CN110174113A - A kind of localization method, device and the terminal in vehicle driving lane - Google Patents
A kind of localization method, device and the terminal in vehicle driving lane Download PDFInfo
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- CN110174113A CN110174113A CN201910350398.4A CN201910350398A CN110174113A CN 110174113 A CN110174113 A CN 110174113A CN 201910350398 A CN201910350398 A CN 201910350398A CN 110174113 A CN110174113 A CN 110174113A
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- 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
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Abstract
The present invention relates to digital map navigations, propose localization method, device and the terminal in a kind of vehicle driving lane, which comprises acquisition lane line information；Acquire target information；Obtain the effective target information in the target information；According to the effective target information and the lane line information, road edge information is obtained；Judge whether the road edge information is continuous；If so, obtaining the lane cartographic information of current vehicle traveling lane according to the road edge information, the lane line information and map datum.Road edge information is obtained by straight line fitting or curve matching, or the method by finding offset boundary obtains road edge information.The method can assist on the navigation map of lower accuracy according to visual sensor and radar sensor, and lane where can determine vehicle reaches the precision of lane grade map, reduce the manufacturing cost of vehicle, and use convenient for the volume production of vehicle.
Description
Technical field
The present invention relates to field of map navigation more particularly to a kind of localization method, device and the terminals in vehicle driving lane.
Background technique
It is all with the continuous development of advanced auxiliary system (Advanced Driving Assistant System, ADAS)
Such as HWA (Highway Assist), HWP (Highway Pilot) function that the degree of automation is higher, difficulty is bigger gradually into
Enter the sight of people, either HWA or HWP, the premise realized is automatic lane change, and the premise of automatic lane change is that vehicle must
Lateral lane grade positioning must be can be realized.
In existing realization vehicle lane grade localization method: the producer of the high-precisions map such as NavInfo and
The producer towards L4 rank such as Google realizes that lane grade positioning is directly input to precision in Centimeter Level by GPS signal
High-precision map in realize, and cooperate Lidar realize lane grade positioning；Introducing panoramic table also, is obtained by vision
Real time environment image is matched with the panoramic table of place road, obtains location information, but its there are apparent limitations.
It is other accurately in Centimeter Level to precision that accurate location information is exported by integrated navigation in the prior art
Figure, and cooperate laser radar supplement positioning to realize lane grade positioning, but directly can be realized the high-precision map of lane grade positioning
Current expensive, the realization volume production difficulty with laser radar,
Summary of the invention
The technical problem to be solved by the present invention is to the problems of high-precision map and the expensive volume production difficulty of laser radar.For
It solves the above problems, the invention proposes localization method, device and the terminal in a kind of vehicle driving lane.The present invention is specifically
It is realized with following technical solution:
The first aspect of the invention proposes a kind of localization method in vehicle driving lane, which comprises
Acquire lane line information；
Acquire target information；
Obtain the effective target information in the target information；
According to the effective target information and the lane line information, road edge information is obtained；
Judge whether the road edge information is continuous；
If so, obtaining the current driving of vehicle according to the road edge information, the lane line information and map datum
Lane information.
Further, the acquisition lane line information includes:
Obtain lane line information；
Obtain the confidence level of the lane line information；
Judge whether the confidence level is greater than preset lane line confidence threshold value；
If so, output lane line information.
Further, the effective target information obtained in the target information includes:
According to the threshold speed, the static object information in target information is obtained；
According to the lane line information, judge the static object information whether in lane line；
If it is not, the static object information is then calculated as effective target information.
Further, described according to the effective target information and the lane line information, obtain road edge packet
It includes:
Obtain lane line curvature；
Judge whether lane line curvature is greater than curvature threshold；
If it is not, then carrying out straight line fitting to the effective target information, straight line fitting result is obtained；
According to lane line curvature, the confidence level of the straight line fitting result is obtained；
Judge whether the confidence level of the straight line fitting result is greater than preset confidence threshold value；
If so, output straight line fitting result is road edge information.
