CN116101321A

CN116101321A - Method and device for judging and early warning of non-drivable lane

Info

Publication number: CN116101321A
Application number: CN202211742955.5A
Authority: CN
Inventors: 尉鑫; 秦峰; 尹玉成; 张志军
Original assignee: Heading Data Intelligence Co Ltd
Current assignee: Heading Data Intelligence Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-05-12

Abstract

The invention relates to a method and a device for judging and early warning a non-drivable lane, wherein the method comprises the following steps: acquiring positioning information and sensing information of a plurality of vehicle-mounted sensors of a target vehicle; fusing the positioning information, the perception information and the high-precision map data to obtain first lane attribute information of the target vehicle; analyzing the perception information, and comparing the analyzed perception information with high-precision map data to obtain second road attribute information of the target vehicle; judging the consistency of the first vehicle attribute information and the second vehicle attribute information, and judging whether the target vehicle is on a non-drivable lane according to a consistency result; and sending an early warning to a user according to the result of whether the target vehicle is on the non-drivable lane. The method for early warning the non-drivable lane by the lane-level navigation engine product is realized by fusing the sensing information, the positioning information and the high-precision map of the plurality of sensors.

Description

Method and device for judging and early warning of non-drivable lane

Technical Field

The invention belongs to the technical field of vehicle auxiliary driving, and particularly relates to a method and a device for judging and early warning a non-drivable lane.

Background

The human can accurately obtain the key information of surrounding travelable areas, road boundaries, lane lines, barriers, traffic rules and the like by using only eyes (and some memories and knowledge), and accordingly, the automobile is controlled to safely travel. However, the sensors and post-processing algorithms currently designed by humans do not achieve the same performance.

The understanding of the surroundings by an autonomous vehicle requires assistance from high-precision maps, joint perception, etc. The high-precision map can tell vehicles the road information which is recorded in advance by the surveying and mapping vehicle and is described by longitude and latitude, and all vehicles can also broadcast the information of the dynamic obstacle which is perceived in real time and is described by longitude and latitude to surrounding vehicles, and the two technologies are overlapped together, so that the safety of the automatic driving vehicle can be greatly improved.

Disclosure of Invention

In order to solve the problem of judging and pre-warning a non-drivable lane by a lane-level navigation engine product, in a first aspect of the present invention, a method for judging and pre-warning a non-drivable lane is provided, including: acquiring positioning information and sensing information of a plurality of vehicle-mounted sensors of a target vehicle, wherein the vehicle-mounted sensors comprise cameras, laser radars and positioning navigation devices; fusing the positioning information, the perception information and the high-precision map data to obtain first lane attribute information of the target vehicle; analyzing the perception information, and comparing the analyzed perception information with high-precision map data to obtain second road attribute information of the target vehicle; judging the consistency of the first vehicle attribute information and the second vehicle attribute information, and judging whether the target vehicle is on a non-drivable lane according to a consistency result; and sending an early warning to a user according to the result of whether the target vehicle is on the non-drivable lane.

In some embodiments of the present invention, the fusing the positioning information, the sensing information and the high-precision map data to obtain the first lane attribute information of the target vehicle includes: and fusing the positioning results of the positioning navigation equipment, the camera and the radar with the high-precision map data to obtain the first lane attribute information of the target vehicle.

In some embodiments of the present invention, the analyzing the sensing information and comparing the analyzed sensing information with high-precision map data to obtain second road attribute information of the target vehicle includes: acquiring an environment image in front of a target vehicle through an ADAS camera, and identifying third lane attribute information from the environment image; acquiring a laser point cloud set of the surrounding environment of a target vehicle through a laser radar, and identifying fourth lane attribute information from the laser point cloud set; and fusing the third lane attribute information and the fourth lane attribute information, and comparing the fused lane attribute information with the high-precision map data to obtain second lane attribute information of the target vehicle.

In some embodiments of the present invention, the determining the consistency of the first and second lane attribute information, and determining whether the target vehicle is on the non-drivable lane according to the consistency result includes: if the first lane attribute information is consistent with the second lane attribute information, judging whether the first lane attribute information is an untravelable lane or not.

