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CN108253975B - Method and equipment for establishing map information and positioning vehicle - Google Patents

Method and equipment for establishing map information and positioning vehicle Download PDF

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CN108253975B
CN108253975B CN201711497687.4A CN201711497687A CN108253975B CN 108253975 B CN108253975 B CN 108253975B CN 201711497687 A CN201711497687 A CN 201711497687A CN 108253975 B CN108253975 B CN 108253975B
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lane
target vehicle
information
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vehicle
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CN108253975A (en
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刘洋
王子涵
叶凌侠
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Uisee Shanghai Automotive Technologies Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application aims to provide a method or equipment for establishing map information and positioning a vehicle; acquiring line information of a target road; determining a reference point of the target road based on the line information; determining coordinate position information of the reference point; and establishing a mapping relation between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point. Compared with the prior art, the method and the device can effectively save the cost for creating the map information and reduce the data processing time, and further promote the development and popularization of the vehicle driving technology based on the map information application, particularly the automatic driving technology.

Description

Method and equipment for establishing map information and positioning vehicle
Technical Field
The application relates to the field of automatic driving, in particular to a technology for establishing map information and positioning a vehicle.
Background
In the course of existing vehicle travel, in particular in the course of autonomous vehicle travel, high-precision maps are usually used to achieve a lane-level localization of the vehicle. At the moment, the acquisition and the establishment of the high-precision map need to be established by means of a high-precision differential GPS, a laser radar or a camera, so that the positions of various attribute targets (a traffic signboard, a ramp port, a road edge, a traffic light and the like) of the road have high precision reaching the centimeter level; meanwhile, the autonomous driving vehicle also needs a GPS receiving mode (a common mode is to build a GPS base station by itself or use a service provider) with a centimeter-level high-precision positioning function. Such a map creation and use method generally requires high equipment cost and long data processing time, and makes it difficult to rapidly develop and popularize the vehicle automatic driving technology to some extent. In addition, the creation and application of the current high-precision map mainly aim at the freeways with simpler and clearer road environment and target attributes, and because in the more complex urban road environment (dense high-rise buildings and trees, narrow lanes, multiple intersections with relatively short distance, etc.), the popularization of the technology is limited by two reasons: high-precision drawing construction is time-consuming and labor-consuming; high-precision GPS reception cannot be effectively guaranteed. The acquisition and establishment of the high-precision map can take more time and labor cost to filter off non-road target attribute information, and meanwhile, the frequent update of urban roads also needs to correspondingly and frequently update the high-precision map database; once the vehicle-mounted high-precision GPS cannot effectively receive data, the map building result cannot be used, and the behavior control and decision of the vehicle will be wrong. Meanwhile, even on the expressway with simple and clear target attributes, the high-precision map building and using method is feasible but not reasonably effective. Because the general road structure of the highway is clear and the regularization degree is higher, vehicles are not required to obtain too much meaningless target information (such as telegraph poles, street lamp poles and the like) under most conditions; besides, many road target attributes can also be identified visually or directly written into map information (e.g. ramp port position, speed limit sign, etc.); third, many current control techniques for autonomous vehicles are not very sophisticated and cannot achieve centimeter-level motion control. The implementation of the above-mentioned centimeter-level positioning does not allow the movement planning of the vehicle to obtain the benefits commensurate with its high costs. Therefore, an effective, low-cost, easy-to-implement and easy-to-popularize map creation method and vehicle positioning method applicable to vehicle driving are lacked in the prior art.
Disclosure of Invention
The application aims to provide a method and equipment for establishing map information and positioning a vehicle.
According to an aspect of the present application, there is provided a method of creating map information, including:
acquiring line information of a target road;
determining a reference point of the target road based on the line information;
determining coordinate position information of the reference point;
and establishing a mapping relation between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point.
According to another aspect of the present application, there is provided an apparatus for creating map information, including:
the first acquisition device is used for acquiring the line information of the target road;
first determining means for determining a reference point of the target road based on the line information;
second determining means for determining coordinate position information of the reference point;
and the establishing device is used for establishing the mapping relation between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point.
According to yet another aspect of the present application, there is provided a vehicle positioning method including:
acquiring coordinate position information of a target vehicle;
determining a reference point of a target road matched with the coordinate position information of the target vehicle;
and determining the map positioning information of the target vehicle by combining the mapping relation between the coordinate position information of the vehicle and the map positioning information based on the reference point, wherein the mapping relation between the coordinate position information of the vehicle and the map positioning information is established based on the coordinate position information of the reference point.
According to still another aspect of the present application, there is provided a vehicle positioning apparatus including:
second acquiring means for acquiring coordinate position information of the target vehicle;
third determining means for determining a reference point of a target road that matches the coordinate position information of the target vehicle;
and the fourth determining device is used for determining the map positioning information of the target vehicle by combining the mapping relation between the coordinate position information of the vehicle and the map positioning information based on the reference point, wherein the mapping relation between the coordinate position information of the vehicle and the map positioning information is established based on the coordinate position information of the reference point.
According to another aspect of the present application, there is also provided an apparatus for creating map information, including:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for:
acquiring line information of a target road;
determining a reference point of the target road based on the line information;
determining coordinate position information of the reference point;
and establishing a mapping relation between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point.
According to another aspect of the present application, there is also provided a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to:
acquiring line information of a target road;
determining a reference point of the target road based on the line information;
determining coordinate position information of the reference point;
and establishing a mapping relation between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point.
According to another aspect of the present application, there is also provided a vehicle positioning apparatus including:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for:
acquiring coordinate position information of a target vehicle;
determining a reference point of a target road matched with the coordinate position information of the target vehicle;
and determining the map positioning information of the target vehicle by combining the mapping relation between the coordinate position information of the vehicle and the map positioning information based on the reference point, wherein the mapping relation between the coordinate position information of the vehicle and the map positioning information is established based on the coordinate position information of the reference point.
According to another aspect of the present application, there is also provided a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to:
acquiring coordinate position information of a target vehicle;
determining a reference point of a target road matched with the coordinate position information of the target vehicle;
and determining the map positioning information of the target vehicle by combining the mapping relation between the coordinate position information of the vehicle and the map positioning information based on the reference point, wherein the mapping relation between the coordinate position information of the vehicle and the map positioning information is established based on the coordinate position information of the reference point.
Compared with the prior art, the method and the device have the advantages that the reference point of the target road is determined based on the acquired line information of the target road, and then the mapping relation between the coordinate position information of the target object and the map positioning information is established based on the determined coordinate position information of the reference point, so that the map information is established. Here, the mapping relationship between the coordinate position information of the target object and the map positioning information is not required to be established by relying on information acquisition operations of a high-precision differential GPS, a laser radar or a camera, but may be directly established based on the known route information of the target road in the existing conventional map information, and the established mapping relationship may be applied to the actual driving process of the target object, such as a vehicle, to realize effective positioning of the vehicle, such as lane-level positioning. Therefore, the method and the device can effectively save the cost of map information creation and reduce the data processing time, and further promote the development and popularization of vehicle driving technology based on the map information application, particularly automatic driving technology.
Further, the method and the device can also realize that the reference point of the target road matched with the coordinate position information of the target vehicle is determined based on the acquired coordinate position information of the target vehicle during actual vehicle running, so that the map positioning information of the target vehicle is determined based on the reference point by combining the mapping relation between the coordinate position information of the vehicle and the map positioning information, wherein the mapping relation between the coordinate position information of the vehicle and the map positioning information is established based on the coordinate position information of the reference point. Here, based on the constructed mapping relationship between the coordinate position information of the target object and the map positioning information, effective positioning of the target vehicle, such as lane-level positioning, can be achieved. In this case, the target vehicle, such as an autonomous vehicle, does not need to be equipped with a GPS receiver with a high-accuracy positioning function that matches a high-accuracy map, but only needs to be equipped with a common sensor, such as a vehicle-mounted GPS receiver or a mobile device with a common accuracy, such as a GPS receiver on a personal mobile phone, to determine map positioning information. Therefore, the method and the device can also effectively save the cost of vehicle positioning, and further promote the development and popularization of the vehicle driving technology, particularly the automatic driving technology based on the map information application.
Further, the present application may also determine target location information for the target vehicle based on the map location information, thereby providing accurate input for rear end planning and control programs for vehicles, such as autonomous vehicles. And determining the lane corresponding to the target vehicle based on the lane line related information of the target vehicle and the number of lanes corresponding to the target vehicle. The method and the device can realize lane-level positioning of the target vehicle by the established mapping relation between the coordinate position information of the target object and the map positioning information and combining the real-time coordinate position information of the target vehicle and the relevant information of the lane line. And the target vehicle, such as an automatic driving vehicle, does not need to have a high-precision sensor (such as a laser radar with a distance measuring function) matched with a high-precision map and a GPS receiving mode with a high-precision positioning function, but directly configures a camera device capable of realizing lane line type information identification and a vehicle-mounted GPS receiver with common precision, such as a vehicle-mounted GPS receiver, so that the target positioning information can be determined. Therefore, compared with the lane positioning of the vehicle based on the high-precision map, the lane positioning method and the lane positioning device can greatly reduce the cost of the lane positioning while effectively realizing the lane positioning.
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Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 illustrates a flow diagram of a method of creating map information in accordance with an aspect of the subject application;
FIG. 2 illustrates a flow chart of a vehicle location method according to one aspect of the present application;
FIG. 3 illustrates an example diagram of determining a lane corresponding to the target vehicle according to one embodiment of the present application;
FIG. 4 illustrates a schematic diagram of an apparatus for creating map information in accordance with an aspect of the subject application;
FIG. 5 shows a schematic view of a vehicle locating apparatus according to one aspect of the present application;
FIG. 6 illustrates an exemplary system that can be used to implement the various embodiments described in this application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present application is described in further detail below with reference to the attached figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the computing device include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
The device referred to in this application includes, but is not limited to, a user device, a network device, or a device formed by integrating a user device and a network device through a network. The user equipment includes, but is not limited to, any mobile electronic product, such as a smart phone, a tablet computer, etc., capable of performing human-computer interaction with a user (e.g., human-computer interaction through a touch panel), and the mobile electronic product may employ any operating system, such as an android operating system, an iOS operating system, etc. The network device includes an electronic device capable of automatically performing numerical calculation and information processing according to a preset or stored instruction, and hardware thereof includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like. The network device includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud of a plurality of servers; here, the Cloud is composed of a large number of computers or web servers based on Cloud Computing (Cloud Computing), which is a kind of distributed Computing, one virtual supercomputer consisting of a collection of loosely coupled computers. Including, but not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a VPN network, a wireless Ad Hoc network (Ad Hoc network), etc.
The application provides a method for establishing map information. FIG. 1 illustrates a flow diagram of a method of creating map information in accordance with an aspect of the subject application. The method comprises a step S101, a step S102, a step S103 and a step S104. In one implementation of the application, the method is performed on a device 1 for creating map information.
In step S101, route information of a target road is acquired; next, in step S102, based on the line information, a reference point of the target road is determined; next, in step S103, coordinate position information of the reference point is determined; next, in step S104, a mapping relationship between the coordinate position information of the target object and the map positioning information is established based on the coordinate position information of the reference point.
Specifically, in step S101, the route information of the target road is acquired. Here, it is necessary to acquire route information of a target road based on the target road that is an object for creating map information. In one implementation, the target road may include, but is not limited to, a road environment and a road with relatively simple and clear target attributes, such as a highway, a road in a closed or semi-closed space, and the like. In one implementation, the route information may include, but is not limited to, a trend of the target road; coordinate position information of the starting point of the target road and other positions on the target road, such as GPS coordinate information; and other road condition information of the target road, such as information of ramps, curves, gradients, lane numbers and the like.
In the application, the line information of the target road needs to be collected first, and then subsequent map information generation work is performed on the target road, including subsequent determination of a reference point of the target road, determination of coordinate position information of the reference point, establishment of a mapping relation between the coordinate position information of the target object and the map positioning information, and the like.