It is further, described to judge whether lane line curvature is greater than curvature threshold further include:
If so, carrying out curve fitting to the effective target information, curve-fitting results are obtained；
According to lane line curvature, the confidence level of the curve-fitting results is obtained；
Judge whether the confidence level of the curve-fitting results is greater than preset confidence threshold value；
If so, curve of output fitting result is road edge information.
Further, described according to the effective target information and the lane line information, obtain road edge information also
Include:
According to the lane line information, offset starting point is obtained；
The abscissa of starting point and effective target information is deviated according to the road edge, carries out the choosing of effective target information
It selects, to obtain offset boundary；
Judge whether the offset boundary is road edge；
If so, exporting the offset boundary is road edge information.
It is further, described to judge whether the road edge information is continuous further include:
If it is not, obtaining vehicle lane change information, then to determine vehicle current driving lane；
Obtain road edge historical information；
According to the road edge historical information and vehicle current driving lane, road edge information is supplemented；
According to the road edge information and the lane line information after supplement, the current driving lane information of vehicle is obtained.
Further, described according to the road edge information, the lane line information and map datum, front truck is worked as in acquisition
The lane cartographic information of traveling lane includes:
According to the map datum, the first width information is obtained；
The first width information is calibrated according to the second width information in the lane line information, obtains lane width information；
According to the road edge information and the lane line information, current lane boundary information is obtained；
According to the lane width information and the current lane boundary information, the current driving lane letter of vehicle is obtained
Breath.
The second aspect of the invention proposes a kind of positioning device in vehicle driving lane, and described device includes: lane
Line acquisition module, target information acquisition module, effective target information acquisition module, road edge information acquisition module, road roadside
Module is obtained along continuity judgment module and lane information；
The lane line acquisition module is for acquiring lane line information；
The target information acquisition module is for acquiring target information；
The effective target information acquisition module is used to obtain effective target information in the target information；
The road edge information acquisition module is used to be obtained according to the lane line information and the effective target information
Road edge information；
The road edge continuity judgment module is for judging whether the road edge information is continuous；
The lane information obtains module and is used for according to the road edge information, the lane line information and map number
According to obtaining the current driving lane information of vehicle.
Further, the effective target information acquisition module includes static object information obtainment unit and effective target letter
Cease judging unit；
The static object information obtainment unit is used for according to threshold speed, and static object letter is obtained from target information
Breath；
Whether the effective target information judging unit is used to judge static object information in lane according to lane line information
In line, if it is not, the static object information is then calculated as effective target information.
Further, the road edge information acquisition module includes that curvature judging unit, line fitting unit, curve are quasi-
Close unit and fitting result confidence level judging unit；
The curvature judging unit is for obtaining curvature information and judging whether the curvature information is greater than predetermined curvature threshold
Value；
The line fitting unit is used for when the curvature information is not more than predetermined curvature threshold value, to effective target information
Straight line fitting is carried out, straight line fitting result is obtained；
The curve matching unit be used for the curvature information be greater than predetermined curvature threshold value when, to effective target information into
Row curve matching obtains curve-fitting results；
The fitting result confidence level judging unit is used to judge setting for the straight line fitting result or curve-fitting results
Whether reliability is greater than preset fitting result confidence threshold value, if so, output straight line fitting result or curve-fitting results are
Road edge information.
Further, the road edge information acquisition module can also include offset starting point determination unit, effective target
Information selecting section and offset boundary judging unit；
The offset starting point determination unit is used to obtain offset starting point according to the lane line information；
The effective target information selecting section is used to deviate starting point and effective target information according to the road edge
Abscissa carries out the selection of effective target information, to obtain offset boundary；
The offset boundary judging unit is for judging whether the offset boundary is road edge, if so, output institute
Stating offset boundary is road edge information.
The third aspect of the invention proposes a kind of terminal, and the terminal includes a kind of vehicle driving vehicle described above
The positioning device in road.
