data.
4. The method of claim 1, wherein compensating the first radius of curvature information according to a preset radius of curvature compensation value to obtain the second location information of the specified location point after radius of curvature compensation comprises:
acquiring a preset compensation curvature radius value under the condition that the first curvature radius information is smaller than or equal to a preset curvature radius threshold value;
and obtaining second position information of the specified position point after curvature radius compensation according to the preset compensation curvature radius value and the first curvature radius information.
5. The method of claim 4, wherein obtaining the second position information of the specified position point after the radius of curvature compensation according to the preset compensation radius value and the first radius of curvature information comprises:
determining second position information of the specified position point after curvature radius compensation according to the following formula:
wherein Deltax is the variation of the longitudinal distance, R 0 To be the instituteThe first curvature radius information R 1 And for the preset compensation curvature radius value, x and y are coordinates of the second position information.
6. The method of any of claims 1-5, wherein the generating a lane line from the current vehicle location information and the second location information of the vehicle comprises:
taking the vehicle position information and the second position information as two endpoints of the lane line respectively;
and determining to generate a lane line according to the two endpoints and the preset compensation curvature radius value.
7. A lane line generating apparatus, characterized by comprising:
the acquisition module is used for acquiring first curvature radius information of a designated position point on a target curve under the condition that the vehicle is determined to be in the target curve;
the compensation module is used for compensating the first curvature radius information according to a preset curvature radius compensation value under the condition that the first curvature radius information is smaller than or equal to a preset curvature radius threshold value, so as to obtain second position information of the specified position point after curvature radius compensation;
and the generation module is used for generating a lane line according to the current vehicle position information of the vehicle and the second position information.
8. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the method according to any of claims 1-6.
9. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-6.
10. A vehicle comprising the electronic device of claim 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311868158.6A CN117818628A (en) | 2023-12-29 | 2023-12-29 | Lane line generation method and device, storage medium, electronic equipment and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311868158.6A CN117818628A (en) | 2023-12-29 | 2023-12-29 | Lane line generation method and device, storage medium, electronic equipment and vehicle |
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| CN117818628A true CN117818628A (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311868158.6A Pending CN117818628A (en) | 2023-12-29 | 2023-12-29 | Lane line generation method and device, storage medium, electronic equipment and vehicle |
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| Country | Link |
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| CN (1) | CN117818628A (en) |
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