Further, the first lane attribute information is obtained through fusion of an ADAS system, and the second lane attribute information is obtained through fusion of an IVI system.

In the above embodiment, the sending the early warning to the user according to the result of whether the target vehicle is on the non-drivable lane includes: and if the target vehicle is on the non-drivable lane, sending a voice prompt or an image prompt to the user.

In a second aspect of the present invention, there is provided a device for determining and warning a non-drivable lane, comprising: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring positioning information and perception information of a plurality of vehicle-mounted sensors of a target vehicle, and the vehicle-mounted sensors comprise a camera, a laser radar and a positioning navigation device; the fusion module is used for fusing the positioning information, the perception information and the high-precision map data to obtain first lane attribute information of the target vehicle; the comparison module is used for analyzing the perception information and comparing the analyzed perception information with high-precision map data to obtain second road attribute information of the target vehicle; the judging module is used for judging the consistency of the first vehicle road attribute information and the second vehicle road attribute information and judging whether the target vehicle is on a non-drivable lane according to a consistency result; and the early warning module is used for sending early warning to a user according to the result of whether the target vehicle is on the non-drivable lane.

Further, the comparison module includes: the first recognition unit is used for acquiring an environment image in front of the target vehicle through the ADAS camera and recognizing third lane attribute information from the environment image; the second identification unit is used for acquiring a laser point cloud set of the surrounding environment of the target vehicle through a laser radar, and identifying fourth lane attribute information from the laser point cloud set; and the comparison unit is used for fusing the third lane attribute information and the fourth lane attribute information, and comparing the fused lane attribute information with the high-precision map data to obtain second lane attribute information of the target vehicle.

In a third aspect of the present invention, there is provided an electronic apparatus comprising: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the judging and early warning method of the non-drivable lane provided by the first aspect of the invention.

In a fourth aspect of the present invention, there is provided a computer readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for determining and warning of a non-travelable lane provided in the first aspect of the present invention.

The beneficial effects of the invention are as follows:

the vehicle-mounted sensor and the high-precision map data can be used for simply judging whether the lane where the vehicle is driven is an unavailable lane or not, and reminding a user to drive away from the unavailable lane as soon as possible through an IVI system interface or sound, so that potential driving hazards such as safety accidents, vehicle illegal violations and the like are avoided.

Drawings

FIG. 1 is a basic flow diagram of a method for determining and warning a non-travelable lane according to some embodiments of the present invention;

FIG. 2 is a flow chart of a first lane attribute information fusion in some embodiments of the present invention;

FIG. 3 is a flow chart of a second vehicle attribute information fusion in some embodiments of the invention;

FIG. 4 is a flowchart of a method for determining and warning a driving lane according to some embodiments of the present invention;

FIG. 5 is a schematic view of an application scenario effect of a determination of a non-travelable lane in some embodiments of the present invention;

FIG. 6 is a schematic diagram illustrating a device for determining and warning a non-travelable lane according to some embodiments of the present invention;

fig. 7 is a schematic structural diagram of an electronic device according to some embodiments of the present invention.

Detailed Description

The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.

Referring to fig. 1 or fig. 4, in a first aspect of the present invention, there is provided a method for determining and warning a non-drivable lane, including: s100, positioning information and sensing information of a plurality of vehicle-mounted sensors of a target vehicle are obtained, wherein the vehicle-mounted sensors comprise cameras, laser radars and positioning navigation devices; s200, fusing the positioning information, the perception information and the high-precision map data to obtain first lane attribute information of the target vehicle; s300, analyzing the perception information, and comparing the analyzed perception information with high-precision map data to obtain second road attribute information of the target vehicle; s400, judging the consistency of the first vehicle track attribute information and the second vehicle track attribute information, and judging whether the target vehicle is on a non-drivable lane according to a consistency result; s500, sending early warning to a user according to the result of whether the target vehicle is on the non-drivable lane.

In step S100 of some embodiments of the present invention, positioning information and sensing information of a plurality of in-vehicle sensors of a target vehicle, the in-vehicle sensors including a camera, a lidar, and a positioning navigation device are acquired; for example, the positioning information and the sensing information acquired by sensors such as GNSS-RTK, IMU (Inertial Measurement Unit ), ADAS (Advanced Driving Assistance System, advanced driving assistance system) camera and radar.

