WO2023273511A1

WO2023273511A1 - Same lane determination method, electronic device, and computer readable storage medium

Info

Publication number: WO2023273511A1
Application number: PCT/CN2022/086696
Authority: WO
Inventors: 陈文蓉; 王亚飞; 吴胜杰; 张强
Original assignee: 中兴通讯股份有限公司
Priority date: 2021-06-30
Filing date: 2022-04-13
Publication date: 2023-01-05
Also published as: CN115567875A

Abstract

Embodiments of the present disclosure relate to the technical field of Internet of vehicles, and in particular, to a same lane determination method, an electronic device, and a computer readable storage medium. The same lane determination method comprises: obtaining a first heading angle of a main vehicle, and obtaining a second heading angle of a far vehicle; determining a first position where the main vehicle is located and a second position where the far vehicle is located; determining a lateral distance between the main vehicle and the far vehicle according to the first heading angle, the second heading angle, the first position, and the second position; and determining, according to the lateral distance and a preset lane width, whether the main vehicle and the far vehicle are located in the same lane.

Description

Method for judging the same lane, electronic device and computer-readable storage medium

Cross References to Related Applications

This disclosure claims the priority of the Chinese patent application CN202110736285.5 entitled "Judgement method, electronic device and computer-readable storage medium of the same lane" filed on June 30, 2021, the entire contents of which are incorporated by reference into this disclosure middle.

technical field

Embodiments of the present disclosure relate to the technical field of Internet of Vehicles, and in particular, to a method for judging the same lane, an electronic device, and a computer-readable storage medium.

Background technique

During the driving process of the vehicle, it is necessary to judge whether the vehicle is in the same lane in a special scenario. At present, human judgment is needed, and how to make accurate and reliable same-lane judgment in the field of Internet of Vehicles is a key technology that needs to be solved at present or in the future.

Contents of the invention

The main purpose of the embodiments of the present disclosure is to provide a method for judging the same lane, an electronic device, and a computer-readable storage medium, aiming at improving the accuracy and reliability of judging the same lane and reducing the cost and difficulty of judging the same lane.

In order to achieve the above purpose, an embodiment of the present disclosure provides a method for judging the same lane, including: obtaining the first heading angle of the main vehicle, and obtaining the second heading angle of the remote vehicle; determining the first position of the main vehicle and the second position where the remote vehicle is located; according to the first heading angle, the second heading angle, the first position and the second position, determine the distance between the main vehicle and the remote vehicle The lateral distance; according to the lateral distance and the preset lane width, it is confirmed whether the main vehicle and the remote vehicle are located in the same lane.

To achieve the above object, an embodiment of the present disclosure further provides an electronic device, including: at least one processor; and a memory connected to the at least one processor in communication; An instruction executed by a processor, the instruction is executed by the at least one processor, so that the at least one processor can execute the above method for judging the same lane.

To achieve the above object, an embodiment of the present disclosure further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above method for judging the same lane is implemented.

Description of drawings

FIG. 1 is a flow chart of a method for judging the same lane mentioned in an embodiment of the present disclosure;

FIG. 2 is a flow chart of the implementation of step 103 mentioned in the embodiment of the present disclosure;

Fig. 3 is a schematic diagram of the geometric relationship between the positions of the main vehicle and the remote vehicle in a curve scene mentioned in the embodiment of the present disclosure;

Fig. 4 is a schematic diagram of the geometric relationship between the positions of the main vehicle and the distant vehicle in another curve scene mentioned in the embodiment of the present disclosure;

Fig. 5 is a schematic diagram of the geometric relationship between the positions of the main vehicle and the distant vehicle in the straight road scene mentioned in the embodiment of the present disclosure;

Fig. 6 is a schematic structural diagram of an electronic device mentioned in an embodiment of the present disclosure.

detailed description

In order to make the purpose, technical solutions, and advantages of the embodiments of the present disclosure clearer, various embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. However, those skilled in the art can understand that in various embodiments of the present disclosure, many technical details are provided for readers to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present disclosure can be realized. The division of the following embodiments is for the convenience of description, and should not constitute any limitation to the specific implementation of the present disclosure, and the embodiments can be combined and referenced to each other on the premise of no contradiction.