By adopting the above technical scheme, the localization method and device in a kind of vehicle driving lane of the present invention has such as
It is lower the utility model has the advantages that
1) localization method in a kind of vehicle driving lane proposed by the present invention, the method is by lane line information and effectively
Target information, assisting navigation map carry out lane grade positioning, and the method can be on the navigation map of lower accuracy, according to view
Feel sensor and radar sensor auxiliary, lane where can determine vehicle reaches the precision of lane grade map, can reduce vehicle
Manufacturing cost, and convenient for vehicle volume production use；
2) localization method in a kind of vehicle driving lane proposed by the present invention, the method is in the specific three-lane road of determination
When edge, road edge information can be obtained by curve or straight line fitting, or is found offset boundary and obtained road edge letter
Breath carries out lane grade positioning according to the road edge information and lane line information, can determine roadside by a variety of methods
Edge, reliability with higher.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the localization method in vehicle driving lane provided in an embodiment of the present invention；
Fig. 2 is a kind of process of the acquisition lane line of localization method in vehicle driving lane provided in an embodiment of the present invention
Figure；
Fig. 3 is the schematic diagram of the lane line provided in an embodiment of the present invention recognized；
Fig. 4 is in a kind of acquisition target information of the localization method in vehicle driving lane provided in an embodiment of the present invention
Effective target information flow chart；
Fig. 5 is a kind of being carried out directly by curvature judgement for localization method in vehicle driving lane provided in an embodiment of the present invention
The flow chart of line fitting；
Fig. 6 is that a kind of localization method in vehicle driving lane provided in an embodiment of the present invention judges march by curvature
The flow chart of line fitting；
Fig. 7 is a kind of being determined by offset boundary for localization method in vehicle driving lane provided in an embodiment of the present invention
The flow chart of road side information；
Fig. 8 is the signal provided in an embodiment of the present invention for determining road edge information by offset boundary on rectilinear stretch
Figure；
Fig. 9 is the signal provided in an embodiment of the present invention for determining road edge information by offset boundary on curved lanes
Figure；
Figure 10 is the positioning side that vehicle driving lane is carried out when road edge information provided in an embodiment of the present invention is discontinuous
The flow chart of method；
Figure 11 is vehicle lane change status diagram provided in an embodiment of the present invention；
Figure 12 is a kind of localization method in vehicle driving lane provided in an embodiment of the present invention according to the road edge
Information and the lane line information obtain the flow chart of the lane cartographic information of current vehicle traveling lane；
Figure 13 is a kind of structural schematic diagram of the positioning device in vehicle driving lane provided in an embodiment of the present invention；
Figure 14 is a kind of effective target information acquisition of the positioning device in vehicle driving lane provided in an embodiment of the present invention
The structural schematic diagram of module；
Figure 15 is a kind of vehicle row provided in an embodiment of the present invention when judging acquisition road edge information by curvature
Sail the structural schematic diagram of the road edge information acquisition module of the positioning device in lane；
Figure 16 is a kind of vehicle row provided in an embodiment of the present invention when obtaining road edge information by offset boundary
Sail the structural schematic diagram of the road edge information acquisition module of the positioning device in lane.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
In several embodiments provided herein, described system embodiment is only schematical, such as institute
The division of module is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple moulds
Block or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point,
Shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, module or unit
Indirect coupling or communication connection, can be electrically or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
Embodiment 1:
A kind of localization method in vehicle driving lane is provided in the embodiment of the present invention, as shown in Figure 1, the method packet
It includes:
S101. lane line information is acquired；
Further, the acquisition lane line information includes:
S201. lane line information is obtained；
S202. the confidence level of the lane line information is obtained；
S203. judge whether the confidence level is greater than preset lane line confidence threshold value；
S204. if so, output lane line information.
Further, before acquiring lane line information, judge whether that lane line information can be acquired, if being unable to collecting vehicle
Diatom information, then the localization method in the vehicle driving lane cannot use.
Specifically, realize in the method lane grade positioning premise is that normal acquisition to lane line information.When
Lane line information cannot be collected, i.e. vision-based detection sensor cannot normally input information constantly, cannot achieve the lane grade
Positioning.And when lane line information can be collected, if the target information on lane can be normally detected, using being based on
The lane grade localization method of advanced driving assistance system map (Advanced Driving Assistant System, ADAS)
It can be realized.
