CN113032500A - Vehicle positioning method and device, computer equipment and storage medium - Google Patents
Vehicle positioning method and device, computer equipment and storage medium Download PDFInfo
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- CN113032500A CN113032500A CN201911357838.5A CN201911357838A CN113032500A CN 113032500 A CN113032500 A CN 113032500A CN 201911357838 A CN201911357838 A CN 201911357838A CN 113032500 A CN113032500 A CN 113032500A
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Abstract
The application relates to a vehicle positioning method, a vehicle positioning device, computer equipment and a storage medium. The method comprises the following steps: when the vehicle runs to a crossroad, acquiring a lane mark of a current lane where the vehicle runs through a camera; matching the lane mark with a pre-stored reference mark, and determining a first lane according to a matching result; determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane; when the vehicle passes through the intersection, the vehicle is positioned onto the connecting line. The vehicle positioning method, the vehicle positioning device, the computer equipment and the storage medium can more accurately position the vehicle.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a vehicle positioning method and apparatus, a computer device, and a storage medium.
Background
With the development of society and economy, vehicles are more and more. In the process of vehicle driving, the vehicle is positioned to obtain the position information of the vehicle, so that whether the vehicle is driven on a correct road can be judged. Particularly, at some intersections, it is more important to position the vehicle at the correct position, so that the driver can be prevented from driving to the wrong intersection.
However, in the conventional vehicle positioning technology, there is a problem that the vehicle positioning is inaccurate.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle positioning method, apparatus, computer device and storage medium capable of improving accuracy.
A vehicle localization method, the method comprising:
when a vehicle runs to a crossroad, acquiring a lane mark of a current lane where the vehicle runs through a camera;
matching the lane mark with a pre-stored reference mark, and determining a first lane according to a matching result;
determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane;
positioning the vehicle onto the connecting line when the vehicle passes the intersection.
In one embodiment, the method further comprises:
when the number of the first lanes is at least two, acquiring the priority of each first lane;
determining a second lane from each of the first lanes according to the priority of each of the first lanes;
said positioning said vehicle onto said connecting line when said vehicle passes through said intersection, comprising:
and when the vehicle passes through the intersection, positioning the vehicle to a connecting line of the current lane and the second lane.
In one embodiment, the determining a connection line between the current lane and the first lane according to the position of the current lane and the position of the first lane includes:
determining at least two anchor points according to the position of the current lane and the position of the first lane;
determining a connection line between the current lane and the first lane by the at least two anchor points.
In one embodiment, after the acquiring, by the camera, the lane identification of the current lane where the vehicle is traveling when the vehicle is traveling to the intersection, the method further includes:
acquiring a reference lane of the vehicle in a vehicle positioning system and a reference lane mark of the reference lane;
positioning the vehicle onto the current lane in a vehicle positioning system when the reference lane identification is different from the lane identification of the current lane.
In one embodiment, the method further comprises:
after the vehicle passes through the intersection, acquiring the type of each lane in front of the vehicle through the camera;
determining a third lane of the vehicle based on the type of each of the lanes;
positioning the vehicle onto the third lane when the first lane is different from the third lane.
In one embodiment, before the acquiring, by the camera, the lane identification of the current lane where the vehicle is traveling when the vehicle is traveling to the intersection, the method further includes:
determining a first position of a vehicle in a vehicle positioning system in real time;
determining a second distance between a vehicle in a vehicle positioning system and a target line of an intersection according to a first position of the vehicle in the vehicle positioning system;
when the second distance is smaller than or equal to a first threshold value, acquiring road information in front of the vehicle in real time through a camera; the road information includes a first distance between the vehicle and a target line of an intersection; correcting a first position of a vehicle in the vehicle positioning system based on the first distance when the first distance is different from the second distance.
In one embodiment, the method further comprises:
after the vehicle passes through the intersection, acquiring the type of each lane in front of the vehicle through the camera;
determining a third lane of the vehicle based on the type of each of the lanes;
positioning the vehicle onto the third lane when the first lane is different from the third lane.