Embodiments of the present disclosure relate to a method for judging the same lane, which is used for judging whether multiple vehicles are in the same lane, so as to facilitate the driver to take timely evasive actions and improve driving safety. The method for judging the same lane in this embodiment is applied to electronic equipment, and the electronic equipment is set on the main vehicle, for example, it may be a V2X device on the main vehicle. The vehicle-to-everything (V2X) technology is the key technology of the future intelligent transportation system, which enables communication between vehicles, vehicles and base stations, and base stations. In order to obtain a series of traffic information such as real-time road conditions, road information, and pedestrian information, so as to improve driving safety, reduce congestion, improve traffic efficiency, and provide in-vehicle entertainment information. However, in one embodiment, the electronic device can also be an on-board unit (On board Unit, referred to as: OBU), a driving recorder and other on-board equipment, or it can also be a terminal device such as a mobile phone and a tablet computer. An application program for realizing the determination method of the same lane in this embodiment may be stored.

The implementation details of the method for judging the same lane in this embodiment will be described in detail below. The following content is only implementation details provided for easy understanding, and is not necessary for implementing this solution.

In one embodiment, the flow chart of the judging method of the same lane can refer to FIG. 1, including:

Step 101: Obtain the first heading angle of the main vehicle, and obtain the second heading angle of the remote vehicle;

Step 102: Determine the first position where the main vehicle is located and the second position where the remote vehicle is located;

Step 103: Determine the lateral distance between the main vehicle and the distant vehicle according to the first heading angle, the second heading angle, the first position and the second position;

Step 104: Confirm whether the main vehicle and the remote vehicle are in the same lane according to the lateral distance and the preset lane width.

In the embodiment of the present disclosure, the first heading angle of the main vehicle and the second heading angle of the remote vehicle are obtained, the first position of the main vehicle and the second position of the remote vehicle are determined, and then according to the first heading angle and the second heading angle The angle, the first position and the second position determine the lateral distance between the main vehicle and the distant vehicle, and then determine whether the main vehicle and the distant vehicle are in the same lane based on the lateral distance and the width of the lane. In the process of judging the same lane, the embodiment of the present disclosure does not need to obtain driving road pictures through the camera, so the cost is relatively low, and the calculation of the lateral distance based on the angle, position and other information is equivalent to the calculation of the lateral distance based on the geometric method. Compared with the visual The lateral distance obtained by the identification method is more reliable and less difficult. At the same time, the embodiment of the present disclosure avoids the inaccurate fitting curve obtained by fitting the historical track points, thereby avoiding the inaccuracy of the same-vehicle judgment result caused by the inaccurate fitting curve. That is, the embodiments of the present disclosure can improve the accuracy and reliability of judging the same lane, and reduce the cost and difficulty of judging the same lane.

In step 101, the V2X device on the host vehicle (hereinafter referred to as the first V2X device) may acquire the first heading angle of the host vehicle and the second heading angle of the remote vehicle. Among them, the host vehicle (Host Vehicle, referred to as: HV) can be understood as the current vehicle, that is, the vehicle that needs to determine which vehicles are in the same lane as itself. Remote Vehicle (referred to as: RV) can be understood as other vehicles except the main vehicle. HV can be understood as a target vehicle equipped with an on-board unit and running an application program; RV can be understood as a background vehicle that cooperates with HV and can regularly broadcast V2X messages.

In an example, the first V2X device may acquire Global Positioning System (Global Positioning System, GPS for short) data of the main vehicle, and then calculate the first heading angle of the main vehicle according to the GPS data. Wherein, the GPS data may include latitude and longitude information of multiple consecutive frames, and the first V2X device may calculate the first heading angle of the main vehicle according to the latitude and longitude information of multiple consecutive frames.