Wherein, lane line information is obtained by vision-based detection sensor, can export four lane lines in the ideal case
Information, as shown in figure 3, respectively first lane line, second lane line, third lane line and Four-Lane Road line, first vehicle
Diatom is current lane left-hand lane line, and the second lane line is current lane right-hand lane line, and the third lane line is
The nearest lane line of left side adjacent lane, the Four-Lane Road line are the nearest lane line of right side adjacent lane.Obvious, work as lane line
It when quantity does not reach four, is exported according to practical lane line situation, each lane line is exported with polynomial form and can be defeated
The confidence level of current lane line out, the confidence level are the information credibility of lane line, when vision system does not export lane line letter
When breath or left and right lane line confidence level are below certain threshold value, then it is assumed that lane line information can not be normally exported at this time, it can not
Carry out lane grade positioning.
S102. target information is acquired；
S103. the effective target information in the target information is obtained；
Further, the effective target information obtained in the target information includes:
S401. according to the threshold speed, the static object information in target information is obtained；
S402. according to the lane line information, judge the static object information whether in lane line；
S403. if it is not, the static object information is then calculated as effective target information.
Specifically, effective target information is obtained from the target information that radar collects, with rate limitation all
Motor point reject, what can be obtained at this time is static object information.Again by the lane line information extracted, lane line is obtained
Range the point in lane is rejected in conjunction with the lateral position information of static object information, obtain the collection of effective target information
It closes.
S104. according to the effective target information and the lane line information, road edge information is obtained；
Further, described according to the effective target information and the lane line information, obtain road edge packet
It includes:
S501. curvature information is obtained；
S502. judge whether the curvature information is greater than curvature threshold；
S503. if it is not, then carrying out straight line fitting to the effective target information, straight line fitting result is obtained；
S504. according to the curvature information, the confidence level of the straight line fitting result is obtained；
S505. judge whether the confidence level of the straight line fitting result is greater than preset confidence threshold value；
S506. if so, output straight line fitting result is road edge information.
It is further, described to judge whether lane line curvature is greater than curvature threshold further include:
S601. if so, carrying out curve fitting to the effective target information, curve-fitting results are obtained；
S602. according to the curvature information, the confidence level of the curve-fitting results is obtained；
S603. judge whether the confidence level of the curve-fitting results is greater than preset confidence threshold value；
S604. if so, curve of output fitting result is road edge information.
Specifically, effective target information is divided into two set according to positive and negative, if the points in set are greater than stated number
Amount, then it is assumed that this set is effective.According to the amount of curvature of lane line, fitting is divided into straight line fitting and curve matching two major classes,
To cover the detection of common straight way Yu bend, ring road iso-curvature larger part: when lane line curvature is less than threshold value, using straight line
Approximating method makes a fitting a straight line to n point is arbitrarily taken out in effective set, introduces present road by ADAS map
Road curvature perhaps introduce lane line curvature and carried out by the straight line curvature fitted and road curvature or for lane line curvature
Compare, so that it is determined that the confidence level of its fitting, just thinks that fitting effectively, otherwise works as fitting when confidence level is higher than the threshold value of setting
It counts less or since there are do not use when more error dot causes fitting a straight line deviation larger；When lane line curvature is greater than
It when equal to threshold value, by the way of curve matching, is carried out curve fitting by multinomial, such as passes through multinomial y=ax3+bx2+
Cx+d carries out curve fitting, and introduces the road curvature of present road by ADAS map or introduces lane line curvature, will be fitted
Straight line curvature out is compared with road curvature or for lane line curvature, so that it is determined that the confidence level of its fitting, works as confidence
Degree just thinks fitting effectively when being higher than the threshold value of setting, otherwise when fitting count it is less or since there are more error dots to cause
It is not used when fitting a straight line deviation is larger.