In one embodiment, said positioning the vehicle onto the third lane when the first lane is different from the third lane comprises:
when the first lane is different from the third lane, counting the number of times that the third lane is different from the target lane;
when the number of times reaches a number of times threshold, positioning the vehicle onto the third lane.
A vehicle locating device, the device comprising:
the lane mark acquisition module is used for acquiring a lane mark of a current lane of the vehicle through a camera when the vehicle runs to a cross road;
the matching module is used for matching the lane mark with a pre-stored reference mark and determining a first lane according to a matching result;
the connecting line determining module is used for determining a connecting line between the current lane and the first lane according to the position of the current lane and the position of the first lane;
and the positioning module is used for positioning the vehicle to the connecting line when the vehicle passes through the intersection.
A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the above method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
According to the vehicle positioning method, the vehicle positioning device, the computer equipment and the storage medium, when a vehicle runs to a cross road, the lane mark of the current lane of the vehicle is obtained through the camera; matching the lane mark with a pre-stored reference mark, and determining a first lane according to a matching result, namely predicting to obtain a first lane driven by the vehicle after the vehicle passes through the intersection through the lane mark of the current lane; determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane, wherein the connecting line can represent the track of the vehicle about to pass through the intersection; when the vehicle passes through the intersection, the vehicle is positioned to the connecting line, so that the vehicle can be positioned more accurately. In addition, a smoother connecting line can be determined according to the position of the current lane and the position of the first lane, so that the track of the vehicle when the vehicle passes through the intersection is smoother.
Drawings
FIG. 1 is a schematic flow chart diagram of a vehicle location method in one embodiment;
FIG. 2 is a schematic illustration of a vehicle positioned while traveling to a crossroad in one embodiment;
FIG. 3 is a schematic flow chart diagram of a vehicle location method in another embodiment;
FIG. 4 is a schematic diagram illustrating a process of positioning a vehicle when the number of first lanes is at least two according to an embodiment;
FIG. 5 is a schematic flow chart diagram of a vehicle location method in another embodiment;
FIG. 6 is a schematic illustration of a vehicle positioned at an intersection according to one embodiment;
FIG. 7 is a schematic flow chart diagram of a vehicle location method in another embodiment;
FIG. 8 is a block diagram showing the construction of a vehicle positioning apparatus according to an embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in FIG. 1, there is provided a vehicle localization method comprising the steps of:
and step 102, when the vehicle runs to the intersection, acquiring the lane mark of the current lane where the vehicle runs through the camera.
An intersection refers to an intersection where at least two roads intersect each other. The range of the intersection can be within 150 meters of a square circle by taking the middle point of the intersection as a center; or within 100 meters from the traffic lights, the range of the specific intersection can be set according to the needs of the user.
Lane marking (lane mark) is used to identify the type of lane. For example, the lane markings may be a left turn lane marking, a straight lane marking, a right turn lane marking, a u-turn lane marking, a straight and right turn merge lane marking, a u-turn and left turn merge lane marking, and the like, without being limited thereto. When the lane mark is a left-turn lane mark, the lane mark is used for guiding the vehicle to turn left; and when the lane mark is a straight-going and right-turning combined lane mark, the lane mark is used for guiding the vehicle to make a straight-going or right-turning.
It can be understood that the vehicle is provided with a camera, and the camera can be used for acquiring other reason information through the lane mark of the current lane where the vehicle runs. For example, the road information may include a distance between the vehicle and the intersection, the number of lanes in front of the vehicle, the number of lanes, the type of lane, and the like. Further, the camera may photograph the road behind the vehicle, or may photograph the road to the left and right of the vehicle, but is not limited thereto.
And 104, matching the lane mark with a pre-stored reference mark, and determining a first lane according to a matching result.
In a storage device of the vehicle, each reference mark and a lane corresponding to each reference mark are stored in advance. The lane corresponding to the reference mark refers to a lane which is guided by the reference mark and runs after the vehicle passes through the intersection. The first lane refers to a lane in which a vehicle guided by the lane marker of the current lane travels after passing through the intersection.