In one implementation, the corresponding route information may be acquired by a vehicle driving through the target road in advance. In another implementation, the route information of the target road may also be acquired from a third-party information providing device. Here, the third-party information providing device may include, but is not limited to, a website providing GPS coordinate information, a general navigation map, and a network device corresponding to a high-precision map. Further, in an implementation manner, the route information of the target road may be acquired by the device 1 from a third-party information providing device in advance, and then directly read from the device 1 based on the selection information of the target road submitted to the device 1 by the user; in another implementation manner, the device 1 may also submit selection information of a target road to the device 1 based on a user, and then request the line information of the corresponding target road from the third-party information providing device based on the selection information; in another implementation manner, the selection information of the target road may be directly submitted to the third-party information providing device based on the user, and then the third-party information providing device provides the route information of the target road to the device 1.
Here, in one implementation, the route information corresponding to the target road may be acquired in segments from the third-party information providing device based on the target road selection information of the user, for example, one target road may be divided into a plurality of continuous segments, and the corresponding route information may be captured based on the characteristics of different segments. Further, in one implementation manner, in step S101, route information corresponding to a target road may be obtained in a segmented manner from the third-party information providing device based on target road selection information of a user, where the target road corresponding to the target road selection information is a circular route, and a link corresponding to each piece of the route information obtained in a segmented manner is a non-circular route. In practical application, in order to avoid the influence of the complexity of the ring line on the subsequent establishment of the mapping relationship, the ring line may be segmented into a plurality of non-ring lines, and corresponding map information is established for the non-ring line corresponding to each road segment. In one implementation, coordinate location information, such as latitude and longitude coordinate information, for each location along the non-circular course may be allowed to be expressed as a many-to-one functional relationship or a monotonic functional relationship.
Next, in step S102, based on the line information, a reference point of the target road is determined. In one implementation, the reference point may include a location on the target road having coordinate attributes, such as GPS coordinate attributes, that may affect a driving trajectory of a vehicle traveling on the target road. In one implementation, the reference point may include at least any one of: lane number change points; a ramp-up port location point; a lower ramp port location point; starting point of curve; a curve ending point; starting point of the ramp; a ramp termination point; starting point of road; a road termination point; a speed limit change point; filling station coordinate point, charging station coordinate point, toll station coordinate point. It will be understood by those skilled in the art that the foregoing references are by way of example only, and that other references, now or later developed, that may be suitable for use in the present application are intended to be encompassed within the scope of the present application and are hereby incorporated by reference. Here, based on the route information, for example, road condition information of each section of the target road, such as a ramp, a curve, a gradient, the number of lanes, and the like, a position that may affect the driving track of the vehicle traveling on the target road may be screened from among the positions on the target road as a reference point. In one implementation, the screening condition can be flexibly set based on the requirement of the actual application scene so as to determine the reference point meeting the requirement of establishing the map.
Next, in step S103, coordinate position information of the reference point is determined. Here, the coordinate location information may include, but is not limited to, GPS coordinate information. In one implementation, the obtaining of the route information of the target road includes obtaining coordinate position information of the reference point, for example, each position on the target road, including the coordinate position information of the reference point, may be directly clicked and selected on a GPS coordinate information website. And when the reference point is determined, the coordinate position information corresponding to the reference point is correspondingly determined. In another implementation, the reference point of the target road may be determined first, and then the coordinate position information of the selected reference point is further obtained, for example, the coordinate position information may be obtained from a third-party information providing device, for example, a GPS website, or the coordinate position information may be obtained by performing calculation under the existing road information or by relying on other manners.
Next, in step S104, a mapping relationship between the coordinate position information of the target object and the map positioning information is established based on the coordinate position information of the reference point. In one implementation, the target object includes a vehicle, and in step S104, a mapping relationship between coordinate position information of the vehicle and map positioning information may be established based on the coordinate position information of the reference point. In one implementation, the vehicle may include, but is not limited to, a vehicle traveling in any mode, such as a fully human driving mode, an assisted driving mode, a partially autonomous driving mode, a conditional autonomous driving mode, a highly autonomous driving mode, or a fully autonomous driving mode. Subsequently, map location information for vehicle driving may be determined based on the constructed map information, such as a mapping relationship between coordinate position information of the vehicle and the map location information.
In one implementation, the mapping relationship between the coordinate position information of the target object and the map positioning information may be constructed based on the coordinate position information of the reference point. In one implementation, a corresponding lookup table function relationship or a calculation function expression may be constructed according to the coordinate position information of the reference point. In one implementation, the map location information includes at least any one of: the distance between the target object and the reference point, and whether the target object is in the target road mark position; the number of lanes corresponding to the target object. Having taken the target object as a vehicle as an example, in one implementation, a mapping relationship between the coordinate location information of the vehicle and the distance from the vehicle to the reference point may be constructed based on the coordinate location information of the reference point, e.g., for the coordinate location information of the vehicle and the distance from the vehicle to the reference pointThe mapping relation can be established by directly utilizing longitude and latitude coordinates to construct a calculation function expression in a spherical coordinate system. The method is relatively complex in calculation, but has high accuracy; the distance calculation between two points in a long distance can be well realized. The distance of the vehicle from the selected reference point can be calculated according to equation 1, where: r represents the radius of the earth, phi1And theta1Representing the longitude and latitude, phi, of the vehicle2And theta2Representing the longitude and latitude of the selected reference point. In the case where the longitude and latitude of the reference point are determined and the longitude and latitude of the vehicle are known, the distance from the vehicle to the selected reference point may be determined based on the mapping relationship, that is, the following calculation function expression. The reference point may be determined based on actual application requirements, and may be, for example, a road termination point, a next ramp junction position point, and the like.
Figure GDA0003364126870000101
For another example, the mapping relationship between the coordinate position information of the vehicle and the flag bit of the target road may be implemented by establishing a functional relationship that determines whether the coordinate position information of the vehicle is within the range of the coordinate position information of each position corresponding to the target road, for example, if it is determined that the GPS coordinate information of the vehicle is within the spatial range of the target road based on the GPS coordinate information of the start point, the end point, or another reference point of the road on the target road, a functional result that the coordinate position information is on the target road or the coordinate position information is not on the target road is output, for example, if the vehicle is on the target road, the flag bit is 1, and vice versa is 0.
For another example, the mapping relationship between the coordinate and position information of the vehicle and the number of lanes corresponding to the vehicle may be established by converting the GPS position coordinate of the reference point into the mcator coordinates, and then establishing a lookup table function relationship between the number of lanes and the coordinate and position information of the reference point according to the mcator coordinates. The conversion relation between the mcardtoad coordinates and the longitude and latitude coordinates can be shown as formulas 2 and 3. Where Longi represents the longitude of the point, Lati represents the latitude of the point, X and Y represent the abscissa and ordinate, respectively, in the mcatto coordinate system, and R represents the radius of the earth.
X ═ Longi ═ R ^ pi/180- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Y ═ R ═ ln (tan (45+ Lati/2)) - - - - - - - - - - - - - - - - - - - -formula 3
Here, in an implementation manner, if the map positioning information includes the number of lanes corresponding to the target object, in step S104, a mapping relationship between the coordinate position information of the target object and the number of lanes corresponding to the target object is established based on the coordinate position information of the reference point and the number of lanes corresponding to the reference point. The number of lanes corresponding to the coordinate position information of the reference point may be collected and determined in advance, and then, by position matching between the coordinate position information of the target object and the coordinate position information of the reference point, the number of lanes corresponding to the matched reference point is determined to be the number of lanes corresponding to the coordinate position information of the target object.
It should be understood by those skilled in the art that the above-mentioned method for establishing the mapping relationship between the coordinate position information of the target object and the map positioning information is only an example, and other existing or later-appearing methods for establishing the mapping relationship between the coordinate position information of the target object and the map positioning information are included in the scope of protection of the present application and are included herein by reference, if applicable to the present application.
The method and the device for establishing the map information have the advantages that the reference point of the target road is determined based on the acquired line information of the target road, and then the mapping relation between the coordinate position information of the target object and the map positioning information is established based on the determined coordinate position information of the reference point, so that the map information is established. Here, the mapping relationship between the coordinate position information of the target object and the map positioning information is not required to be established by relying on information acquisition operations of a high-precision differential GPS, a laser radar or a camera, but may be directly established based on the known route information of the target road in the existing conventional map information, and the established mapping relationship may be applied to the actual driving process of the target object, such as a vehicle, to realize effective positioning of the vehicle, such as lane-level positioning. Therefore, the method and the device can effectively save the cost of map information creation and reduce the data processing time, and further promote the development and popularization of vehicle driving technology based on the map information application, particularly automatic driving technology.
The application also provides a vehicle positioning method. FIG. 2 illustrates a flow chart of a vehicle localization method according to one aspect of the present application. Wherein the method comprises step S201, step S202 and step S203. In one implementation of the present application, the method is performed on a vehicle locating device 2. In one implementation, the vehicle localization device 2 may comprise a network device, or comprise an onboard device, or comprise the vehicle itself.
In step S201, coordinate position information of the target vehicle is acquired; next, in step S202, a reference point of the target road that matches the coordinate position information of the target vehicle is determined; next, in step S203, based on the reference point, map location information of the target vehicle is determined in combination with a mapping relationship between coordinate position information of the vehicle and map location information, which is established based on the coordinate position information of the reference point.
Specifically, in step S201, coordinate position information of the target vehicle is acquired. In one implementation, the GPS position information of the vehicle may be acquired in real time by a coordinate position information acquisition device corresponding to the target vehicle, such as a GPS receiver, where the GPS receiver may include a high-precision device or a common-precision device, such as a meter-level GPS receiver.
Next, in step S202, a reference point of the target road that matches the coordinate position information of the target vehicle is determined. In one implementation, a target road corresponding to the target vehicle may be determined based on the coordinate position information; and determining a reference point matched with the coordinate position information of the target vehicle on the target road. For example, based on the acquired GPS coordinate information of the target vehicle, which target road the target vehicle is on is determined, and here, one or more coordinate position information matched with the GPS coordinate information of the target vehicle in a spatial range may be found, and a road corresponding to the one or more coordinate position information is a target road where the target vehicle is currently located. For example, if the GPS coordinate information of the target vehicle is within the range of the section formed by the coordinate position information of the road start point and the road end point of the target road, it is determined that the target vehicle is on the target road. Then, matching corresponding reference points for the target vehicle, in one implementation, selecting part or all of the reference points of the preset target road as the reference points matched with the target vehicle; further, in practical applications, the selection of the reference point matched with the target vehicle may be performed based on the need, for example, selecting a road end point of the target road as the reference point of the target vehicle, and for example, selecting a next ramp junction position point as the reference point of the target vehicle.
Next, in step S203, based on the reference point, map location information of the target vehicle is determined in combination with a mapping relationship between coordinate position information of the vehicle and map location information, which is established based on the coordinate position information of the reference point.
Here, the mapping relationship between the coordinate position information of the vehicle and the map positioning information may be established based on the coordinate position information of the reference point. In one implementation, the mapping relationship may include a corresponding look-up table functional relationship or a computational functional expression. In one implementation, the map location information includes at least any one of: the distance of the vehicle from the reference point; whether the vehicle is at the target road sign bit; the number of lanes corresponding to the vehicle. Here, based on the coordinate position information of the reference point and the current coordinate position information of the target vehicle, the distance from the target vehicle to the reference point may be calculated according to the established mapping relationship, such as a lookup table function relationship or a calculation function expression, or whether the target vehicle is located at the target road sign, or the number of lanes corresponding to the target vehicle may be determined. For example, for the determination of the number of lanes corresponding to the target vehicle, based on the constructed lane number lookup table functional relationship, the current GPS coordinate information of the vehicle is input, and the output is the total number of lanes where the target vehicle is currently located. For another example, for the distance from the target vehicle to the reference point, such as the distance to the gate crossing, etc., the calculation and determination may be performed based on a calculation function expression of the distance between two points in the preset spherical coordinate system.