In an example, the first V2X device receives the V2X data sent by the remote vehicle, and acquires the second heading angle of the remote vehicle according to the V2X data. Among them, a V2X device can also be installed on the remote car, and the V2X device on the remote car (hereinafter referred to as the second V2X device) can obtain the V2X data of the remote car, and then send the V2X data to the V2X device on the main car.

In an example, the V2X data includes the second heading angle of the remote vehicle, and the first V2X device can analyze the second heading angle from the V2X data. For example, the second V2X device can obtain the GPS data of the remote vehicle, then calculate the second heading angle of the remote vehicle according to the GPS data of the remote vehicle, and then send the calculated second heading angle to the first V2X device through V2X, thereby The first V2X device can directly obtain the second heading angle of the remote vehicle from the V2X data, avoiding the need for calculation by the first V2X device to obtain the second heading angle of the remote vehicle, and is conducive to alleviating the calculation pressure of the first V2X device.

In another example, the V2X data includes GPS data of the remote vehicle, and the first V2X device may obtain the GPS data of the remote vehicle from the V2X data, and then calculate the second heading angle of the remote vehicle according to the GPS data of the remote vehicle. For example, the second V2X device can obtain the GPS data of the remote car, and then send the GPS data of the remote car to the first V2X device through V2X, so that the first V2X device can calculate the distance of the remote car based on the received GPS data of the remote car. The second heading angle prevents the second V2X device from needing calculations to obtain the second heading angle of the remote vehicle, which helps relieve the calculation pressure of the second V2X device.

In an implementation manner, the V2X data may include information such as speed and acceleration of the remote vehicle in addition to the GPS data of the remote vehicle and the second heading angle of the remote vehicle, which is not specifically limited in this embodiment. In one embodiment, the longitude and latitude information of consecutive multi-frames can also be used to calculate the heading angle at the same time, or the heading angle of the remote vehicle can be obtained from the basic safety message (Basic Safety Message, BSM) of the remote vehicle. Angles can also include: speed, acceleration, steering, braking, double flash, position, etc.

In step 102, the first V2X device may determine the first location where the host vehicle is located and the second location where the remote vehicle is located. Wherein, the first position may be represented by latitude and longitude information of the main vehicle, and the second position may be represented by latitude and longitude information of the remote vehicle. The first V2X device can determine the first location of the main vehicle according to the GPS data of the main vehicle, the first V2X device can obtain the GPS data of the remote vehicle from the received V2X data sent by the second V2X device, and The data determines the second location where the remote vehicle is located.

In step 103, the first V2X device may determine the lateral distance between the host vehicle and the remote vehicle according to the first heading angle, the second heading angle, the first position and the second position. Among them, the first heading angle, the second heading angle, the first position, and the second position can reflect the geometric relationship between the straight-line distance, the lateral distance, and the longitudinal distance between the main vehicle and the remote vehicle, and the first V2X device can The relationship is calculated to obtain the lateral distance between the main vehicle and the remote vehicle. Among them, the lateral distance can be understood as the lateral vehicle-to-vehicle distance between parallel or opposite vehicles on the road.

In one embodiment, the implementation of step 103 can be as shown in Figure 2, including:

Step 201: Calculate the distance of the straight line formed between the first position and the second position;

Step 202: Determine the angle between the true north direction of the first position and the straight line;

Step 203: Determine the lateral distance between the main vehicle and the remote vehicle according to the first heading angle, the second heading angle, the straight line distance and the included angle.

In order to facilitate the understanding of the above steps, the following is an illustration in conjunction with the schematic diagram of the geometric relationship between the positions of the main vehicle and the remote vehicle, that is, Figure 3:

In Fig. 3, the first position of the main vehicle (HV) is B1, the second position of the remote vehicle ₁ (RV1) is A1, and the second position _of the remote vehicle 2 (RV2) is G. That is, the lane in Fig. 3 is a curved road, and there are three cars on the curved road, namely the main car, the far car 1 and the far car 2.