Specifically, the lane marks are matched with each pre-stored reference mark one by one, and the lane corresponding to the reference mark which is successfully matched is used as the first lane. For example, if the lane identification of the current lane matches the reference identification "left-turn lane identification", the lane entered after the vehicle left-turns corresponding to the "left-turn lane identification" is taken as the first lane.
It is understood that when the number of lanes corresponding to the reference mark matching the lane mark of the current lane is at least two, the number of the first lane is at least two. For example, if the reference sign matching the lane sign of the current lane is "left turn and left turn combined lane sign", the first lane may be a lane into which the vehicle makes a left turn, or a lane into which the vehicle makes a u-turn.
And 106, determining a connecting line between the current lane and the first lane according to the position of the current lane and the position of the first lane.
The connecting line refers to a predicted trajectory of the vehicle traveling from the current lane to the first lane.
And when the number of the first lanes is at least two, determining connecting lines between the position of the current lane and the position of the first lane respectively.
Specifically, at least two anchor points may be determined from between the position of the current lane and the position of the first lane, the current lane and the first lane may be connected by the at least two anchor points, and a connection line between the current lane and the first lane may be generated.
And step 108, positioning the vehicle to the connecting line when the vehicle passes through the intersection.
When a vehicle passes through an intersection, the vehicle is easily positioned wrongly because the intersection has no vehicle line. Therefore, when the vehicle passes through the intersection, the vehicle can be positioned on the connecting line, and the vehicle can be positioned more accurately.
According to the vehicle positioning method, when a vehicle runs to a cross road, the lane mark of the current lane of the vehicle is obtained through the camera; matching the lane mark with a pre-stored reference mark, and determining a first lane according to a matching result, namely predicting to obtain a first lane driven by the vehicle after the vehicle passes through the intersection through the lane mark of the current lane; determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane, wherein the connecting line can represent the track of the vehicle about to pass through the intersection; when the vehicle passes through the intersection, the vehicle is positioned to the connecting line, so that the vehicle can be positioned more accurately. In addition, a smoother connecting line can be determined according to the position of the current lane and the position of the first lane, so that the track of the vehicle when the vehicle passes through the intersection is smoother.
In one embodiment, as shown in FIG. 2, when a vehicle 202 travels to an intersection, a lane marker 206 of a current lane 204 traveled by the vehicle is obtained via a camera; matching the lane mark 206 with a pre-stored reference mark, and determining a first lane 208 if the lane mark 206 is known to represent a 'left-turn lane mark' according to the matching result; determining a connection line 210 between the current lane and the first lane according to the position of the current lane 204 and the position of the first lane 208; when the vehicle passes through the intersection, the vehicle is positioned onto the connecting line 210.
In one embodiment, as shown in FIG. 3, step 302 is performed to determine whether the vehicle is traveling to the intersection; if yes, executing step 304, and determining a first lane according to the lane mark; and when the judgment result is no, ending.
In one embodiment, as shown in fig. 4, the method further includes:
For example, when the lane mark of the current lane is a "combined straight and left-turn lane mark", the corresponding first lane may be a lane into which the vehicle enters straight, or a lane into which the vehicle enters left-turn.
In one embodiment, the priority of each first lane may be set according to a traffic rule of the road. For example, if the lane mark of the current lane is a "combined straight and right-turn lane mark", the corresponding first lane may be a lane into which the vehicle enters straight, or a lane into which the vehicle enters right-turn. According to the passing rule of the road, the priority of the lane entering the right turn of the lane is set to be high, and the priority of the lane entering the straight going of the vehicle is set to be low.
In another embodiment, the priority of each first lane may also be set according to the guidance route. In the positioning system of the vehicle, the destination of the user and the guide route on which the vehicle is traveling may be acquired, the priority of the first lane on the guide route may be set high, and the priority of the first lane not on the guide route may be set low.
When the number of the first lanes is at least two, the priority of each first lane may be acquired. The higher the priority of the first lane, the higher the probability that the vehicle will travel into that lane.
And step 404, determining a second lane from the first lanes according to the priority of the first lanes.