In addition, the method and the device for determining the map location information of the target vehicle can also determine the reference point of the target road matched with the coordinate location information of the target vehicle based on the acquired coordinate location information of the target vehicle during actual vehicle running, so that the map location information of the target vehicle is determined based on the reference point by combining the mapping relation between the coordinate location information of the vehicle and the map location information, wherein the mapping relation between the coordinate location information of the vehicle and the map location information is established based on the coordinate location information of the reference point. Here, based on the constructed mapping relationship between the coordinate position information of the target object and the map positioning information, effective positioning of the target vehicle, such as lane-level positioning, can be achieved. In this case, the target vehicle, such as an autonomous vehicle, does not need to be equipped with a GPS receiver with a high-accuracy positioning function that matches a high-accuracy map, but only needs to be equipped with a common sensor, such as a vehicle-mounted GPS receiver or a mobile device with a common accuracy, such as a GPS receiver on a personal mobile phone, to determine map positioning information. Therefore, the method and the device can also effectively save the cost of vehicle positioning, and further promote the development and popularization of the vehicle driving technology, particularly the automatic driving technology based on the map information application.
In one implementation, the method further includes a step S204 (not shown) of determining target location information of the target vehicle based on the map location information in step S204. In one implementation, the target location information of the target vehicle may include, but is not limited to, at least any one of: the distance of the target vehicle to the reference point; the number of lanes corresponding to the target vehicle; the lane corresponding to the target vehicle. In one implementation, if the map positioning information of the target vehicle is determined based on the reference point and in combination with a mapping relationship between coordinate position information of the vehicle and the map positioning information, where the map positioning information includes a distance from the vehicle to the reference point, a number of lanes corresponding to the vehicle, and the like, at this time, one or more items of the map positioning information may be determined to be output as the target positioning information. In another implementation manner, the target positioning information that needs to be finally output may be further determined on the basis of the determined map positioning information, for example, if the map positioning information includes the number of lanes corresponding to the vehicle, lane positioning is further performed on the target vehicle, and the number of lanes corresponding to the target vehicle is determined. At this time, the target location information includes the number of lanes corresponding to the target vehicle, and further, the target location information may further include each item or a combination of items of the number of lanes corresponding to the target vehicle, a distance from the target vehicle to the reference point, and the number of lanes corresponding to the target vehicle.
Further, in one implementation, the method further includes step S205 (not shown), and in step S205, driving information of the target vehicle is determined based on the target positioning information. In one implementation, the driving information may include, but is not limited to, path planning information, control strategy information, etc. of the target vehicle. In this case, the target location information of the target vehicle, for example, the number of lanes corresponding to the target vehicle, the distance of the target vehicle from the reference point, the number of lanes corresponding to the target vehicle may be used as part of the input information of the path planning and control strategy module for the driving function, in particular the automatic driving function, of the following target vehicle. For example, based on the target positioning information, it is possible to determine which lane the target vehicle is currently located, the distance from the next ramp junction, and the like, so that it is possible to efficiently plan a path for the vehicle and control the vehicle to travel.
In one implementation, the determining the map location information of the target vehicle based on the reference point in combination with the mapping relationship between the coordinate location information of the vehicle and the map location information includes determining the map location information of the target vehicle based on the coordinate location information of the reference point and the map location information of the target vehicleAnd determining the first distance from the target vehicle to the reference point by combining the coordinate position information of the target vehicle and the mapping relation between the coordinate position information of the vehicle and the distance from the vehicle to the reference point. In one implementation, the first distance may be calculated based on a calculation function expression of a distance between two points in a preset spherical coordinate system, for example, a first distance from the target vehicle to a reference point may be calculated according to expression 1, where: the coordinate position information of the target vehicle is longitude and latitude information phi1And theta1The coordinate position information of the reference point is latitude and longitude information phi2And theta2And R represents the earth radius.
Figure GDA0003364126870000151
Further, in one implementation, if the first distance is less than a distance threshold, a second distance between the target vehicle and the reference point is determined based on the coordinate position information of the target vehicle and in combination with the vehicle driving information of the target vehicle. In practical applications, when a first distance from a selected reference point is smaller than a preset distance threshold, for example, smaller than 1km, in consideration of an error received by the GPS, vehicle operation may be estimated and a second distance between the target vehicle and the reference point may be determined based on vehicle driving information of the target vehicle, for example, vehicle driving information collected by a vehicle speed sensor and a yaw rate sensor corresponding to the vehicle, and the second distance may be used as target positioning information of the target vehicle instead of the first distance in one implementation manner. Here, an example of the second distance calculation is:
d＝1-alpha*(v_host_speed*delta_t)-beta*(d_GPS)
wherein: alpha + beta ═ 1
Here, d represents a second distance (unit: km) from the reference point to the target vehicle, the distance threshold is 1km, v _ host _ speed _ delta _ t represents a traveling distance of the target vehicle, and d _ GPS represents a first distance (obtained by GPS coordinate calculation) from the target vehicle to the reference point; alpha and beta are respectively the weight of the driving distance of the target vehicle and the first distance from the target vehicle to the reference point, and in one implementation mode, the alpha can be more than 0.8.
In one implementation, the determining, based on the reference point, the map location information of the target vehicle in combination with the mapping relationship between the coordinate position information of the vehicle and the map location information includes determining, based on the reference point, the number of lanes corresponding to the target vehicle in combination with the mapping relationship between the coordinate position information of the vehicle and the number of lanes corresponding to the vehicle. In one implementation, the number of lanes corresponding to the target vehicle may be determined based on a lookup table functional relationship of the number of lanes with respect to the coordinate position information of the reference point, which is established in advance, for example, based on the lookup table functional relationship, current GPS coordinate information of the vehicle is input, and the output is the total number of lanes where the target vehicle is located currently. The method comprises the steps of firstly determining the position matching relationship between the coordinate position information of a target object and the coordinate position information of a reference point, and further determining the number of lanes corresponding to the matched reference point as the number of lanes corresponding to the coordinate position information of the target object.
In one implementation manner of the present application, in the step S204, a lane corresponding to the target vehicle may be determined based on the lane line related information of the target vehicle and the number of lanes corresponding to the target vehicle. In one implementation, the lane line related information may include, but is not limited to, a left lane line type, a right lane line type, a left lane line confidence, and a right lane line confidence of the target vehicle, where the lane line type may include lane line type information such as a dotted line, a solid line, and a double line, and in one implementation, the lane line related information, such as the lane line type, may have differences in content based on different regions and different national traffic regulations. In one implementation, the lane line related information, such as lane line type, may also be customized based on the needs of the driving environment of the vehicle. In one implementation, the method further includes step S206 (not shown), and in step S206, lane line related information corresponding to the target vehicle may be collected. For example, the camera device capable of realizing lane line type information is used for acquiring the lane line related information corresponding to the target vehicle in real time. Here, the collected lane line related information is matched with the coordinate position information corresponding to the target vehicle, and in one implementation, the collection of the lane line related information and the acquisition of the coordinate position information of the target vehicle have temporal and spatial consistency.
In one implementation, the method further includes step S207 (not shown), and in step S207, it may be determined whether the number of lanes corresponding to the target vehicle is less than or equal to a preset threshold number of lanes; next, in step S204, if the number of lanes corresponding to the target vehicle is less than or equal to a preset threshold value of the number of lanes, determining a lane corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle. If the number of lanes corresponding to the target vehicle is greater than a preset threshold value of the number of lanes, lane positioning of the target vehicle may be selected not to be performed; and if the number of the lanes corresponding to the target vehicle is less than or equal to a preset lane number threshold, determining the lanes corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle and the number of the lanes corresponding to the target vehicle. In one implementation, the threshold number of lanes may be flexibly set based on actual application needs. In one implementation, lane location methods corresponding to different numbers of lanes, and generally the method of determining the lane corresponding to the target vehicle, are also different.
Further, in one implementation manner, in step S204, a first scoring calculation may be performed on a plurality of candidate lanes corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle; next, a lane corresponding to the target vehicle may be determined among the plurality of candidate lanes based on a result of the first scoring calculation. Here, the number of lanes corresponding to the current position of the target vehicle is known, and then based on the lane line related information, such as the types of the left and right lane lines, and based on the corresponding scoring rule, a first scoring calculation is performed on a plurality of candidate lanes corresponding to the target vehicle. Fig. 3 is a diagram illustrating an example of determining a lane corresponding to the target vehicle according to an embodiment of the present application, taking the total number of lane lines N equal to 4 as an example, where the rightmost lane is referred to as a first lane, and the leftmost lane is referred to as a fourth lane, and generally, when the total number of lane lines is 4, a solid line or a two-line lane appears between the second lane and the third lane, or on the right side of the first lane, or on the left side of the fourth lane, and the first lane to the fourth lane are all candidate lanes corresponding to the target vehicle. The step of performing the first scoring calculation on the plurality of candidate lanes corresponding to the target vehicle is as follows: in step 301, acquiring total lane line number information; in step 302, lane line type information is obtained, and target information, that is, obstacle information, may also be obtained; in step 303, it is determined whether the currently detected left lane line type is a double line or a solid line type; if yes, in step 304, it is determined whether the two-line type is a right-side lane; if yes, then in step 306, no bonus points are performed on all lanes; if the judgment in the step 304 is no, assigning 1 point to the fourth lane and the second lane in the step 307; if the determination in step 303 is no, go to step 305; in step 305, it is determined whether a two-line or solid line type exists for the right lane line. If not, the step 308 is carried out, and the bonus points are not executed on all lanes; if so, then in step 309 a score of 1 is assigned to the third lane and the first lane. Based on the first scoring calculation, a cumulative assignment for each candidate lane may be determined, and a lane corresponding to the target vehicle may be determined among the plurality of candidate lanes based on the cumulative assignment.
Further, in one implementation, the determining, based on the result of the first scoring calculation, a lane corresponding to the target vehicle among the plurality of candidate lanes includes any one of: if the score of one or more candidate lanes is determined to be larger than a preset score threshold value based on the first score calculation result, determining the candidate lane with the highest score as the lane corresponding to the target vehicle; if the scores of one or more candidate lanes are determined to be larger than a preset score threshold value based on the first score calculation result, and at least two candidate lanes with the highest scores are determined, performing the first score calculation again; and if the score of no candidate lane is determined to be larger than the preset score threshold value based on the result of the first scoring calculation, the first scoring calculation is carried out again. Here, the score threshold may be flexibly set based on actual application needs.
In one implementation manner of the present application, in the step S204, the lane corresponding to the target vehicle may be determined based on the lane line related information corresponding to the target vehicle, the obstacle information corresponding to the target vehicle, and the number of lanes corresponding to the target vehicle. Here, the lane positioning of the present application may further combine the obstacle information corresponding to the target vehicle to improve the accuracy of the lane positioning. The obstacle information may be collected in real time by a camera of the vehicle. In one implementation, second scoring calculation may be performed on a plurality of candidate lanes corresponding to the target vehicle based on lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle; performing third scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on the obstacle information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle; then, a lane corresponding to the target vehicle is determined among the plurality of candidate lanes based on results of the second scoring calculation and the third scoring calculation.
Here, the second scoring calculation mode may refer to the first scoring calculation mode, and is not described herein again. Based on the second scoring calculation, respective assignments may be made for each candidate lane. Here, referring to fig. 3, the step of performing a third scoring calculation on a plurality of candidate lanes corresponding to the target vehicle may include: in step 310, it is confirmed whether an obstacle is sensed on the left side; if yes, assigning 1 point to the first lane line, the second lane line and the third lane line in step 311; if not, then in step 312 no bonus points are performed on all lanes; in step 313, it is determined whether an obstacle is perceived on the right side; if yes, then in step 314 assign 1 score to the second, third, and fourth lanes; if not, in step 315, no bonus is performed for all lanes. Based on the third scoring calculation, an assignment may also be made for each candidate lane. Then, a lane corresponding to the target vehicle is determined among the plurality of candidate lanes based on results of the second scoring calculation and the third scoring calculation. For example, the respective assignments of the candidate lanes are accumulated through the second and third scoring calculations, and the lane corresponding to the target vehicle is determined among the candidate lanes based on the accumulated assignments. For example, in fig. 3, in step 316, it is determined whether the score of any lane exceeds a preset score threshold, i.e. a threshold value; if not, returning to the step 301 to perform scoring calculation again, for example, performing the second scoring calculation and the third scoring calculation again; if yes, entering step 317, and judging whether the highest lane is unique; if the judgment result in the step 317 is negative, returning to the step 301 to perform scoring calculation again; if the determination in step 317 is yes, then in step 318 the results of the lane positioning are output.