In Figure 3, the following assumptions are made based on the actual situation:

(1) The vehicle that needs to be warned is on a curve with the same curvature, which can be approximately considered to be on a circular arc;

(2) Under normal circumstances, the vehicle basically runs along the centerline of the lane, that is, the heading coincides with the arc tangent.

If the curve is formed by connecting roads with different curvature radii, when the difference between the curvature radii of the two roads is within a certain range, the judgment of the same lane can still be realized. After several simulation tests, when the difference between the curvature radii of the two roads is within 50m, the judgment is more accurate.

In Figure 3, points A ₁ and B ₁ represent RV1 and HV respectively; vectors u and v are the velocities of RV1 and HV, which coincide with the tangents of the arc at points A ₁ and B ₁ ; vectors w and a point to the true north ; α=∠CA ₁ B is the course angle of RV1, β=∠AB ₁ D is the course angle of HV. Point G represents RV2 in the adjacent lane of RV1, and runs in parallel with RV1 in the same direction, that is, the speed of RV2 is the same as that of RV1 and the line connecting A ₁ G passes through the center of the arc; two concentric arcs represent adjacent lanes centerline of .

In step 201, the first V2X device may calculate the distance of the straight line connecting the first location and the second location according to the GPS data of the main vehicle and the GPS data of the remote vehicle. The GPS data of the main vehicle may include latitude and longitude information of the main vehicle, and the GPS data of the remote vehicle may include latitude and longitude information of the remote vehicle. The first V2X device may calculate the first position and the second position according to the latitude and longitude information of the main vehicle and the latitude and longitude information of the remote vehicle The straight line distance between the locations. Referring to Fig. 3, if the distance between the _first position of the main vehicle HV and the second position of the remote vehicle RV1 is calculated, the distance _of the straight line can be between A1 and B1. The straight-line distance h; if the calculation is the distance between the first position where the main vehicle HV is located and the second position where the remote vehicle RV2 is located, the distance _of the straight line can be between the two points B1 and G The straight-line distance l.

In step 202, the first V2X device may determine the angle between the true north direction of the first location and the straight line (ie, the straight line connecting the first location and the second location). In one embodiment, if the lateral distance between the host vehicle HV and the remote vehicle RV1 is to be calculated, then referring to FIG. 3 , the angle obtained in step 202 is: the true north direction (vector w) of the _first position B1 The included angle θ of the straight line (A ₁ B ₁ )=∠AB ₁ A ₁ . θ can also be referred to as the starting angle of the shortest path h of RV1 and HV. If the lateral distance between the main vehicle HV and the remote vehicle RV2 is to be calculated, the included angle obtained in step 202 is: the included angle ∠ between the true north direction (vector w) of the _first position B1 and the straight line ( _B1G ) AB _1G .

In step 203, the first V2X device can obtain the distance between the main vehicle and the remote vehicle according to the first heading angle, the second heading angle, the distance of the straight line, and the included angle under the constructed geometric model for calculating the lateral distance. Among them, the geometric model is constructed according to the first position, the second position, the speed direction of the main vehicle, the speed direction of the remote vehicle, the true north direction of the first position, and the true north direction of the second position. The geometric model can be obtained through pre-construction and stored in the first V2X device, so that the first V2X device can calculate the lateral distance between the host vehicle and the remote vehicle according to the geometric model. Through this geometric model, the lateral distance between the main vehicle and the distant vehicle can be obtained simply and quickly.

In one example, referring to Fig. 3, according to the first position (B ₁ ), the second position (A ₁ ), the speed direction of the host vehicle (vector v), the speed direction of the remote vehicle (vector u), and the The geometric model constructed by the true north direction (vector w) and the true north direction (vector a) of the second position can be as follows:

Wherein, dis _lateral is the lateral distance, β is the first heading angle, α is the second heading angle, and dis is the straight line distance. For the remote vehicle RV1, dis is h in Figure 3, and for the remote vehicle RV2, dis is l in Figure 3. In one embodiment, the values of α, β, θ, and dis can be substituted into the above geometric model to calculate the lateral distance between the main vehicle and the remote vehicle.