Optionally, the priorities of the first lanes are compared, and the first lane with the highest priority may be determined as the second lane; the first lane having the second highest priority may be determined as the second lane, but is not limited thereto.
Positioning a vehicle onto a connecting line when the vehicle passes through an intersection, comprising:
and 406, positioning the vehicle to a connecting line of the current lane and the second lane when the vehicle passes through the intersection.
And acquiring a connecting line between the current lane and the second lane, and positioning the vehicle to the connecting line between the current lane and the second lane when the vehicle passes through the intersection.
In this embodiment, when the number of the first lanes is at least two, the priority of each first lane is obtained, the more accurate second lane can be determined according to the priority of each first lane, and when the vehicle passes through the intersection, the vehicle is positioned to the connecting line between the current lane and the second lane, so that the vehicle can be positioned more accurately.
In one embodiment, the position of the vehicle is detected in real time as the vehicle passes through the intersection; and when the position of the vehicle deviates from the connecting line of the current lane and the second lane, re-determining the second lane based on the position of the vehicle, and positioning the vehicle on the connecting line of the current lane and the re-determined second lane.
When the position of the vehicle deviates from the connecting line of the current lane and the second lane, the lane which the vehicle enters through the intersection is not the second lane, and the second lane is determined again based on the position of the vehicle; and acquiring a connecting line of the current lane and the re-determined second lane, and positioning the vehicle to the connecting line of the current lane and the re-determined second lane.
In one embodiment, determining a connection line between the current lane and the first lane according to the position of the current lane and the position of the first lane comprises: determining at least two anchor points according to the position of the current lane and the position of the first lane; a connecting line between the current lane and the first lane is determined by at least two anchor points.
The anchor point refers to a point for connecting the current lane and the first lane.
Specifically, a target range is determined according to the position of the current lane and the position of the first lane, and at least two anchor points are determined from the target range. Wherein, the target range may be one of a rectangular region, a circular region, a triangular region, other regular regions or irregular regions formed by the position of the current lane and the position of the first lane. It will be appreciated that the greater the number of anchor points determined within the target range, the smoother the connecting lines generated by the respective anchor points, and the more accurate the location of the vehicle as it passes through the intersection.
In one embodiment, the smoothed connecting line may be generated based on a bezier curve. Bezier curves are applied to mathematical curves of two-dimensional graphics applications. The general vector graphic software accurately draws a curve through the curve, the Bezier curve consists of line segments and nodes, the nodes are dragging pivots, and the line segments are like telescopic rubber bands.
In one embodiment, after the camera acquires the lane identification of the current lane where the vehicle is traveling when the vehicle is traveling to the intersection, the method further includes: acquiring a reference lane of a vehicle in a vehicle positioning system and a reference lane mark of the reference lane; when the reference lane marking is different from the lane marking of the current lane, the vehicle is positioned on the current lane in the vehicle positioning system.
The reference lane refers to a lane in which the vehicle is located in the vehicle positioning system. When the reference lane marking is different from the lane marking of the current lane, marking that the vehicle is positioned to the wrong lane, and positioning the vehicle to the current lane in the vehicle positioning system.
For example, if the current lane is a left lane, the current lane is marked as a "left turn lane marker", the reference lane of the vehicle in the vehicle positioning system is a middle lane, the reference lane of the reference lane is marked as a "straight lane marker", and the reference lane marker is different from the lane marker of the current lane, the vehicle is positioned on the current lane, that is, the left lane, in the vehicle positioning system.
In the embodiment, the vehicle positioning in the vehicle positioning system is corrected through the lane mark of the current lane, so that the vehicle can be positioned more accurately.
In one embodiment, the method further comprises: after the vehicle passes through the intersection, acquiring the position of each lane in front of the vehicle relative to the vehicle through a camera; determining a third lane of the vehicle based on the position of each lane relative to the vehicle; when the first lane is different from the third lane, the vehicle is positioned onto the third lane.
It will be appreciated that in the middle of an intersection, where there is no lane line, a lane change in the middle of the intersection may result in the vehicle being positioned in the wrong lane.