Further, described according to the effective target information and the lane line information, obtain road edge information also
Include:
S701. according to the lane line information, offset starting point is obtained；
S702. the abscissa that starting point and effective target information are deviated according to the road edge, carries out effective target information
Selection, to obtain offset boundary；
S703. judge whether the offset boundary is road edge；
S704. if so, exporting the offset boundary is road edge information.
Specifically, as shown in Figure 8 and Figure 9, the road edge detection method also has second of detection mode, by seeking
The mode of offset boundary is looked for obtain road edge information, can be detected in straight line with progress road edge on curve or guardrail
Method, according to the curvature information that ADAS map exports, the road curvature on present road is it is known that and its curvature information for providing
It can be treated as true value, then the guardrail curvature is almost the same with road curvature, can use current road curvature and carrys out generation
For the curvature at edge or guardrail, it is thus necessary to determine that be distance of the guardrail to vehicle.The information point that radar collects, with speed
All motor points are rejected in limitation, and by the information of lane line drawing, the lateral position information of combining target point will be in lane
Point reject, after obtaining effective information point, the lane line being able to detect that with vision is lateral starting point, such as the lane in left side
Line is constantly deviated to road edge, until it covers more effective information point, according to the abscissa of target point, wherein opening
Beginning larger, the subsequent continuous reduction of stage offset distance meeting, it is cumulative apart from absolute value to the translated linear to finally obtain information point
And minimum, so that it is determined that road edge or guardrail information.
S105. judge whether the road edge information is continuous；
S106. if so, obtaining the current driving lane of vehicle according to the road edge information and the lane line information
Information.
It is further, described to judge whether the road edge information is continuous further include:
S1001. if it is not, then obtaining vehicle lane change information, to determine vehicle current driving lane；
S1002. road edge historical information is obtained；
S1003. according to the road edge historical information and vehicle current driving lane, road edge information is supplemented；
S1004. according to the road edge information and the lane line information after supplement, the current driving lane of vehicle is obtained
Information.
Specifically, when traffic behavior is more complicated, radar probably occurs not detecting the information of road edge,
Keep normal lane grade positioning if necessary at this time, it at this time can be according to the information in history lane, in conjunction with vehicle lane change information
It can complete to position with direction information, when in driving process without lane change signal, current lane is consistent with history lane, and is worked as
When lane changes, current positioning lane is finally determined in conjunction with history lane information and left and right lane change information.
So-called vehicle lane change information refers to that the front axle center of vehicle crosses the lane line of current lane.The forward sight camera
It detects the lane line of present road, is able to detect four lane lines in three lanes under normal circumstances, when vehicle lane change, such as
Shown in Figure 11, vehicle lane change to the left determines at this time to be vehicle lane change shape when automobile front-axle center passes over left-hand lane line
The first lane line variation of state, script is second lane line, i.e. current lane left-hand lane line variation is vehicle on the right side of current lane
The second lane line variation of diatom, script is Four-Lane Road line, i.e. current lane right-hand lane line variation is right side adjacent lane
The third lane line variation of nearest lane line, script is first lane line, i.e. the nearest lane line variation of left side adjacent lane is to work as
Preceding lane left-hand lane line.
The lane change situation of vehicle can be determined in conjunction with lane line variation relation or steering relationship.It can not accurately be examined in system
Measuring car roadside in the case where known history lane, can preferably cover majority using vehicle lane change information in the case where
The undetectable situation of road edge.
Further, described according to the road edge information, the lane line information and map datum, front truck is worked as in acquisition
The lane cartographic information of traveling lane includes:
S1201. according to the map datum, the first width information is obtained；
S1202. the first width information is calibrated according to the second width information in the lane line information, obtains lane width
Information；
S1203. according to the road edge information and the lane line information, current lane boundary information is obtained；
S1204. according to the lane width information and the current lane boundary information, the current driving vehicle of vehicle is obtained
Road information.