It can be seen from FIG. 3 that HV and RV1 are located in the same lane, and the lateral distance between them is 0; HV and RV2 are located in different lanes, and the lateral distance between them is GA ₁ . Referring to Fig. 4, dotted lines f and g are the tangents of arcs at points A ₁ and B ₁ , ∠HB ₁ A ₁ = θ-β, ∠HB ₁ A ₁ = ∠HA ₁ B ₁ , ∠HA ₁ B = α- θ, so when HV and RV1 are on the same lane line, the heading angles β and α of HV and RV1 and the starting angle θ of the shortest path between HV and RV1 satisfy the following relationship:

then will

Substituting into the above geometric model, it can be obtained that the lateral distance between HV and RV1 is 0.

That is to say, when the main vehicle and the remote vehicle are in the same lane, the first heading angle β, the second heading angle α and the included angle θ satisfy the following relationship:

For HV and RV2, that is, when calculating the lateral distance between HV and RV2, the heading angle of HV is β, the heading angle of RV2 is α, and the starting angle of the shortest path between HV and RV2 is θ'=∠AB ₁ G (ie The angle between the true north direction w where HV is located and the straight line B ₁ G). pass

It can be seen that ∠A ₁ B ₁ G＝θ'-θ＝θ'-(α+β)/2, ∠B ₁ A ₁ G＝∠HA ₁ G-∠HA ₁ B ₁ ＝90°-(α-θ) =90°-((α-β)/2), ∠B ₁ GA ₁ =90°-θ'+α, the linear distance dis between HV and RV2 is B ₁ G. According to the sine law, the lateral distance A ₁ G between HV and RV2 is:

In one embodiment, the geometric model is used to calculate the lateral distance between the main vehicle and the distant vehicle in the curve scene, and is used to calculate the lateral distance between the main vehicle and the distant vehicle in the straight road scene, that is, this The disclosed method for judging the same lane is also applicable to judging the same lane for vehicles in the straight road.

The above-mentioned embodiment introduces that the geometric model is used to calculate the lateral distance between the main vehicle and the distant vehicle in the curved road scene. The following mainly introduces that the geometric model is also used to calculate the lateral distance between the main vehicle and the distant vehicle in the straight road scene. distance.

Referring to Figure 5, when the main vehicle HV and the remote vehicle RV are both located on the straight road, since the straight road can be considered as a circular arc with an infinite radius of curvature, the above-mentioned geometric model for calculating the lateral distance obtained from a general circular arc is also applicable to the calculation of the straight road The lateral distance between the two cars in . For example, in Figure 5, point A represents the position of the main vehicle HV, point B represents the position of RV1 in the same lane as the HV, and point C represents the position of RV2 in a different lane from the HV. Obviously, the horizontal distance between HV and RV1 should be 0; the horizontal distance between HV and RV2 should be BC. In the following, the calculation of the lateral distance by the above geometric model is used to verify that the above geometric model is also applicable to the calculation of the lateral distance between vehicles in the straight road.

When calculating the lateral distance between HV and RV1, the heading angle of HV is β, the heading angle of RV1 is α, and the starting angle θ of the shortest path between HV and RV1 (that is, the angle between the true north direction where HV is located and the straight line AB ), these three included angles are equal in size, that is, θ=α=β, the relative distance between HV and RV1 dis=AB, the values of α, β, θ, dis can be calculated by substituting the values of α, β, θ, dis into the above geometric model The vertical distance between HV and RV1 is calculated as follows:

It can be seen that when the above geometric model is used to calculate the lateral distance between the host vehicle HV and the remote vehicle RV1, the calculated result is the same as the theoretical lateral distance between HV and RV1.