Therefore, after the vehicle passes through the intersection, the position of each lane in front of the vehicle relative to the vehicle is acquired through the camera; a third lane of the vehicle may be determined based on a position of each lane relative to the vehicle.
For example, the lane in front of the vehicle is acquired by the camera, and the lane a, the lane B, the lane C, and the lane D are respectively found from left to right according to the position of each lane relative to the vehicle, the lane on the left side of the vehicle is the lane a, and the lanes on the right side of the vehicle are the lane B, the lane C, and the lane D, respectively, so that the third lane of the vehicle is determined as the leftmost lane.
In another embodiment, the method further comprises: the type of each lane in front of the vehicle can be acquired through the camera, and a third lane is determined based on the type of each lane; when the second lane is different from the target lane, the vehicle is positioned onto the target lane.
The types of lane may include solid lines and dashed lines. Generally, the vehicle lines on the leftmost side and the rightmost side of the road are solid lines, and the vehicle lines in the middle of the road may be solid lines or dotted lines. When the types of all the lanes in front of the vehicle are obtained through the camera, the lanes from left to right are respectively a solid line, a dotted line and a solid line according to the types of all the lanes, and the lanes on two sides of the vehicle are both dotted lines, the middle lane of the third lane can be determined.
When the second lane is different from the third lane, positioning the vehicle onto the third lane; when the second lane is the same as the third lane, it indicates that the vehicle is accurately positioned.
In one embodiment, as shown in fig. 5, before acquiring, by a camera, a lane identification of a current lane where a vehicle is traveling when the vehicle is traveling to a crossing, the method further includes:
A vehicle positioning system is mounted in a vehicle, and information such as a lane in which the vehicle is located and a road condition near the vehicle can be acquired by the vehicle positioning system.
A second distance between the vehicle in the vehicle localization system and a target line of the intersection is determined based on the first position of the vehicle in the vehicle localization system, step 504.
An intersection refers to an intersection where at least two roads intersect each other. The range of the intersection can be within 150 meters of a square circle by taking the middle point of the intersection as a center; or within 100 meters from the traffic lights, the range of the specific intersection can be set according to the needs of the user.
The second distance refers to the distance between the vehicle in the vehicle positioning system and the target line of the intersection.
Specifically, a reference position of a target line of the intersection ahead of the vehicle in the vehicle localization system may be determined, and a second distance between the vehicle in the vehicle localization system and the target line of the intersection may be determined based on the reference position and the first position.
For example, a reference position of a target line of an intersection ahead of the vehicle in the vehicle positioning system is determined, and the second distance is determined to be 55m based on the reference position and the first position.
The first threshold value may be set according to the user's needs. For example, the first threshold is 100 meters, the second distance between the vehicle in the vehicle positioning system and the target line of the intersection is determined to be 98 meters according to the first position of the vehicle in the vehicle positioning system, and when the second distance is less than or equal to the first threshold of 100 meters, the camera is used for acquiring the road information in front of the vehicle in real time.
The first distance refers to a distance between the vehicle acquired by the camera and a target line of the intersection. The target line refers to a line for the camera to detect the first distance of the vehicle in the intersection. For example, the target line may be a stop line, a zebra crossing, a deceleration passing line, a stop passing line, or the like, but is not limited thereto.
It is understood that a camera is mounted on the vehicle, and the road in front of the vehicle can be photographed by the camera, so that the road information in front of the vehicle can be acquired. For example, the road information may include a first distance between the vehicle and a target line of the intersection, and may also be the number of lanes in front of the vehicle, the number of lines, the type of lines, signs of the lanes, and the like. Further, the camera may photograph the road behind the vehicle, or may photograph the road to the left and right of the vehicle, but is not limited thereto. The lane line refers to a road line on both sides of a lane on which the vehicle travels.
A first position of the vehicle in the vehicle positioning system is corrected based on the first distance when the first distance is different from the second distance, step 508.
And when the first distance is different from the second distance, the second distance in the vehicle positioning system is inaccurate, and the first position of the vehicle in the vehicle positioning system is corrected based on the first distance acquired by the camera in real time.