In one implementation, the order of the second scoring calculation and the third scoring calculation may not be limited. For example, the processes may be performed simultaneously or sequentially in a certain order.
In one implementation, if the number N of lanes is greater than 4, the lane corresponding to the target lane may be determined with reference to the lane locating method in fig. 3, that is, a double-line type or a solid-line type of a lane line is used to distinguish whether the target vehicle is located in a left area or a right area of the road; and then further carrying out lane positioning by combining lane types and obstacle information. In practical applications, if the number of lanes is small, for example, the total number of lanes is less than or equal to 3, the lane corresponding to the target vehicle may be determined based on only the lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle.
In one implementation, the method further includes step S208 (not shown), and in step S208, if the target vehicle is in at least any one of the following states, the determined lane corresponding to the target vehicle is kept unchanged: the target vehicle is in the lane change process; and the lane line related information corresponding to the current position information of the target vehicle cannot be determined. In this case, the method and the device can correct the situation that the lane change is performed in the driving process of the target vehicle, or the relevant information of the lane line cannot be determined, such as the situation that the type of the lane line cannot be determined. For example, if it is detected that the target vehicle is changing lanes or is blocked by a roadside tree, the lane line is blurred, and the determined lane corresponding to the target vehicle is kept unchanged, e.g., the determined lane corresponding to the target vehicle at the closest time to the state is determined to continue as the lane location of the target vehicle in the state.
Further, in one implementation, the method further includes step S209 (not shown), and in step S209, if the target vehicle satisfies at least any one of the following conditions, the lane corresponding to the target vehicle is determined again: judging and monitoring the abnormal situation of the lane positioning of the current target vehicle based on the determined lane corresponding to the target vehicle; or the target vehicle is not located on the determined target road where the lane corresponding to the target vehicle is located currently. In one implementation, if the lane line related information of the target lane cannot be determined to exceed a certain waiting time limit, it may be determined whether an abnormal condition occurs in the current lane positioning of the target vehicle based on the determined lane corresponding to the target vehicle, for example: if the vehicle is judged to be in the rightmost lane but the right lane line type is the dotted line, such contradiction is considered as a potential error, and the lane positioning of the target vehicle is carried out again. In another implementation manner, or the current target vehicle is not on the determined target road where the lane corresponding to the target vehicle is located, that is, the target vehicle has left the original target road, the lane of the target vehicle may be located again. Based on the real-time monitoring, the accuracy of positioning the target vehicle can be improved.
In one implementation, the method further includes step S210 (not shown), in step S210, acquiring lane change information of the target vehicle; and determining a lane corresponding to the target vehicle after lane changing based on the determined lane corresponding to the target vehicle and the lane changing information. For example, it is determined that the target lane is located in a second lane (the number of lanes is N, and the lane ordinal number increases from right to left), lane change information of the current target vehicle is obtained, for example, if the target vehicle changes lanes to the right, the lane ordinal number directly decreases by 1 after the lane change is completed; and vice versa. In one implementation, new coordinate position information of a target vehicle may be obtained, wherein the target vehicle moves from the coordinate position information to the new coordinate position information through a lane change operation; and then, determining a lane corresponding to the target vehicle corresponding to the new coordinate position information based on the coordinate position information, the new coordinate position information and the lane corresponding to the target vehicle corresponding to the coordinate position information. Here, if there is a history of lane locating operation, it is possible to perform simple information update on the basis of the determined lane corresponding to the target vehicle after the subsequent lane change operation, that is, to achieve relocation of the target vehicle.
In this regard, the present application may also determine target location information for the target vehicle based on the map location information to provide accurate input for rear end planning and control programs for vehicles, such as autonomous vehicles. And determining the lane corresponding to the target vehicle based on the lane line related information of the target vehicle and the number of lanes corresponding to the target vehicle. The method and the device can realize lane-level positioning of the target vehicle by the established mapping relation between the coordinate position information of the target object and the map positioning information and combining the real-time coordinate position information of the target vehicle and the relevant information of the lane line. And the target vehicle, such as an automatic driving vehicle, does not need to have a high-precision sensor (such as a laser radar with a distance measuring function) matched with a high-precision map and a GPS receiving mode with a high-precision positioning function, but directly configures a camera device capable of realizing lane line type information identification and a vehicle-mounted GPS receiver with common precision, such as a vehicle-mounted GPS receiver, so that the target positioning information can be determined. Therefore, compared with the lane positioning of the vehicle based on the high-precision map, the lane positioning method and the lane positioning device can greatly reduce the cost of the lane positioning while effectively realizing the lane positioning.
The application also provides equipment for establishing the map information. Fig. 4 shows a schematic view of a device 1 for creating map information according to an aspect of the present application. The device 1 includes a first obtaining means 401, a first determining means 402, a second determining means 403, and a establishing means 404.
The first obtaining device 401 may obtain route information of the target road; the first determination device 402 determines a reference point of the target road based on the line information; the second determining means 403 determines coordinate position information of the reference point; the establishing means 404 establishes a mapping relationship between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point.
Specifically, the first acquisition means 401 acquires route information of the target road. Here, it is necessary to acquire route information of a target road based on the target road that is an object for creating map information. In one implementation, the target road may include, but is not limited to, a road environment and a road with relatively simple and clear target attributes, such as a highway, a road in a closed or semi-closed space, and the like. In one implementation, the route information may include, but is not limited to, a trend of the target road; coordinate position information of the starting point of the target road and other positions on the target road, such as GPS coordinate information; and other road condition information of the target road, such as information of ramps, curves, gradients, lane numbers and the like.
In the application, the line information of the target road needs to be collected first, and then subsequent map information generation work is performed on the target road, including subsequent determination of a reference point of the target road, determination of coordinate position information of the reference point, establishment of a mapping relation between the coordinate position information of the target object and the map positioning information, and the like.
In one implementation, the corresponding route information may be acquired by a vehicle driving through the target road in advance. In another implementation, the route information of the target road may also be acquired from a third-party information providing device. Here, the third-party information providing device may include, but is not limited to, a website providing GPS coordinate information, a general navigation map, and a network device corresponding to a high-precision map. Further, in an implementation manner, the route information of the target road may be acquired by the device 1 from a third-party information providing device in advance, and then directly read from the device 1 based on the selection information of the target road submitted to the device 1 by the user; in another implementation manner, the device 1 may also submit selection information of a target road to the device 1 based on a user, and then request the line information of the corresponding target road from the third-party information providing device based on the selection information; in another implementation manner, the selection information of the target road may be directly submitted to the third-party information providing device based on the user, and then the third-party information providing device provides the route information of the target road to the device 1.
Here, in one implementation, the route information corresponding to the target road may be acquired in segments from the third-party information providing device based on the target road selection information of the user, for example, one target road may be divided into a plurality of continuous segments, and the corresponding route information may be captured based on the characteristics of different segments. Further, in an implementation manner, the first obtaining device 401 may obtain, in a segmented manner, route information corresponding to a target road from the third-party information providing device based on target road selection information of a user, where the target road corresponding to the target road selection information is a circular route, and a link corresponding to each piece of the route information obtained in a segmented manner is a non-circular route. In practical application, in order to avoid the influence of the complexity of the ring line on the subsequent establishment of the mapping relationship, the ring line may be segmented into a plurality of non-ring lines, and corresponding map information is established for the non-ring line corresponding to each road segment. In one implementation, coordinate location information, such as latitude and longitude coordinate information, for each location along the non-circular course may be allowed to be expressed as a many-to-one functional relationship or a monotonic functional relationship.
Here, the first determination device 402 may determine the reference point of the target road based on the line information. In one implementation, the reference point may include a location on the target road having coordinate attributes, such as GPS coordinate attributes, that may affect a driving trajectory of a vehicle traveling on the target road. In one implementation, the reference point may include at least any one of: lane number change points; a ramp-up port location point; a lower ramp port location point; starting point of curve; a curve ending point; starting point of the ramp; a ramp termination point; starting point of road; a road termination point; a speed limit change point; filling station coordinate point, charging station coordinate point, toll station coordinate point. It will be understood by those skilled in the art that the foregoing references are by way of example only, and that other references, now or later developed, that may be suitable for use in the present application are intended to be encompassed within the scope of the present application and are hereby incorporated by reference. Here, based on the route information, for example, road condition information of each section of the target road, such as a ramp, a curve, a gradient, the number of lanes, and the like, a position that may affect the driving track of the vehicle traveling on the target road may be screened from among the positions on the target road as a reference point. In one implementation, the screening condition can be flexibly set based on the requirement of the actual application scene so as to determine the reference point meeting the requirement of establishing the map.
Here, the second determination means 403 may determine coordinate position information of the reference point. Here, the coordinate location information may include, but is not limited to, GPS coordinate information. In one implementation, the obtaining of the route information of the target road includes obtaining coordinate position information of the reference point, for example, each position on the target road, including the coordinate position information of the reference point, may be directly clicked and selected on a GPS coordinate information website. And when the reference point is determined, the coordinate position information corresponding to the reference point is correspondingly determined. In another implementation, the reference point of the target road may be determined first, and then the coordinate position information of the selected reference point is further obtained, for example, the coordinate position information may be obtained from a third-party information providing device, for example, a GPS website, or the coordinate position information may be obtained by performing calculation under the existing road information or by relying on other manners.
Here, the establishing means 404 may establish a mapping relationship of the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point. In one implementation, the target object includes a vehicle, and the establishing device 404 may establish a mapping relationship between coordinate position information of the vehicle and map positioning information based on the coordinate position information of the reference point. In one implementation, the vehicle may include, but is not limited to, a vehicle traveling in any mode, such as a fully human driving mode, an assisted driving mode, a partially autonomous driving mode, a conditional autonomous driving mode, a highly autonomous driving mode, or a fully autonomous driving mode. Subsequently, map location information for vehicle driving may be determined based on the constructed map information, such as a mapping relationship between coordinate position information of the vehicle and the map location information.
In one implementation, the mapping relationship between the coordinate position information of the target object and the map positioning information may be constructed based on the coordinate position information of the reference point. In one implementation, a corresponding lookup table function relationship or a calculation function expression may be constructed according to the coordinate position information of the reference point. In one implementation, the map location information includes at least any one of: the distance between the target object and the reference point, and whether the target object is in the target road mark position; the number of lanes corresponding to the target object. Having taken the target object as a vehicle as an example, in one implementation, a mapping relationship between the coordinate position information of the vehicle and the distance from the vehicle to the reference point may be constructed based on the coordinate position information of the reference point, for example, the calculation function expression may be constructed in a spherical coordinate system by directly using longitude and latitude coordinates for establishing the mapping relationship between the coordinate position information of the vehicle and the distance from the vehicle to the reference point. The method is relatively complex in calculation, but has high accuracy; the distance calculation between two points in a long distance can be well realized. The distance of the vehicle from the selected reference point can be calculated according to equation 1, where: r represents the radius of the earth, phi1And theta1Representing the longitude and latitude, phi, of the vehicle2And theta2Representing the longitude and latitude of the selected reference point. In the case where the longitude and latitude of the reference point are determined and the longitude and latitude of the vehicle are known, the distance from the vehicle to the selected reference point may be determined based on the mapping relationship, that is, the following calculation function expression. The reference point may be determined based on actual application requirements, and may be, for example, a road termination point, a next ramp junction position point, and the like.
Figure GDA0003364126870000241
For another example, the mapping relationship between the coordinate position information of the vehicle and the flag bit of the target road may be implemented by establishing a functional relationship that determines whether the coordinate position information of the vehicle is within the range of the coordinate position information of each position corresponding to the target road, for example, if it is determined that the GPS coordinate information of the vehicle is within the spatial range of the target road based on the GPS coordinate information of the start point, the end point, or another reference point of the road on the target road, a functional result that the coordinate position information is on the target road or the coordinate position information is not on the target road is output, for example, if the vehicle is on the target road, the flag bit is 1, and vice versa is 0.