When calculating the lateral distance between HV and RV2, the course angle of HV is β, the course angle of RV1 is α, α=β, and the starting angle of the shortest path from HV to RV2 is θ (that is, the direction of true north where HV is located and the straight line The angle between AC ∠EAC), the relative distance between the two vehicles dis=AC, the vertical distance between HV and RV2 can be calculated by substituting the values of α, β, θ, and dis into the above geometric model, and the calculation process is as follows:

It can be seen that when the above geometric model is used to calculate the lateral distance between the host vehicle HV and the remote vehicle RV2, the calculated result is the same as the theoretical lateral distance between HV and RV2.

The geometric model in the embodiment of the present disclosure is not only applicable to the calculation of the lateral distance between vehicles in a curve, but also applicable to the calculation of the lateral distance between vehicles in a straight road, so that the method for judging the same lane in this embodiment is applicable to the scene It is strong and can be applied to most roads. In the related technology, it is difficult to fit the path of the curve by fitting the historical track points, that is, it is not very applicable to the judgment of the same lane in the curve scene. The embodiments of the present disclosure can be used for the curve scene and the straight road scene Using the same geometric model to calculate the lateral distance saves computing power and reduces the difficulty and cost of judging the same lane.

In step 104, the first V2X device can confirm whether the host vehicle and the remote vehicle are located in the same lane according to the lateral distance and the preset lane width. For example, if the lateral distance between the main vehicle and the distant vehicle is less than or equal to the width of the lane, it can be determined that the main vehicle and the distant vehicle are in the same lane; if the lateral distance between the main vehicle and the distant vehicle is greater than the width of the lane, it can be determined It is determined that the main vehicle and the remote vehicle are not in the same lane. Wherein, the width of the lane can be preset, and the width of the lane where the main vehicle is located can also be directly recognized. For example, according to the national standards and regulations, the lane width mainly considers factors such as "design vehicle speed, vehicle type, intersection, reconstruction and expansion conditions", and the width value is generally 2.8 to 3.75 meters. A person skilled in the art may select one of 2.8 to 3.75 meters as the preset lane width and store it in the first V2X device. In some implementation manners, the preset lane width may also be obtained according to a received MAP message.

In this embodiment, no sensors (camera and radar) are needed, only the location of the vehicle, that is, the longitude and latitude information, needs to be provided through the GPS data of the main vehicle and the remote vehicle, and the heading is calculated by the positions of the main vehicle and the remote vehicle at all times. Angle, and perform geometric calculations based on the position and orientation angle to solve the lateral distance between the main vehicle and the distant vehicle, and determine whether the main vehicle and the distant vehicle are in the same lane according to the lateral distance. The method based on the geometric model in this embodiment saves computing power and reduces the difficulty and cost of judgment. Moreover, the calculation method based on the geometric model is more reliable than the traditional visual recognition method. The method for judging the same lane involved in this embodiment is applicable to both straight roads and curved roads, and has strong scene applicability and can be applied to most roads. Moreover, this embodiment does not need to fit the historical track points, and the calculation of the lateral distance is based on the positions of the main vehicle and the distant vehicle and the positions of the main vehicle and the remote vehicle, which avoids the inaccurate fitting of the historical track points. Fitting the curve, thus avoiding the inaccurate judgment result of the same car caused by the inaccurate fitting curve.

The step division of the above various methods is only for the sake of clarity of description. During implementation, it can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. ; Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but not changing the core design of the algorithm and process are all within the scope of protection of this patent.

Embodiments of the present disclosure also relate to an electronic device, as shown in FIG. 6 , including at least one processor 601; and a memory 602 communicatively connected to at least one processor 601; wherein, the memory 602 stores information that can be processed by at least one The instructions executed by the processor 601 are executed by at least one processor 601, so that the at least one processor 601 can execute the method for judging the same lane in the above embodiment.

Wherein, the memory 602 and the processor 601 are connected by a bus, and the bus may include any number of interconnected buses and bridges, and the bus connects one or more processors 601 and various circuits of the memory 602 together. The bus may also connect together various other circuits such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and therefore will not be further described herein. The bus interface provides an interface between the bus and the transceivers. A transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing means for communicating with various other devices over a transmission medium. The data processed by the processor 601 is transmitted on the wireless medium through the antenna. In one embodiment, the antenna also receives the data and transmits the data to the processor 601 .