According to the vehicle positioning method, when a vehicle runs to a cross road, the first position of the vehicle in the vehicle positioning system is determined in real time before the lane mark of the current lane where the vehicle runs is obtained through the camera; determining a second distance between the vehicle in the vehicle positioning system and a target line of the intersection according to the first position of the vehicle in the vehicle positioning system; when the second distance is smaller than or equal to the first threshold value, acquiring road information in front of the vehicle in real time through the camera; the road information includes a first distance between the vehicle and a target line of the intersection; correcting a first position of the vehicle in the vehicle positioning system based on the first distance when the first distance is different from the second distance; at the intersection in front of the vehicle, the second distance in the vehicle positioning system is corrected according to the first distance acquired by the camera, so that the vehicle can be positioned to an accurate position.
As shown in fig. 6, 602 is a zebra crossing, 604 is a stop line, 606 is an actual position of the vehicle, and 608 is a first position of the vehicle in the vehicle positioning system. The target line of the intersection can be 602 zebra stripes or 604 stop lines. Acquiring a first distance between the vehicle and a target line of the intersection, namely a first distance between an actual position 606 of the vehicle and the target line of the intersection through the camera; determining a second distance between the vehicle in the vehicle localization system and a target line of the intersection based on the first position 608 of the vehicle in the vehicle localization system; and when the first distance is different from the second distance, positioning the vehicle position in the vehicle positioning system to 606.
In one embodiment, as shown in FIG. 7, a first position of a vehicle in a vehicle positioning system is determined in real time; determining a second distance between the vehicle in the vehicle positioning system and a target line of the intersection according to the first position of the vehicle in the vehicle positioning system; executing step 702, determining whether the second distance is less than or equal to a first threshold; if yes, executing step 704 to correct the position of the vehicle in the vehicle positioning system; and if the judgment result is no, ending the process.
In one embodiment, the method further comprises: after the vehicle passes through the intersection, acquiring the position of each lane in front of the vehicle relative to the vehicle through a camera; determining a third lane of the vehicle based on the position of each lane relative to the vehicle; when the first lane is different from the third lane, the vehicle is positioned onto the third lane.
It will be appreciated that in the middle of an intersection, where there is no lane line, a lane change in the middle of the intersection may result in the vehicle being positioned in the wrong lane.
Therefore, after the vehicle passes through the intersection, the vehicle lines in front of the vehicle and the positions of the vehicle lines relative to the vehicle are acquired through the camera; a third lane of the vehicle may be determined based on a position of each lane relative to the vehicle.
For example, the lane in front of the vehicle is acquired by the camera, and the lane a, the lane B, the lane C, and the lane D are respectively found from left to right according to the position of each lane relative to the vehicle, the lane on the left side of the vehicle is the lane a, and the lanes on the right side of the vehicle are the lane B, the lane C, and the lane D, respectively, so that the third lane of the vehicle is determined as the leftmost lane.
In the embodiment, before acquiring the lane mark of the current lane where the vehicle runs, the vehicle corrects the position of the vehicle according to the first distance between the vehicle and the target line of the intersection acquired by the camera; when the vehicle runs to the intersection, the vehicle is positioned to a more accurate and smoother connecting line; after the vehicle passes through the intersection, the camera acquires the vehicle line in front of the vehicle, and the position of the vehicle is corrected, namely the vehicle is positioned to the accurate third lane. In this embodiment, the vehicle can be positioned more accurately before, when, and after the intersection.
In another embodiment, the method further comprises: the type of each lane in front of the vehicle can be acquired through the camera, and a third lane is determined based on the type of each lane; when the second lane is different from the target lane, the vehicle is positioned onto the target lane.
The types of lane may include solid lines and dashed lines. Generally, the vehicle lines on the leftmost side and the rightmost side of the road are solid lines, and the vehicle lines in the middle of the road may be solid lines or dotted lines. When the types of all the lanes in front of the vehicle are obtained through the camera, the lanes from left to right are respectively a solid line, a dotted line and a solid line according to the types of all the lanes, and the lanes on two sides of the vehicle are both dotted lines, the middle lane of the third lane can be determined.