For another example, the mapping relationship between the coordinate and position information of the vehicle and the number of lanes corresponding to the vehicle may be established by converting the GPS position coordinate of the reference point into the mcator coordinates, and then establishing a lookup table function relationship between the number of lanes and the coordinate and position information of the reference point according to the mcator coordinates. The conversion relation between the mcardtoad coordinates and the longitude and latitude coordinates can be shown as formulas 2 and 3. Where Longi represents the longitude of the point, Lati represents the latitude of the point, X and Y represent the abscissa and ordinate, respectively, in the mcatto coordinate system, and R represents the radius of the earth.
X ═ Longi ═ R ^ pi/180- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Y ═ R ═ ln (tan (45+ Lati/2)) - - - - - - - - - - - - - - - - - - - -formula 3
Here, in an implementation manner, if the map positioning information includes the number of lanes corresponding to the target object, the establishing device 404 may establish a mapping relationship between the coordinate position information of the target object and the number of lanes corresponding to the target object based on the coordinate position information of the reference point and the number of lanes corresponding to the reference point. The number of lanes corresponding to the coordinate position information of the reference point may be collected and determined in advance, and then, by position matching between the coordinate position information of the target object and the coordinate position information of the reference point, the number of lanes corresponding to the matched reference point is determined to be the number of lanes corresponding to the coordinate position information of the target object.
It should be understood by those skilled in the art that the above-mentioned method for establishing the mapping relationship between the coordinate position information of the target object and the map positioning information is only an example, and other existing or later-appearing methods for establishing the mapping relationship between the coordinate position information of the target object and the map positioning information are included in the scope of protection of the present application and are included herein by reference, if applicable to the present application.
The method and the device for establishing the map information have the advantages that the reference point of the target road is determined based on the acquired line information of the target road, and then the mapping relation between the coordinate position information of the target object and the map positioning information is established based on the determined coordinate position information of the reference point, so that the map information is established. Here, the mapping relationship between the coordinate position information of the target object and the map positioning information is not required to be established by relying on information acquisition operations of a high-precision differential GPS, a laser radar or a camera, but may be directly established based on the known route information of the target road in the existing conventional map information, and the established mapping relationship may be applied to the actual driving process of the target object, such as a vehicle, to realize effective positioning of the vehicle, such as lane-level positioning. Therefore, the method and the device can effectively save the cost of map information creation and reduce the data processing time, and further promote the development and popularization of vehicle driving technology based on the map information application, particularly automatic driving technology.
The application also provides a vehicle positioning device. FIG. 5 shows a schematic view of a vehicle locating apparatus 2 according to one aspect of the present application. Wherein the vehicle localization apparatus 2 comprises a second obtaining means 501, a third determining means 502 and a fourth determining means 503. In one implementation of the present application, the vehicle localization device 2 may comprise a network device, or comprise an onboard device, or comprise the vehicle itself.
Wherein the second obtaining device 501 may obtain coordinate position information of the target vehicle; the third determining means 502 may determine a reference point of the target road that matches the coordinate position information of the target vehicle; the fourth determining device 503 may determine the map location information of the target vehicle based on the reference point in combination with a mapping relationship between the coordinate position information of the vehicle and the map location information, wherein the mapping relationship between the coordinate position information of the vehicle and the map location information is established based on the coordinate position information of the reference point.
Specifically, the second acquisition means 501 may acquire coordinate position information of the target vehicle. In one implementation, the GPS position information of the vehicle may be acquired in real time by a coordinate position information acquisition device corresponding to the target vehicle, such as a GPS receiver, where the GPS receiver may include a high-precision device or a common-precision device, such as a meter-level GPS receiver.
Here, the third determination means 502 may determine the reference point of the target road that matches the coordinate position information of the target vehicle. In one implementation, the third determining device 502 may determine a target road corresponding to the target vehicle based on the coordinate position information; and determining a reference point matched with the coordinate position information of the target vehicle on the target road. For example, based on the acquired GPS coordinate information of the target vehicle, which target road the target vehicle is on is determined, and here, one or more coordinate position information matched with the GPS coordinate information of the target vehicle in a spatial range may be found, and a road corresponding to the one or more coordinate position information is a target road where the target vehicle is currently located. For example, if the GPS coordinate information of the target vehicle is within the range of the section formed by the coordinate position information of the road start point and the road end point of the target road, it is determined that the target vehicle is on the target road. Then, matching corresponding reference points for the target vehicle, in one implementation, selecting part or all of the reference points of the preset target road as the reference points matched with the target vehicle; further, in practical applications, the selection of the reference point matched with the target vehicle may be performed based on the need, for example, selecting a road end point of the target road as the reference point of the target vehicle, and for example, selecting a next ramp junction position point as the reference point of the target vehicle.
Here, the fourth determining device 503 may determine the map location information of the target vehicle based on the reference point in combination with a mapping relationship of the coordinate position information of the vehicle and the map location information, which is established based on the coordinate position information of the reference point.
Here, the mapping relationship between the coordinate position information of the vehicle and the map positioning information may be established based on the coordinate position information of the reference point. In one implementation, the mapping relationship may include a corresponding look-up table functional relationship or a computational functional expression. In one implementation, the map location information includes at least any one of: the distance of the vehicle from the reference point; whether the vehicle is at the target road sign bit; the number of lanes corresponding to the vehicle. Here, based on the coordinate position information of the reference point and the current coordinate position information of the target vehicle, the distance from the target vehicle to the reference point may be calculated according to the established mapping relationship, such as a lookup table function relationship or a calculation function expression, or whether the target vehicle is located at the target road sign, or the number of lanes corresponding to the target vehicle may be determined. For example, for the determination of the number of lanes corresponding to the target vehicle, based on the constructed lane number lookup table functional relationship, the current GPS coordinate information of the vehicle is input, and the output is the total number of lanes where the target vehicle is currently located. For another example, for the distance from the target vehicle to the reference point, such as the distance to the gate crossing, etc., the calculation and determination may be performed based on a calculation function expression of the distance between two points in the preset spherical coordinate system.
In addition, the method and the device for determining the map location information of the target vehicle can also determine the reference point of the target road matched with the coordinate location information of the target vehicle based on the acquired coordinate location information of the target vehicle during actual vehicle running, so that the map location information of the target vehicle is determined based on the reference point by combining the mapping relation between the coordinate location information of the vehicle and the map location information, wherein the mapping relation between the coordinate location information of the vehicle and the map location information is established based on the coordinate location information of the reference point. Here, based on the constructed mapping relationship between the coordinate position information of the target object and the map positioning information, effective positioning of the target vehicle, such as lane-level positioning, can be achieved. In this case, the target vehicle, such as an autonomous vehicle, does not need to be equipped with a GPS receiver with a high-accuracy positioning function that matches a high-accuracy map, but only needs to be equipped with a common sensor, such as a vehicle-mounted GPS receiver or a mobile device with a common accuracy, such as a GPS receiver on a personal mobile phone, to determine map positioning information. Therefore, the method and the device can also effectively save the cost of vehicle positioning, and further promote the development and popularization of the vehicle driving technology, particularly the automatic driving technology based on the map information application.
In one implementation, the vehicle localization apparatus 2 further includes a fifth determining device (not shown) that can determine target localization information of the target vehicle based on the map localization information. In one implementation, the target location information of the target vehicle may include, but is not limited to, at least any one of: the distance of the target vehicle to the reference point; the number of lanes corresponding to the target vehicle; the lane corresponding to the target vehicle. In one implementation, if the map positioning information of the target vehicle is determined based on the reference point and in combination with a mapping relationship between coordinate position information of the vehicle and the map positioning information, where the map positioning information includes a distance from the vehicle to the reference point, a number of lanes corresponding to the vehicle, and the like, at this time, one or more items of the map positioning information may be determined to be output as the target positioning information. In another implementation manner, the target positioning information that needs to be finally output may be further determined on the basis of the determined map positioning information, for example, if the map positioning information includes the number of lanes corresponding to the vehicle, lane positioning is further performed on the target vehicle, and the number of lanes corresponding to the target vehicle is determined. At this time, the target location information includes the number of lanes corresponding to the target vehicle, and further, the target location information may further include each item or a combination of items of the number of lanes corresponding to the target vehicle, a distance from the target vehicle to the reference point, and the number of lanes corresponding to the target vehicle.
Further, in one implementation, the vehicle localization apparatus 2 further includes a sixth determining device (not shown) that can determine the driving information of the target vehicle based on the target localization information. In one implementation, the driving information may include, but is not limited to, path planning information, control strategy information, etc. of the target vehicle. In this case, the target location information of the target vehicle, for example, the number of lanes corresponding to the target vehicle, the distance of the target vehicle from the reference point, the number of lanes corresponding to the target vehicle may be used as part of the input information of the path planning and control strategy module for the driving function, in particular the automatic driving function, of the following target vehicle. For example, based on the target positioning information, it is possible to determine which lane the target vehicle is currently located, the distance from the next ramp junction, and the like, so that it is possible to efficiently plan a path for the vehicle and control the vehicle to travel.
In one implementation, the fourth determining device 503 may determine the first distance from the target vehicle to the reference point based on the coordinate position information of the reference point and the coordinate position information of the target vehicle, and by combining the mapping relationship between the coordinate position information of the vehicle and the distance from the vehicle to the reference point. In one implementation, the first distance may be calculated based on a calculation function expression of a distance between two points in a preset spherical coordinate system, for example, the target vehicle may be calculated to a reference point according to expression 1Wherein: the coordinate position information of the target vehicle is longitude and latitude information phi1And theta1The coordinate position information of the reference point is latitude and longitude information phi2And theta2And R represents the earth radius.
Figure GDA0003364126870000281
Further, in one implementation, if the first distance is less than a distance threshold, a second distance between the target vehicle and the reference point is determined based on the coordinate position information of the target vehicle and in combination with the vehicle driving information of the target vehicle. In practical applications, when a first distance from a selected reference point is smaller than a preset distance threshold, for example, smaller than 1km, in consideration of an error received by the GPS, vehicle operation may be estimated and a second distance between the target vehicle and the reference point may be determined based on vehicle driving information of the target vehicle, for example, vehicle driving information collected by a vehicle speed sensor and a yaw rate sensor corresponding to the vehicle, and the second distance may be used as target positioning information of the target vehicle instead of the first distance in one implementation manner. Here, an example of the second distance calculation is:
d＝1-alpha*(v_host_speed*delta_t)-beta*(d_GPS)
wherein: alpha + beta ═ 1
Here, d represents a second distance (unit: km) from the reference point to the target vehicle, the distance threshold is 1km, v _ host _ speed _ delta _ t represents a traveling distance of the target vehicle, and d _ GPS represents a first distance (obtained by GPS coordinate calculation) from the target vehicle to the reference point; alpha and beta are respectively the weight of the driving distance of the target vehicle and the first distance from the target vehicle to the reference point, and in one implementation mode, the alpha can be more than 0.8.
In one implementation, the fourth determining device 503 may determine the number of lanes corresponding to the target vehicle based on the reference point and by combining a mapping relationship between coordinate position information of the vehicle and the number of lanes corresponding to the vehicle. In one implementation, the number of lanes corresponding to the target vehicle may be determined based on a lookup table functional relationship of the number of lanes with respect to the coordinate position information of the reference point, which is established in advance, for example, based on the lookup table functional relationship, current GPS coordinate information of the vehicle is input, and the output is the total number of lanes where the target vehicle is located currently. The method comprises the steps of firstly determining the position matching relationship between the coordinate position information of a target object and the coordinate position information of a reference point, and further determining the number of lanes corresponding to the matched reference point as the number of lanes corresponding to the coordinate position information of the target object.
In one implementation of the present application, the fifth determining device may determine the lane corresponding to the target vehicle based on the lane line related information of the target vehicle and the number of lanes corresponding to the target vehicle. In one implementation, the lane line related information may include, but is not limited to, a left lane line type, a right lane line type, a left lane line confidence, and a right lane line confidence of the target vehicle, where the lane line type may include lane line type information such as a dotted line, a solid line, and a double line, and in one implementation, the lane line related information, such as the lane line type, may have differences in content based on different regions and different national traffic regulations. In one implementation, the lane line related information, such as lane line type, may also be customized based on the needs of the driving environment of the vehicle. In one implementation, the vehicle positioning apparatus 2 further includes a collecting device (not shown), and the collecting device can collect the lane line related information corresponding to the target vehicle. For example, the camera device capable of realizing lane line type information is used for acquiring the lane line related information corresponding to the target vehicle in real time. Here, the collected lane line related information is matched with the coordinate position information corresponding to the target vehicle, and in one implementation, the collection of the lane line related information and the acquisition of the coordinate position information of the target vehicle have temporal and spatial consistency.