Processor 601 is responsible for managing the bus and general processing, and may also provide various functions including timing, peripheral interface, voltage regulation, power management, and other control functions. And the memory 602 may be used to store data used by the processor 601 when performing operations.

The embodiment of the present disclosure also provides a computer-readable storage medium storing a computer program. The above method embodiments are implemented when the computer program is executed by the processor.

That is, those skilled in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be completed by instructing related hardware through a program, the program is stored in a storage medium, and includes several instructions to make a device ( It may be a single-chip microcomputer, a chip, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present disclosure. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .

Those of ordinary skill in the art can understand that the above-mentioned embodiments are specific examples for realizing the present disclosure, and in practical applications, various changes can be made in form and details without departing from the spirit and spirit of the present disclosure. scope.

Claims

A method for judging the same lane, including:

Get the first heading angle of the main car, and get the second heading angle of the remote car;

determining the first position where the main vehicle is located and the second position where the remote vehicle is located;

determining a lateral distance between the host vehicle and the remote vehicle according to the first heading angle, the second heading angle, the first position, and the second position;

It is confirmed whether the host vehicle and the distant vehicle are located in the same lane according to the lateral distance and the preset lane width.
The method for judging the same lane according to claim 1, wherein, according to the first heading angle, the second heading angle, the first position and the second position, determining the host vehicle and the The lateral distance between the distant vehicles, including:

calculating the distance of a straight line connecting the first location and the second location;

determining the angle between the true north direction of the first position and the straight line;

The lateral distance between the main vehicle and the remote vehicle is determined according to the first heading angle, the second heading angle, the distance of the straight line and the included angle.
The method for judging the same lane according to claim 2, wherein, according to the first heading angle, the second heading angle, the distance between the straight line and the included angle, determine the host vehicle and the The lateral distance between vehicles mentioned above includes:

Under the constructed geometric model for calculating the lateral distance, according to the first heading angle, the second heading angle, the distance between the straight line and the included angle, the distance between the main vehicle and the remote vehicle is obtained. The lateral distance between; wherein, the geometric model is based on the first position, the second position, the speed direction of the main vehicle, the speed direction of the remote vehicle, the true north direction of the first position, The due north direction of the second location is constructed.
The method for judging the same lane according to claim 3, wherein the geometric model is as follows:

Wherein, dis lateral is the lateral distance, β is the first heading angle, α is the second heading angle, dis is the straight line distance, and θ is the included angle.
The method for judging the same lane according to claim 3 or 4, wherein the geometric model is used to calculate the lateral distance between the main vehicle and the distant vehicle in the curve scene, and is used to calculate the distance between the main car and the far car in the straight road scene. The lateral distance between the main vehicle and the remote vehicle.
The method for judging the same lane according to any one of claims 1 to 4, wherein said acquiring the first heading angle of the host vehicle comprises:

Acquiring GPS data of the main vehicle, and calculating a first heading angle of the main vehicle according to the GPS data of the main vehicle.
The method for judging the same lane according to any one of claims 1 to 4, wherein said obtaining the second heading angle of the distant vehicle comprises:

Receive V2X data sent by remote vehicles;

Acquiring a second heading angle of the remote vehicle according to the V2X data.
The method for judging the same lane according to claim 7, wherein the V2X data includes a second heading angle of the distant vehicle, and the second heading angle of the distant vehicle is obtained according to the V2X data, Including: analyzing the second heading angle from the V2X data; or,

The V2X data includes the GPS data of the remote vehicle, and the acquiring the second heading angle of the remote vehicle according to the V2X data includes: calculating the distance angle of the remote vehicle according to the GPS data of the remote vehicle Second heading angle.
An electronic device, comprising: at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory is stored with instructions executable by the at least one processor, the instructions are executed by the at least one processor, so that the at least one processor can perform any one of claims 1 to 8 The judgment method of the same lane.
A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the method for judging the same lane as claimed in any one of claims 1 to 8 is implemented.