When the second lane is different from the third lane, positioning the vehicle to the more accurate third lane; when the second lane is the same as the third lane, it indicates that the vehicle is accurately positioned.
It can be understood that, in order to save computer resources, the second lane and the third lane may be matched for a preset time period, and when the second lane is different from the third lane, the number of times that the second lane is different from the third lane is counted.
In one embodiment, when the first lane is different from the third lane, positioning the vehicle onto the third lane comprises: when the first lane is different from the third lane, counting the different times of the third lane and the target lane; when the number of times reaches a number of times threshold, the vehicle is positioned onto a third lane.
When the number of times that the first lane is different from the third lane reaches the threshold value, the first lane can be determined to be different from the third lane, the problem that the vehicle is positioned to the wrong lane due to the fact that the first lane is different from the third lane caused by errors is solved, and the stability of vehicle positioning can be improved.
It should be understood that although the steps in the flowcharts of fig. 1, 4 and 5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1, 4, and 5 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 8, there is provided a vehicle localization apparatus 800 comprising: a lane marking acquisition module 802, a matching module 804, a connecting line determination module 806, and a positioning module 808, wherein:
a lane mark obtaining module 802, configured to obtain a lane mark of a current lane of the vehicle through a camera when the vehicle travels to a crossing.
The matching module 804 is configured to match the lane identifier with a pre-stored reference identifier, and determine a first lane according to a matching result.
A connection line determining module 806, configured to determine a connection line between the current lane and the first lane according to the position of the current lane and the position of the first lane.
A positioning module 808 for positioning the vehicle onto the connecting line when the vehicle passes through the intersection.
When the vehicle runs to a cross road, the vehicle positioning device acquires the lane mark of the current lane of the vehicle through the camera; matching the lane mark with a pre-stored reference mark, and determining a first lane according to a matching result, namely predicting to obtain a first lane driven by the vehicle after the vehicle passes through the intersection through the lane mark of the current lane; determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane, wherein the connecting line can represent the track of the vehicle about to pass through the intersection; when the vehicle passes through the intersection, the vehicle is positioned to the connecting line, so that the vehicle can be positioned more accurately. In addition, a smoother connecting line can be determined according to the position of the current lane and the position of the first lane, so that the track of the vehicle when the vehicle passes through the intersection is smoother.
In one embodiment, the positioning module 808 is further configured to obtain the priority of each first lane when the number of the first lanes is at least two; and determining a second lane from the first lanes according to the priority of the first lanes. Positioning a vehicle onto a connecting line when the vehicle passes through an intersection, comprising: when the vehicle passes through the intersection, the vehicle is positioned to a connecting line of the current lane and the second lane.
In one embodiment, the connection line determining module 806 is further configured to determine at least two anchor points according to the position of the current lane and the position of the first lane; a connecting line between the current lane and the first lane is determined by at least two anchor points.
In one embodiment, the positioning module 808 is further configured to obtain a reference lane of the vehicle in the vehicle positioning system and a reference lane identifier of the reference lane; when the reference lane marking is different from the lane marking of the current lane, the vehicle is positioned on the current lane in the vehicle positioning system.
In one embodiment, the positioning module 808 is further configured to obtain the type of lane ahead of the vehicle through the camera after the vehicle passes through the intersection; determining a third lane of the vehicle based on the type of each lane; when the first lane is different from the third lane, the vehicle is positioned onto the third lane.
In one embodiment, the location module 808 is further configured to determine a first location of the vehicle in the vehicle location system in real time; determining a second distance between a vehicle in a vehicle positioning system and a target line of an intersection according to a first position of the vehicle in the vehicle positioning system; when the second distance is smaller than or equal to a first threshold value, acquiring road information in front of the vehicle in real time through a camera; the road information includes a first distance between the vehicle and a target line of an intersection; when the first distance is different from the second distance, a first position of the vehicle in the vehicle positioning system is corrected based on the first distance.
In one embodiment, the positioning module 808 is further configured to obtain the types of the lanes in front of the vehicle through the camera after the vehicle passes through the intersection; determining a third lane of the vehicle based on the type of each lane; when the first lane is different from the third lane, the vehicle is positioned onto the third lane.