Referring to fig. 2, in step S200 of some embodiments of the present invention, the fusing the positioning information, the sensing information and the high-precision map data to obtain the first lane attribute information of the target vehicle includes: and fusing the positioning results of the positioning navigation equipment, the camera and the radar with the high-precision map data to obtain the first lane attribute information of the target vehicle.

Specifically, the fusion positioning of the intelligent driving system of the vehicle is realized by performing fusion positioning on a sensing positioning result of a GNSS-RTK, IMU, ADAS camera, a radar and other sensors and high-precision map data, finally obtaining a centimeter-level fusion positioning result, then sending the fusion positioning result to an IVI system through a CAN network or an Ethernet, and directly obtaining the fusion positioning result by a lane-level navigation engine product application program installed In the IVI (In-Vehicle Infotainment) system. Thus, the lane-level positioning (centimeter-level) result transparent transmission flow is realized.

Referring to fig. 3, in step S300 of some embodiments of the present invention, the analyzing the sensing information and comparing the analyzed sensing information with high-precision map data to obtain second road attribute information of the target vehicle includes: acquiring an environment image in front of a target vehicle through an ADAS camera, and identifying third lane attribute information from the environment image; acquiring a laser point cloud set of the surrounding environment of a target vehicle through a laser radar, and identifying fourth lane attribute information from the laser point cloud set; and fusing the third lane attribute information and the fourth lane attribute information, and comparing the fused lane attribute information with the high-precision map data to obtain second lane attribute information of the target vehicle.

Specifically, sensor sensing and information identification are mainly realized through an on-board ADAS camera and a laser radar.

The ADAS camera continuously shoots the environment in front of the vehicle, and the intelligent driving system extracts special element information from the shot images to identify, such as a directional arrow, a bus lane mark, a tide lane mark and the like.

The laser radar scans the front and surrounding environment of the vehicle continuously to generate a laser point cloud set of the surrounding environment, and the intelligent driving system extracts special elements from the laser point cloud to identify, such as a direction arrow, a bus lane mark, a tide lane mark and the like. The most probable lane attribute of the lane is given by the identified lane elements, such as a bus lane, a tide lane, a driving direction thereof, an emergency lane and the like. The most likely lane attribute information is sent to the IVI system. The ADAS camera and the laser radar are used for mutually supplementing and verifying road element perception and recognition, and are mutually redundant in information so as to achieve the effect of improving recognition rate.

In step S400 of some embodiments of the present invention, the determining the consistency of the first and second lane attribute information, and determining whether the target vehicle is on the non-drivable lane according to the consistency result includes: if the first lane attribute information is consistent with the second lane attribute information, judging whether the first lane attribute information is an untravelable lane or not.

Specifically, the IVI system determines the lane where the current vehicle is located through the fusion positioning result transmitted by the intelligent driving system, then compares the lane with the high-precision map data to obtain the attribute information of the current lane, then compares the attribute information with the most likely lane attribute transmitted by the intelligent driving system, performs information verification, and finally judges whether the lane where the vehicle is located is a non-drivable lane.

Each lane in the high-precision map has its attribute information as follows: 1. the system comprises a straight lane 2, a left-turning lane 3, a right-turning lane 4, a left-turning straight lane 5, a right-turning straight lane 6, a left-turning lane 7, a turning special lane 8, a bus special lane 9, a tide lane 10, an emergency lane 11, an emergency parking lane 12, a toll station manual toll lane 13, a toll station ETC lane 14, a non-motor vehicle lane 15, an emergency lane and the like.

Referring to fig. 5, the method for warning the non-drivable lane by the lane-level navigation engine product is a method for reminding the user to drive away from the non-drivable lane as soon as possible in the IVI interface after the IVI system sends out the warning information, which is a direct application scenario for determining the non-drivable lane. The red highlighting non-drivable lane of the IVI system interface is used for reminding a user to drive away from the lane as soon as possible, displaying a prompt message of 'drive away as soon as possible' on the left side, and simultaneously reminding 'drive away as soon as possible after you have driven into the non-drivable lane' by voice so as to avoid violation. And when the vehicle is judged not to be in the non-drivable lane by the method for judging the non-drivable lane by the lane-level navigation engine product, the early warning information is released to resume normal navigation.