In one implementation, the vehicle positioning apparatus 2 further includes a determining device (not shown) that may determine whether the number of lanes corresponding to the target vehicle is less than or equal to a preset threshold number of lanes; then, if the number of lanes corresponding to the target vehicle is less than or equal to a preset threshold value of the number of lanes, the fifth determining device may determine the lane corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle. If the number of lanes corresponding to the target vehicle is greater than a preset threshold value of the number of lanes, lane positioning of the target vehicle may be selected not to be performed; and if the number of the lanes corresponding to the target vehicle is less than or equal to a preset lane number threshold, determining the lanes corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle and the number of the lanes corresponding to the target vehicle. In one implementation, the threshold number of lanes may be flexibly set based on actual application needs. In one implementation, lane location methods corresponding to different numbers of lanes, and generally the method of determining the lane corresponding to the target vehicle, are also different.
Further, in one implementation, the fifth determining device may perform a first scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle; next, a lane corresponding to the target vehicle may be determined among the plurality of candidate lanes based on a result of the first scoring calculation. Here, the number of lanes corresponding to the current position of the target vehicle is known, and then based on the lane line related information, such as the types of the left and right lane lines, and based on the corresponding scoring rule, a first scoring calculation is performed on a plurality of candidate lanes corresponding to the target vehicle. Fig. 3 is a diagram illustrating an example of determining a lane corresponding to the target vehicle according to an embodiment of the present application, taking the total number of lane lines N equal to 4 as an example, where the rightmost lane is referred to as a first lane, and the leftmost lane is referred to as a fourth lane, and generally, when the total number of lane lines is 4, a solid line or a two-line lane appears between the second lane and the third lane, or on the right side of the first lane, or on the left side of the fourth lane, and the first lane to the fourth lane are all candidate lanes corresponding to the target vehicle. The step of performing the first scoring calculation on the plurality of candidate lanes corresponding to the target vehicle is as follows: in step 301, acquiring total lane line number information; in step 302, lane line type information is obtained, and target information, that is, obstacle information, may also be obtained; in step 303, it is determined whether the currently detected left lane line type is a double line or a solid line type; if yes, in step 304, it is determined whether the two-line type is a right-side lane; if yes, then in step 306, no bonus points are performed on all lanes; if the judgment in the step 304 is no, assigning 1 point to the fourth lane and the second lane in the step 307; if the determination in step 303 is no, go to step 305; in step 305, it is determined whether a two-line or solid line type exists for the right lane line. If not, the step 308 is carried out, and the bonus points are not executed on all lanes; if so, then in step 309 a score of 1 is assigned to the third lane and the first lane. Based on the first scoring calculation, a cumulative assignment for each candidate lane may be determined, and a lane corresponding to the target vehicle may be determined among the plurality of candidate lanes based on the cumulative assignment.
Further, in one implementation, the determining, based on the result of the first scoring calculation, a lane corresponding to the target vehicle among the plurality of candidate lanes includes any one of: if the score of one or more candidate lanes is determined to be larger than a preset score threshold value based on the first score calculation result, determining the candidate lane with the highest score as the lane corresponding to the target vehicle; if the scores of one or more candidate lanes are determined to be larger than a preset score threshold value based on the first score calculation result, and at least two candidate lanes with the highest scores are determined, performing the first score calculation again; and if the score of no candidate lane is determined to be larger than the preset score threshold value based on the result of the first scoring calculation, the first scoring calculation is carried out again. Here, the score threshold may be flexibly set based on actual application needs.
In one implementation of the present application, the fifth determining device may determine the lane corresponding to the target vehicle based on lane line related information corresponding to the target vehicle, obstacle information corresponding to the target vehicle, and the number of lanes corresponding to the target vehicle. Here, the lane positioning of the present application may further combine the obstacle information corresponding to the target vehicle to improve the accuracy of the lane positioning. The obstacle information may be collected in real time by a camera of the vehicle. In one implementation, second scoring calculation may be performed on a plurality of candidate lanes corresponding to the target vehicle based on lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle; performing third scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on the obstacle information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle; then, a lane corresponding to the target vehicle is determined among the plurality of candidate lanes based on results of the second scoring calculation and the third scoring calculation.
Here, the second scoring calculation mode may refer to the first scoring calculation mode, and is not described herein again. Based on the second scoring calculation, respective assignments may be made for each candidate lane. Here, referring to fig. 3, the step of performing a third scoring calculation on a plurality of candidate lanes corresponding to the target vehicle may include: in step 310, it is confirmed whether an obstacle is sensed on the left side; if yes, assigning 1 point to the first lane line, the second lane line and the third lane line in step 311; if not, then in step 312 no bonus points are performed on all lanes; in step 313, it is determined whether an obstacle is perceived on the right side; if yes, then in step 314 assign 1 score to the second, third, and fourth lanes; if not, in step 315, no bonus is performed for all lanes. Based on the third scoring calculation, an assignment may also be made for each candidate lane. Then, a lane corresponding to the target vehicle is determined among the plurality of candidate lanes based on results of the second scoring calculation and the third scoring calculation. For example, the respective assignments of the candidate lanes are accumulated through the second and third scoring calculations, and the lane corresponding to the target vehicle is determined among the candidate lanes based on the accumulated assignments. For example, in fig. 3, in step 316, it is determined whether the score of any lane exceeds a preset score threshold, i.e. a threshold value; if not, returning to the step 301 to perform scoring calculation again, for example, performing the second scoring calculation and the third scoring calculation again; if yes, entering step 317, and judging whether the highest lane is unique; if the judgment result in the step 317 is negative, returning to the step 301 to perform scoring calculation again; if the determination in step 317 is yes, then in step 318 the results of the lane positioning are output.
In one implementation, the order of the second scoring calculation and the third scoring calculation may not be limited. For example, the processes may be performed simultaneously or sequentially in a certain order.
In one implementation, if the number N of lanes is greater than 4, the lane corresponding to the target lane may be determined with reference to the lane locating method in fig. 3, that is, a double-line type or a solid-line type of a lane line is used to distinguish whether the target vehicle is located in a left area or a right area of the road; and then further carrying out lane positioning by combining lane types and obstacle information. In practical applications, if the number of lanes is small, for example, the total number of lanes is less than or equal to 3, the lane corresponding to the target vehicle may be determined based on only the lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle.
In one implementation, the vehicle positioning apparatus 2 further includes a seventh determining device (not shown), and the seventh determining device may keep the determined lane corresponding to the target vehicle unchanged if the target vehicle is in at least any one of the following states: the target vehicle is in the lane change process; and the lane line related information corresponding to the current position information of the target vehicle cannot be determined. In this case, the method and the device can correct the situation that the lane change is performed in the driving process of the target vehicle, or the relevant information of the lane line cannot be determined, such as the situation that the type of the lane line cannot be determined. For example, if it is detected that the target vehicle is changing lanes or is blocked by a roadside tree, the lane line is blurred, and the determined lane corresponding to the target vehicle is kept unchanged, e.g., the determined lane corresponding to the target vehicle at the closest time to the state is determined to continue as the lane location of the target vehicle in the state.
Further, in one implementation, the vehicle positioning apparatus 2 further includes an eighth determining device (not shown) that may re-determine the lane corresponding to the target vehicle if the target vehicle satisfies at least any one of the following conditions: judging and monitoring the abnormal situation of the lane positioning of the current target vehicle based on the determined lane corresponding to the target vehicle; or the target vehicle is not located on the determined target road where the lane corresponding to the target vehicle is located currently. In one implementation, if the lane line related information of the target lane cannot be determined to exceed a certain waiting time limit, it may be determined whether an abnormal condition occurs in the current lane positioning of the target vehicle based on the determined lane corresponding to the target vehicle, for example: if the vehicle is judged to be in the rightmost lane but the right lane line type is the dotted line, such contradiction is considered as a potential error, and the lane positioning of the target vehicle is carried out again. In another implementation manner, or the current target vehicle is not on the determined target road where the lane corresponding to the target vehicle is located, that is, the target vehicle has left the original target road, the lane of the target vehicle may be located again. Based on the real-time monitoring, the accuracy of positioning the target vehicle can be improved.
In one implementation, the vehicle positioning apparatus 2 further includes a third obtaining device (not shown) and a ninth determining device (not shown), and the third obtaining device may obtain lane change information of the target vehicle; the ninth determining means may determine the lane corresponding to the target vehicle after lane change based on the determined lane corresponding to the target vehicle and the lane change information. For example, it is determined that the target lane is located in a second lane (the number of lanes is N, and the lane ordinal number increases from right to left), lane change information of the current target vehicle is obtained, for example, if the target vehicle changes lanes to the right, the lane ordinal number directly decreases by 1 after the lane change is completed; and vice versa. In one implementation, new coordinate position information of a target vehicle may be obtained, wherein the target vehicle moves from the coordinate position information to the new coordinate position information through a lane change operation; and then, determining a lane corresponding to the target vehicle corresponding to the new coordinate position information based on the coordinate position information, the new coordinate position information and the lane corresponding to the target vehicle corresponding to the coordinate position information. Here, if there is a history of lane locating operation, it is possible to perform simple information update on the basis of the determined lane corresponding to the target vehicle after the subsequent lane change operation, that is, to achieve relocation of the target vehicle.
In this regard, the present application may also determine target location information for the target vehicle based on the map location information to provide accurate input for rear end planning and control programs for vehicles, such as autonomous vehicles. And determining the lane corresponding to the target vehicle based on the lane line related information of the target vehicle and the number of lanes corresponding to the target vehicle. The method and the device can realize lane-level positioning of the target vehicle by the established mapping relation between the coordinate position information of the target object and the map positioning information and combining the real-time coordinate position information of the target vehicle and the relevant information of the lane line. And the target vehicle, such as an automatic driving vehicle, does not need to have a high-precision sensor (such as a laser radar with a distance measuring function) matched with a high-precision map and a GPS receiving mode with a high-precision positioning function, but directly configures a camera device capable of realizing lane line type information identification and a vehicle-mounted GPS receiver with common precision, such as a vehicle-mounted GPS receiver, so that the target positioning information can be determined. Therefore, compared with the lane positioning of the vehicle based on the high-precision map, the lane positioning method and the lane positioning device can greatly reduce the cost of the lane positioning while effectively realizing the lane positioning.
The present application also provides an apparatus for establishing map information, including:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for:
acquiring line information of a target road;
determining a reference point of the target road based on the line information;
determining coordinate position information of the reference point;
and establishing a mapping relation between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point.
Further, the program of the apparatus may also be used to perform corresponding operations in other related embodiments based on the above operations.
The present application further provides a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to:
acquiring line information of a target road;
determining a reference point of the target road based on the line information;
determining coordinate position information of the reference point;
and establishing a mapping relation between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point.
Further, the computer program may also be adapted to be executed by the processor for corresponding operations in other related embodiments based on the above-described operations.
The present application further provides a vehicle positioning apparatus, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for:
acquiring coordinate position information of a target vehicle;
determining a reference point of a target road matched with the coordinate position information of the target vehicle;
and determining the map positioning information of the target vehicle by combining the mapping relation between the coordinate position information of the vehicle and the map positioning information based on the reference point, wherein the mapping relation between the coordinate position information of the vehicle and the map positioning information is established based on the coordinate position information of the reference point.
Further, the program of the apparatus may also be used to perform corresponding operations in other related embodiments based on the above operations.
The present application further provides a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to:
acquiring coordinate position information of a target vehicle;
determining a reference point of a target road matched with the coordinate position information of the target vehicle;
and determining the map positioning information of the target vehicle by combining the mapping relation between the coordinate position information of the vehicle and the map positioning information based on the reference point, wherein the mapping relation between the coordinate position information of the vehicle and the map positioning information is established based on the coordinate position information of the reference point.
Further, the computer program may also be adapted to be executed by the processor for corresponding operations in other related embodiments based on the above-described operations.