In one embodiment, the positioning module 808 is further configured to count the number of times that the third lane is different from the target lane when the first lane is different from the third lane; when the number of times reaches a number of times threshold, the vehicle is positioned onto a third lane.
For specific definition of the vehicle positioning device, reference may be made to the definition of the vehicle positioning method above, and details are not repeated here. The various modules in the vehicle locating device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle localization method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory having a computer program stored therein and a processor implementing the steps of the vehicle localization method described above when the processor executes the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned vehicle localization method.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A vehicle positioning method, characterized in that the method comprises:
when a vehicle runs to a crossroad, acquiring a lane mark of a current lane where the vehicle runs through a camera;
matching the lane mark with a pre-stored reference mark, and determining a first lane according to a matching result;
determining a connecting line of the current lane and the first lane according to the position of the current lane and the position of the first lane;
positioning the vehicle onto the connecting line when the vehicle passes the intersection.
2. The method of claim 1, further comprising:
when the number of the first lanes is at least two, acquiring the priority of each first lane;
determining a second lane from each of the first lanes according to the priority of each of the first lanes;
said positioning said vehicle onto said connecting line when said vehicle passes through said intersection, comprising:
and when the vehicle passes through the intersection, positioning the vehicle to a connecting line of the current lane and the second lane.
3. The method of claim 1, wherein determining a connection line between the current lane and the first lane based on the position of the current lane and the position of the first lane comprises:
determining at least two anchor points according to the position of the current lane and the position of the first lane;
determining a connection line between the current lane and the first lane by the at least two anchor points.
4. The method according to claim 1, wherein after the obtaining of the lane identification of the current lane driven by the vehicle through the camera when the vehicle drives to the intersection, the method further comprises:
acquiring a reference lane of the vehicle in a vehicle positioning system and a reference lane mark of the reference lane;
positioning the vehicle onto the current lane in a vehicle positioning system when the reference lane identification is different from the lane identification of the current lane.
5. The method of claim 1, further comprising:
after the vehicle passes through the intersection, acquiring the type of each lane in front of the vehicle through the camera;
determining a third lane of the vehicle based on the type of each of the lanes;
positioning the vehicle onto the third lane when the first lane is different from the third lane.
6. The method of claim 1, wherein before the obtaining of the lane identification of the current lane traveled by the vehicle by the camera when the vehicle travels to the intersection, further comprises:
determining a first position of a vehicle in a vehicle positioning system in real time;
determining a second distance between a vehicle in a vehicle positioning system and a target line of an intersection according to a first position of the vehicle in the vehicle positioning system;
when the second distance is smaller than or equal to a first threshold value, acquiring road information in front of the vehicle in real time through a camera; the road information includes a first distance between the vehicle and a target line of an intersection; correcting a first position of a vehicle in the vehicle positioning system based on the first distance when the first distance is different from the second distance.
7. The method of claim 6, further comprising:
after the vehicle passes through the intersection, acquiring the type of each lane in front of the vehicle through the camera;
determining a third lane of the vehicle based on the type of each of the lanes;
positioning the vehicle onto the third lane when the first lane is different from the third lane.
8. The method of claim 5 or 7, wherein the positioning the vehicle onto the third lane when the first lane is different from the third lane comprises:
when the first lane is different from the third lane, counting the number of times that the third lane is different from the target lane;
when the number of times reaches a number of times threshold, positioning the vehicle onto the third lane.
9. A vehicle locating apparatus, characterized in that the apparatus comprises:
the lane mark acquisition module is used for acquiring a lane mark of a current lane of the vehicle through a camera when the vehicle runs to a cross road;
the matching module is used for matching the lane mark with a pre-stored reference mark and determining a first lane according to a matching result;
the connecting line determining module is used for determining a connecting line between the current lane and the first lane according to the position of the current lane and the position of the first lane;
and the positioning module is used for positioning the vehicle to the connecting line when the vehicle passes through the intersection.
10. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 8 when executing the computer program.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
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