Referring to fig. 5, in one embodiment of the method for determining and early warning of a non-drivable lane provided by the present invention, the method includes the following steps:

step one: the vehicle-mounted sensor sends positioning information and perception information to the intelligent driving system, the positioning information in the high-precision map is obtained through comparison of the perception information and the high-precision map data, algorithm fusion is carried out on the positioning information of the sensor and the positioning information of the high-precision map, and fusion positioning information of a lane level (centimeter level) is obtained and sent to the IVI system.

Step two: the vehicle-mounted sensor sends sensing information to the intelligent driving system, the intelligent driving system analyzes and identifies the sensing information, and the intelligent driving system compares the high-precision map data to obtain the most probable lane attribute of the intelligent driving end of the lane where the vehicle is located.

Step three: and the IVI system compares the fusion positioning result sent by the intelligent driving system with high-precision map data of the IVI system to obtain the most probable lane attribute at the IVI end of the lane where the vehicle is located.

Step four: and (3) comparing the most probable lane attribute of the intelligent driving end of the lane where the vehicle is positioned with the most probable lane attribute of the IVI end, if the intelligent driving end is inconsistent with the most probable lane attribute of the IVI end, reporting an error prompt, and if the intelligent driving end is consistent with the most probable lane attribute of the IVI end, entering a step five.

Step five: judging whether the most probable lane attribute obtained in the step four is a non-drivable lane, if so, ending the wheel judgment, and if so, entering the step six.

Step six: the IVI system sends early warning information to the user through information such as pictures and sounds to prompt the user to drive away from the current lane as soon as possible until the program runs to the fifth step and the early warning is finished when the program is judged to be NO.

Example 2

Referring to fig. 6, in a second aspect of the present invention, there is provided a device 1 for determining and warning a non-drivable lane, comprising: an acquisition module 11, configured to acquire positioning information and sensing information of a plurality of vehicle-mounted sensors of a target vehicle, where the vehicle-mounted sensors include a camera, a laser radar, and a positioning navigation device; the fusion module 12 is configured to fuse the positioning information, the sensing information and the high-precision map data to obtain first lane attribute information of the target vehicle; the comparison module 13 is configured to analyze the sensing information, and compare the analyzed sensing information with high-precision map data to obtain second channel attribute information of the target vehicle; a judging module 14, configured to judge consistency of the first lane attribute information and the second lane attribute information, and judge whether the target vehicle is on a non-drivable lane according to a consistency result; and the early warning module 15 is used for sending early warning to the user according to the result of whether the target vehicle is on the non-drivable lane.

Further, the comparing module 13 includes: the first recognition unit is used for acquiring an environment image in front of the target vehicle through the ADAS camera and recognizing third lane attribute information from the environment image; the second identification unit is used for acquiring a laser point cloud set of the surrounding environment of the target vehicle through a laser radar, and identifying fourth lane attribute information from the laser point cloud set; and the comparison unit is used for fusing the third lane attribute information and the fourth lane attribute information, and comparing the fused lane attribute information with the high-precision map data to obtain second lane attribute information of the target vehicle.

Example 3

Referring to fig. 7, a third aspect of the present invention provides an electronic device, including: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the judging and early warning method of the non-drivable lane in the first aspect.

The electronic device 500 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 501 that may perform various appropriate actions and processes in accordance with programs stored in a Read Only Memory (ROM) 502 or loaded from a storage 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM502, and the RAM503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.

The following devices may be connected to the I/O interface 505 in general: input devices 506 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 507 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 508 including, for example, a hard disk; and communication means 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 7 shows an electronic device 500 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 7 may represent one device or a plurality of devices as needed.