FIG. 6 illustrates an exemplary system that can be used to implement the various embodiments described herein;
in some embodiments, as shown in fig. 3, the system 600 can function as any one of the devices 1 or vehicle locating devices 2 of the embodiments shown in fig. 1, 2, 3, 4, 5, or other described embodiments. In some embodiments, system 600 may include one or more computer-readable media (e.g., system memory or NVM/storage 620) having instructions and one or more processors (e.g., processor(s) 605) coupled with the one or more computer-readable media and configured to execute the instructions to implement modules to perform the actions described herein.
For one embodiment, system control module 610 may include any suitable interface controllers to provide any suitable interface to at least one of the processor(s) 605 and/or any suitable device or component in communication with system control module 610.
The system control module 610 may include a memory controller module 630 to provide an interface to the system memory 615. Memory controller module 630 may be a hardware module, a software module, and/or a firmware module.
System memory 615 may be used, for example, to load and store data and/or instructions for system 600. For one embodiment, system memory 615 may include any suitable volatile memory, such as suitable DRAM. In some embodiments, the system memory 615 may include a double data rate type four synchronous dynamic random access memory (DDR4 SDRAM).
For one embodiment, the system control module 610 may include one or more input/output (I/O) controllers to provide an interface to the NVM/storage 620 and the communication interface(s) 625.
For example, NVM/storage 620 may be used to store data and/or instructions. NVM/storage 620 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., one or more hard disk drive(s) (HDD (s)), one or more Compact Disc (CD) drive(s), and/or one or more Digital Versatile Disc (DVD) drive (s)).
NVM/storage 620 may include storage resources that are physically part of the device on which system 600 is installed or may be accessed by the device and not necessarily part of the device. For example, the NVM/storage 620 may be accessible over a network via the communication interface(s) 625.
Communication interface(s) 625 may provide an interface for system 600 to communicate over one or more networks and/or with any other suitable device. System 600 may wirelessly communicate with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols.
For one embodiment, at least one of the processor(s) 605 may be packaged together with logic for one or more controller(s) of system control module 610, such as memory controller module 630. For one embodiment, at least one of the processor(s) 605 may be packaged together with logic for one or more controller(s) of the system control module 610 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 605 may be integrated on the same die with the logic of one or more controllers of the system control module 610. For one embodiment, at least one of the processor(s) 605 may be integrated on the same die with logic for one or more controller(s) of the system control module 610 to form a system on a chip (SoC).
In various embodiments, system 600 may be, but is not limited to being: a server, a workstation, a desktop computing device, or a mobile computing device (e.g., a laptop computing device, a handheld computing device, a tablet, a netbook, etc.). In various embodiments, system 600 may have more or fewer components and/or different architectures. For example, in some embodiments, system 600 includes one or more cameras, a keyboard, a Liquid Crystal Display (LCD) screen (including a touch screen display), a non-volatile memory port, multiple antennas, a graphics chip, an Application Specific Integrated Circuit (ASIC), and speakers.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It should be noted that the present invention may be implemented in software and/or in a combination of software and hardware, for example, as an Application Specific Integrated Circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Also, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present invention can be applied as a computer program product, such as computer program instructions, which when executed by a computer, can invoke or provide the method and/or technical solution according to the present invention through the operation of the computer. Program instructions which invoke the methods of the present invention may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the invention herein comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or solution according to embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Various aspects of various embodiments are defined in the claims. These and other aspects of the various embodiments are specified in the following numbered clauses:
1. a method of building map information, wherein the method comprises:
acquiring line information of a target road;
determining a reference point of the target road based on the line information;
determining coordinate position information of the reference point;
and establishing a mapping relation between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point.
2. The method of clause 1, wherein the target object comprises a vehicle, and the establishing a mapping relationship of coordinate location information of the target object to map positioning information based on the coordinate location information of the reference point comprises:
and establishing a mapping relation between the coordinate position information of the vehicle and the map positioning information based on the coordinate position information of the reference point.
3. The method of clause 1, wherein the map-location information includes at least any one of:
the distance of the target object to the reference point;
whether the target object is at a target road sign bit;
the number of lanes corresponding to the target object.
4. The method according to clause 3, wherein if the map positioning information includes the number of lanes corresponding to the target object, the establishing the mapping relationship between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point includes:
and establishing a mapping relation between the coordinate position information of the target object and the number of lanes corresponding to the target object based on the coordinate position information of the reference point and the number of lanes corresponding to the reference point.
5. The method according to clause 1, wherein the acquiring the route information of the target road includes:
the route information of the target road is acquired from the third-party information providing device.
6. The method according to clause 5, wherein the acquiring the route information of the target road includes:
the method comprises the steps of obtaining route information corresponding to a target road in a segmented mode from third-party information providing equipment based on target road selection information of a user, wherein the target road corresponding to the target road selection information is a ring-shaped route, and a road section corresponding to each piece of route information obtained in a segmented mode is a non-ring-shaped route.
7. The method of any of clauses 1-6, wherein the reference point comprises at least any one of:
the system comprises a lane number change point, an upper ramp port position point, a lower ramp port position point, a curve starting point, a curve ending point, a ramp starting point, a ramp ending point, a road starting point, a road ending point, a speed limit change point, a gas station coordinate point, a charging station coordinate point and a toll station coordinate point.
8. A vehicle positioning method, wherein the method comprises:
acquiring coordinate position information of a target vehicle;
determining a reference point of a target road matched with the coordinate position information of the target vehicle;
and determining the map positioning information of the target vehicle by combining the mapping relation between the coordinate position information of the vehicle and the map positioning information based on the reference point, wherein the mapping relation between the coordinate position information of the vehicle and the map positioning information is established based on the coordinate position information of the reference point.
9. The method of clause 8, wherein the method further comprises:
determining target location information for the target vehicle based on the map location information.
10. The method of clause 9, wherein the method further comprises:
determining driving information of the target vehicle based on the target positioning information.
11. The method of clause 9, wherein the target location information of the target vehicle includes at least any one of:
the distance of the target vehicle to the reference point;
the number of lanes corresponding to the target vehicle;
the lane corresponding to the target vehicle.
12. The method of clause 8, wherein the determining the reference point of the target road that matches the coordinate location information of the target vehicle comprises:
determining a target road corresponding to the target vehicle based on the coordinate position information;
and determining a reference point matched with the coordinate position information of the target vehicle on the target road.
13. The method of clause 8, wherein the determining the map location information of the target vehicle in conjunction with the mapping of the coordinate location information of the vehicle to the map location information based on the reference point comprises:
and determining the first distance from the target vehicle to the reference point based on the coordinate position information of the reference point and the coordinate position information of the target vehicle and by combining the mapping relation between the coordinate position information of the vehicle and the distance from the vehicle to the reference point.
14. The method of clause 13, wherein determining the map location information of the target vehicle based on the reference point in combination with the mapping of the coordinate location information of the vehicle to the map location information further comprises:
and if the first distance is smaller than a distance threshold value, determining a second distance between the target vehicle and the reference point based on the coordinate position information of the target vehicle and by combining the vehicle driving information of the target vehicle.
15. The method of clause 9, wherein the determining the map location information of the target vehicle in conjunction with the mapping of the coordinate location information of the vehicle to the map location information based on the reference point comprises:
and determining the number of lanes corresponding to the target vehicle based on the reference point and by combining the mapping relation between the coordinate position information of the vehicle and the number of lanes corresponding to the vehicle.
16. The method of clause 15, wherein the determining target location information for the target vehicle based on the map location information comprises:
and determining the lane corresponding to the target vehicle based on the lane line related information of the target vehicle and the number of lanes corresponding to the target vehicle.
17. The method of clause 16, wherein the method further comprises:
judging whether the number of lanes corresponding to the target vehicle is smaller than or equal to a preset lane number threshold value or not;
wherein the determining target location information for the target vehicle based on the map location information comprises:
and if the number of the lanes corresponding to the target vehicle is less than or equal to a preset lane number threshold, determining the lanes corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle and the number of the lanes corresponding to the target vehicle.
18. The method of clause 16, wherein the method further comprises:
and collecting the relevant information of the lane line corresponding to the target vehicle.
19. The method of clause 16, wherein the determining target location information for the target vehicle based on the map location information comprises:
performing first fractional calculation on a plurality of candidate lanes corresponding to the target vehicle based on lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle;
determining a lane corresponding to the target vehicle among the plurality of candidate lanes based on a result of the first scoring calculation.
20. The method of clause 19, wherein the determining the lane corresponding to the target vehicle among the plurality of candidate lanes based on the result of the first scoring computation comprises any one of:
if the score of one or more candidate lanes is determined to be larger than a preset score threshold value based on the first score calculation result, determining the candidate lane with the highest score as the lane corresponding to the target vehicle;
if the scores of one or more candidate lanes are determined to be larger than a preset score threshold value based on the first score calculation result, and at least two candidate lanes with the highest scores are determined, performing the first score calculation again;
and if the score of no candidate lane is determined to be larger than the preset score threshold value based on the result of the first scoring calculation, the first scoring calculation is carried out again.
21. The method of clause 15, wherein the determining target location information for the target vehicle based on the map location information comprises:
and determining the lane corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle, the obstacle information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle.
22. The method of clause 21, wherein the determining target location information for the target vehicle based on the map location information comprises:
performing second scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle;
performing third scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on the obstacle information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle;
determining a lane corresponding to the target vehicle among the plurality of candidate lanes based on results of the second scoring calculation and the third scoring calculation.
23. The method of clause 16 or 21, wherein the method further comprises:
if the target vehicle is in at least one of the following states, keeping the determined lane corresponding to the target vehicle unchanged:
the target vehicle is in the lane change process;
and the lane line related information corresponding to the current position information of the target vehicle cannot be determined.
24. The method of clause 23, wherein the method further comprises:
if the target vehicle meets at least one of the following conditions, re-determining the lane corresponding to the target vehicle:
monitoring that the lane positioning of the current target vehicle is abnormal based on the determined lane corresponding to the target vehicle;
and currently, the target vehicle is not on the determined target road where the lane corresponding to the target vehicle is located.
25. The method of clause 15 or 21, wherein the method further comprises:
acquiring lane change information of a target vehicle;
and determining a lane corresponding to the target vehicle after lane changing based on the determined lane corresponding to the target vehicle and the lane changing information.
26. An apparatus for creating map information, wherein the apparatus comprises:
the first acquisition device is used for acquiring the line information of the target road;
first determining means for determining a reference point of the target road based on the line information;
second determining means for determining coordinate position information of the reference point;
and the establishing device is used for establishing the mapping relation between the coordinate position information of the target object and the map positioning information based on the coordinate position information of the reference point.
27. The apparatus of clause 26, wherein the target object comprises a vehicle, the establishing means for:
and establishing a mapping relation between the coordinate position information of the vehicle and the map positioning information based on the coordinate position information of the reference point.
28. The apparatus of clause 26, wherein the map location information comprises at least any one of:
distance of target object to reference point
Whether the target object is at a target road sign bit;
the number of lanes corresponding to the target object.
29. The apparatus of clause 28, wherein, if the map-location information includes a number of lanes corresponding to a target object, the establishing means is configured to:
and establishing a mapping relation between the coordinate position information of the target object and the number of lanes corresponding to the target object based on the coordinate position information of the reference point and the number of lanes corresponding to the reference point.
30. The apparatus of clause 26, wherein the first obtaining means is for:
the route information of the target road is acquired from the third-party information providing device.
31. The apparatus of clause 30, wherein the first obtaining means is for:
the method comprises the steps of obtaining route information corresponding to a target road in a segmented mode from third-party information providing equipment based on target road selection information of a user, wherein the target road corresponding to the target road selection information is a ring-shaped route, and a road section corresponding to each piece of route information obtained in a segmented mode is a non-ring-shaped route.
32. The apparatus of any of clauses 26 to 31, wherein the reference point comprises at least any one of:
the system comprises a lane number change point, an upper ramp port position point, a lower ramp port position point, a curve starting point, a curve ending point, a ramp starting point, a ramp ending point, a road starting point, a road ending point, a speed limit change point, a gas station coordinate point, a charging station coordinate point and a toll station coordinate point.