In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or from the storage means 508, or from the ROM 502. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 501. It should be noted that the computer readable medium described in the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In an embodiment of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Whereas in embodiments of the present disclosure, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more computer programs which, when executed by the electronic device, cause the electronic device to:

computer program code for carrying out operations of embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++, python and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

1. A judging and early warning method for a non-drivable lane is characterized by comprising the following steps:

acquiring positioning information and sensing information of a plurality of vehicle-mounted sensors of a target vehicle, wherein the vehicle-mounted sensors comprise cameras, laser radars and positioning navigation devices;

fusing the positioning information, the perception information and the high-precision map data to obtain first lane attribute information of the target vehicle;

analyzing the perception information, and comparing the analyzed perception information with high-precision map data to obtain second road attribute information of the target vehicle;

judging the consistency of the first vehicle attribute information and the second vehicle attribute information, and judging whether the target vehicle is on a non-drivable lane according to a consistency result;

and sending an early warning to a user according to the result of whether the target vehicle is on the non-drivable lane.

2. The method for determining and warning a non-drivable lane according to claim 1, wherein the fusing the positioning information, the perception information and the high-precision map data to obtain the first lane attribute information of the target vehicle comprises:

and fusing the positioning results of the positioning navigation equipment, the camera and the radar with the high-precision map data to obtain the first lane attribute information of the target vehicle.

3. The method for determining and warning a non-drivable lane according to claim 1, wherein the analyzing the perceived information and comparing the analyzed perceived information with high-accuracy map data to obtain the second lane attribute information of the target vehicle comprises:

acquiring an environment image in front of a target vehicle through an ADAS camera, and identifying third lane attribute information from the environment image;

acquiring a laser point cloud set of the surrounding environment of a target vehicle through a laser radar, and identifying fourth lane attribute information from the laser point cloud set;

and fusing the third lane attribute information and the fourth lane attribute information, and comparing the fused lane attribute information with the high-precision map data to obtain second lane attribute information of the target vehicle.

4. The method for determining and warning a non-travelable lane according to claim 1, characterized in that,

the step of judging the consistency of the first vehicle track attribute information and the second vehicle track attribute information, and judging whether the target vehicle is on the non-drivable lane according to the consistency result comprises the following steps:

if the first lane attribute information is consistent with the second lane attribute information, judging whether the first lane attribute information is an untravelable lane or not.

5. The method for determining and warning a non-travelable lane as claimed in claim 4, characterized in that,

the first lane attribute information is obtained through ADAS system fusion, and the second lane attribute information is obtained through IVI system fusion.

6. The method according to any one of claims 1 to 5, wherein the step of giving an early warning to the user based on the result of whether the target vehicle is on the non-drivable lane comprises:

and if the target vehicle is on the non-drivable lane, sending a voice prompt or an image prompt to the user.

7. A judging and early warning device for a non-drivable lane is characterized by comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring positioning information and perception information of a plurality of vehicle-mounted sensors of a target vehicle, and the vehicle-mounted sensors comprise a camera, a laser radar and a positioning navigation device;

the fusion module is used for fusing the positioning information, the perception information and the high-precision map data to obtain first lane attribute information of the target vehicle;

the comparison module is used for analyzing the perception information and comparing the analyzed perception information with high-precision map data to obtain second road attribute information of the target vehicle;

the judging module is used for judging the consistency of the first vehicle road attribute information and the second vehicle road attribute information and judging whether the target vehicle is on a non-drivable lane according to a consistency result;

and the early warning module is used for sending early warning to a user according to the result of whether the target vehicle is on the non-drivable lane.

8. The lane keeping system according to claim 7, wherein the comparison module comprises:

the first recognition unit is used for acquiring an environment image in front of the target vehicle through the ADAS camera and recognizing third lane attribute information from the environment image;

the second identification unit is used for acquiring a laser point cloud set of the surrounding environment of the target vehicle through a laser radar, and identifying fourth lane attribute information from the laser point cloud set;

and the comparison unit is used for fusing the third lane attribute information and the fourth lane attribute information, and 5 comparing the fused lane attribute information with the high-precision map data to obtain second lane attribute information of the target vehicle.

9. An electronic device, comprising: one or more processors; storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the 0-determination and warning method of a non-travelable lane as claimed in any one of claims 1 to 6.

10. A computer readable medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the method of determining and warning a non-travelable lane as claimed in any one of claims 1-6.