33. A vehicle locating apparatus, wherein the apparatus comprises:
second acquiring means for acquiring coordinate position information of the target vehicle;
third determining means for determining a reference point of a target road that matches the coordinate position information of the target vehicle;
and the fourth determining device is used for determining the map positioning information of the target vehicle by combining the mapping relation between the coordinate position information of the vehicle and the map positioning information based on the reference point, wherein the mapping relation between the coordinate position information of the vehicle and the map positioning information is established based on the coordinate position information of the reference point.
34. The apparatus of clause 33, wherein the apparatus further comprises:
fifth determining means for determining target positioning information of the target vehicle based on the map positioning information.
35. The apparatus of clause 34, wherein the apparatus further comprises:
sixth determining means for determining driving information of the target vehicle based on the target positioning information.
36. The apparatus of clause 34, wherein the target location information of the target vehicle includes at least any one of:
the distance of the target vehicle to the reference point;
the number of lanes corresponding to the target vehicle;
the lane corresponding to the target vehicle.
37. The apparatus of clause 33, wherein the third determining means is for:
determining a target road corresponding to the target vehicle based on the coordinate position information;
and determining a reference point matched with the coordinate position information of the target vehicle on the target road.
38. The apparatus of clause 33, wherein the fourth determining means is for:
and determining the first distance from the target vehicle to the reference point based on the coordinate position information of the reference point and the coordinate position information of the target vehicle and by combining the mapping relation between the coordinate position information of the vehicle and the distance from the vehicle to the reference point.
39. The apparatus of clause 38, wherein the fourth determining means is further for:
and if the first distance is smaller than a distance threshold value, determining a second distance between the target vehicle and the reference point based on the coordinate position information of the target vehicle and by combining the vehicle driving information of the target vehicle.
40. The apparatus of clause 34, wherein the fourth determining means is for:
and determining the number of lanes corresponding to the target vehicle based on the reference point and by combining the mapping relation between the coordinate position information of the vehicle and the number of lanes corresponding to the vehicle.
41. The apparatus of clause 40, wherein the fifth determining means is for:
and determining the lane corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle.
42. The apparatus of clause 41, wherein the apparatus further comprises:
the judging device is used for judging whether the number of the lanes corresponding to the target vehicle is less than or equal to a preset lane number threshold value or not;
wherein the fifth determining means is for:
and if the number of the lanes corresponding to the target vehicle is less than or equal to a preset lane number threshold, determining the lanes corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle and the number of the lanes corresponding to the target vehicle.
43. The apparatus of clause 41, wherein the apparatus further comprises:
and the acquisition device is used for acquiring the relevant information of the lane line corresponding to the target vehicle.
44. The apparatus of clause 41, wherein the fifth determining means is for:
performing first fractional calculation on a plurality of candidate lanes corresponding to the target vehicle based on lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle;
determining a lane corresponding to the target vehicle among the plurality of candidate lanes based on a result of the first scoring calculation.
45. The apparatus of clause 44, wherein the determining, based on the result of the first scoring calculation, the lane of the plurality of candidate lanes to which the target vehicle corresponds comprises any one of:
if the score of one or more candidate lanes is determined to be larger than a preset score threshold value based on the first score calculation result, determining the candidate lane with the highest score as the lane corresponding to the target vehicle;
if the scores of one or more candidate lanes are determined to be larger than a preset score threshold value based on the first score calculation result, and at least two candidate lanes with the highest scores are determined, performing the first score calculation again;
and if the score of no candidate lane is determined to be larger than the preset score threshold value based on the result of the first scoring calculation, the first scoring calculation is carried out again.
46. The apparatus of clause 40, wherein the fifth determining means is for:
and determining the lane corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle, the obstacle information corresponding to the coordinate position information of the target vehicle and the number of lanes corresponding to the target vehicle.
47. The apparatus of clause 46, wherein the fifth determining means is for:
performing second scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on lane line related information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle;
performing third scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on the obstacle information corresponding to the target vehicle and the number of lanes corresponding to the target vehicle;
determining a lane corresponding to the target vehicle among the plurality of candidate lanes based on results of the second scoring calculation and the third scoring calculation.
48. The apparatus of clause 41 or 46, wherein the apparatus further comprises:
seventh determining means for keeping the determined lane corresponding to the target vehicle unchanged if the target vehicle is in at least any one of the following states:
the target vehicle is in the lane change process;
and the lane line related information corresponding to the current position information of the target vehicle cannot be determined.
49. The apparatus of clause 48, wherein the apparatus further comprises:
eighth determining means, configured to re-determine a lane corresponding to the target vehicle if the target vehicle meets at least any one of the following conditions:
monitoring that the lane positioning of the current target vehicle is abnormal based on the determined lane corresponding to the target vehicle;
and currently, the target vehicle is not located on the determined target road where the lane corresponding to the target vehicle is located.
50. The apparatus of clause 41 or 46, wherein the apparatus further comprises:
third acquisition means for acquiring lane change information of the target vehicle;
and the ninth determining device is used for determining the lane corresponding to the target vehicle after lane change based on the determined lane corresponding to the target vehicle and the lane change information.
51. An apparatus for creating map information, comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of clauses 1-7.
52. A computer-readable storage medium having stored thereon a computer program executable by a processor to perform the method of any of clauses 1-7.
53. A vehicle locating apparatus comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of clauses 8-25.
54. A computer-readable storage medium having stored thereon a computer program executable by a processor to perform the method of any of clauses 8-25.

Claims (18)

1. A vehicle lane positioning method of four lanes, wherein, from right to left, the lane ordinal number is increased from small; a solid/double line type exists between a second third lane of the four lanes, or a solid/double line type exists on a right side of a first lane, or a solid/double line type exists on a left side of a fourth lane, the method comprising:
acquiring coordinate position information of a target vehicle;
determining a target road corresponding to the target vehicle based on the coordinate position information;
performing first scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle;
determining a lane corresponding to the target vehicle among the plurality of candidate lanes based on a result of the first scoring calculation;
the first component includes: based on the determination that the left side is the solid/double-line type and the right side is the solid/double-line type, the second and fourth lanes are added, or the first and third lanes are added, or all the lanes are not added.
2. The method of claim 1, wherein the method further comprises:
and determining the driving information of the target vehicle based on the lane corresponding to the target vehicle.
3. The method of claim 1, wherein the determining the lane corresponding to the target vehicle among the plurality of candidate lanes based on the result of the first scoring computation comprises any one of:
if the score of one or more candidate lanes is determined to be larger than a preset score threshold value based on the first score calculation result, determining the candidate lane with the highest score as the lane corresponding to the target vehicle;
if the scores of one or more candidate lanes are determined to be larger than a preset score threshold value based on the first score calculation result, and at least two candidate lanes with the highest scores are determined, performing the first score calculation again;
and if the score of no candidate lane is determined to be larger than the preset score threshold value based on the result of the first scoring calculation, the first scoring calculation is carried out again.
4. The method of claim 1, wherein after performing the first scoring calculation on the plurality of candidate lanes corresponding to the target vehicle based on the lane line related information corresponding to the target vehicle, the method comprises:
performing third scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on the obstacle information corresponding to the target vehicle;
the determining, based on a result of the first scoring calculation, a lane corresponding to the target vehicle among the plurality of candidate lanes, comprising: determining a lane corresponding to the target vehicle among the plurality of candidate lanes based on results of the first scoring and the third scoring calculations.
5. The method of claim 4, wherein the third scoring comprises:
when the left side senses the obstacle, the first lane, the second lane and the third lane are divided;
and when the right side senses the obstacle, the second lane, the third lane and the fourth lane are added.
6. The method of claim 4, wherein the method further comprises:
if the target vehicle is in at least one of the following states, keeping the determined lane corresponding to the target vehicle unchanged:
the target vehicle is in the lane change process;
and the lane line related information corresponding to the current position information of the target vehicle cannot be determined.
7. The method of claim 6, wherein the method further comprises:
if the target vehicle meets at least one of the following conditions, re-determining the lane corresponding to the target vehicle:
monitoring that the lane positioning of the current target vehicle is abnormal based on the determined lane corresponding to the target vehicle;
and currently, the target vehicle is not on the determined target road where the lane corresponding to the target vehicle is located.
8. The method of claim 4, wherein the method further comprises:
acquiring lane change information of a target vehicle;
and determining a lane corresponding to the target vehicle after lane changing based on the determined lane corresponding to the target vehicle and the lane changing information.
9. A four lane vehicle lane locating apparatus wherein, from right to left, lane ordinal number increases from small; a solid/double line type exists between a second third lane of the four lanes, or a solid/double line type exists on a right side of a first lane, or a solid/double line type exists on a left side of a fourth lane, the apparatus comprising:
second acquiring means for acquiring coordinate position information of the target vehicle;
third determining means for determining a target road corresponding to the target vehicle based on the coordinate position information;
fifth determining means for performing a first scoring calculation on a plurality of candidate lanes corresponding to a target vehicle based on lane line related information corresponding to the target vehicle, and determining a lane corresponding to the target vehicle among the plurality of candidate lanes based on a result of the first scoring calculation;
the first component includes: based on the determination that the left side is the solid/double-line type and the right side is the solid/double-line type, the second and fourth lanes are added, or the first and third lanes are added, or all the lanes are not added.
10. The apparatus of claim 9, wherein the apparatus further comprises:
and the sixth determining device is used for determining the driving information of the target vehicle based on the lane corresponding to the target vehicle.
11. The apparatus of claim 9, wherein the determining the lane corresponding to the target vehicle among the plurality of candidate lanes based on the result of the first scoring computation comprises any one of:
if the score of one or more candidate lanes is determined to be larger than a preset score threshold value based on the first score calculation result, determining the candidate lane with the highest score as the lane corresponding to the target vehicle;
if the scores of one or more candidate lanes are determined to be larger than a preset score threshold value based on the first score calculation result, and at least two candidate lanes with the highest scores are determined, performing the first score calculation again;
and if the score of no candidate lane is determined to be larger than the preset score threshold value based on the result of the first scoring calculation, the first scoring calculation is carried out again.
12. The apparatus according to claim 9, wherein the fifth determination means, after performing the first scoring calculation on the plurality of candidate lanes corresponding to the target vehicle based on the lane line-related information corresponding to the target vehicle, is configured to:
performing third scoring calculation on a plurality of candidate lanes corresponding to the target vehicle based on obstacle information corresponding to the coordinate position information of the target vehicle;
the determining, based on a result of the first scoring calculation, a lane corresponding to the target vehicle among the plurality of candidate lanes, comprising: determining a lane corresponding to the target vehicle among the plurality of candidate lanes based on results of the first scoring and the third scoring calculations.
13. The apparatus according to claim 12, wherein the fifth determining device performs a third scoring, specifically including:
when the left side senses the obstacle, the first lane, the second lane and the third lane are divided;
and when the right side senses the obstacle, the second lane, the third lane and the fourth lane are added.
14. The apparatus of claim 12, wherein the apparatus further comprises:
seventh determining means for keeping the determined lane corresponding to the target vehicle unchanged if the target vehicle is in at least any one of the following states:
the target vehicle is in the lane change process;
and the lane line related information corresponding to the current position information of the target vehicle cannot be determined.
15. The apparatus of claim 14, wherein the apparatus further comprises:
eighth determining means, configured to re-determine a lane corresponding to the target vehicle if the target vehicle meets at least any one of the following conditions:
monitoring that the lane positioning of the current target vehicle is abnormal based on the determined lane corresponding to the target vehicle;
and currently, the target vehicle is not located on the determined target road where the lane corresponding to the target vehicle is located.
16. The apparatus of claim 12, wherein the apparatus further comprises:
third acquisition means for acquiring lane change information of the target vehicle;
and the ninth determining device is used for determining the lane corresponding to the target vehicle after lane change based on the determined lane corresponding to the target vehicle and the lane change information.
17. A vehicle locating apparatus comprising:
one or more processors;
a memory; and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the programs comprising instructions for performing the method of any of claims 1-8.
18. A computer-readable storage medium, on which a computer program is stored, which computer program can be executed by a processor to perform the method according to any of claims 1-8.
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