Specifically, in a specific scene, when vehicle driving is in high speed or overpass: radar and camera
Combined integrated navigation exports location information to ADAS map, and ADAS map exports current road information, wherein comprising current
Lane quantity n, the width in lane is respectively W1、W2、…Wn.The width in each lane is essentially identical in the actual environment, can be with
Total lane width is finally obtained multiplied by lane width by lane quantity.According to the map datum, leftmost side lane is obtained
Line is to left guardrail distance D_left, rightmost side lane line to right guardrail distance D_right.The forward sight camera, which is able to detect, works as
The lane line of preceding road, wherein lane line information is provided in the form of polynomial, through the multinomial information provided, after vehicle
Axis center is reference point, obtain vehicle to the distance of left and right lane line be respectively Lane_left and Lane_right.Radar is used for
The information of road edge is acquired, the guardrail information that forward direction radar and angle radar export can do fusion treatment, reduce single-sensor
Error detection bring influences, and in the detection mode of guardrail, and different according to curvature can use different fit approach, and tie
The road curvature or lane line curvature that close ADAS map carry out the determination of confidence level, and the information of same guardrail is finally with multinomial
Form provide, by the guardrail multinomial information provided, using vehicle rear axle center as reference point, obtain vehicle to left and right guardrail
Distance be respectively W_left and W_right.
Realize lane grade positioning when, due to left-hand lane line to left guardrail distance D_left relatively fixed, ordinary priority
Consider that left side guardrail is reference line, current lane left-lane line can be calculated to left guardrail in the information obtained by detection
Distance:
Dis_left=W_left-Lane_left
Current lane right-lane line is to right guardrail distance:
Dis_right=W_right-Lane_right
Meet when simultaneously:
|Dis_left-(D_left+W1+W2+…Wn-1)|≤δ1
|Dis_right-(D_right+W1+W2+…Wn)|≤δ2
Can location determination current lane be wherein δ on nth lane1、δ2For the tolerance of setting.
A kind of localization method in vehicle driving lane that the present embodiment proposes is believed by lane line information and effective target
Breath, assisting navigation map carries out lane grade positioning, can be by curve or straight wherein at the specific three-lane road edge of determination
Line is fitted to obtain road edge information, or finds offset boundary and obtain road edge information, according to the road edge information
Lane grade positioning is carried out with lane line information.The method can be on the navigation map of lower accuracy, according to visual sensor
It is assisted with radar sensor, lane where can determine vehicle, reaches the precision of lane grade map, can reduce cost, and just
It is used in volume production.
Embodiment 2:
A kind of positioning device in vehicle driving lane is provided in a feasible embodiment of the invention.Described device packet
It includes: lane line acquisition module 1301, target information acquisition module 1302, effective target information acquisition module 1303, road edge
Information acquisition module 1304, road edge continuity judgment module 1305 and lane information obtain module 1306；
The lane line acquisition module 1301 is for acquiring lane line information；
The target information acquisition module 1302 is for acquiring target information；
The effective target information acquisition module 1303 is used to obtain effective target information in the target information；
The road edge information acquisition module 1304 is used for according to the lane line information and the effective target information,
Obtain road edge information；
The road edge continuity judgment module 1305 is for judging whether the road edge information is continuous；
The lane information obtains module 1306 and is used to be obtained according to the road edge information and the lane line information
The current driving lane information of vehicle.
Further, the effective target information acquisition module 1303 includes static object information obtainment unit 1401 and has
Imitate target information judging unit 1402；
The static object information obtainment unit 1401 is used to obtain static object from target information according to threshold speed
Information；
The effective target information judging unit 1402 is used for according to lane line information, judge static object information whether
In lane line, if it is not, the static object information is then calculated as effective target information.
Further, the road edge information acquisition module 1304 includes curvature judging unit 1501, straight line fitting list
Member 1502, curve matching unit 1503 and fitting result confidence level judging unit 1504；
The lane line curvature judging unit 1501 is for obtaining curvature information and judging whether the curvature information is greater than
Preset threshold；
The line fitting unit 1502 is used to carry out effective target information when the curvature is not more than preset threshold
Straight line fitting obtains straight line fitting result；
The curve matching unit 1503 is used for when the lane line curvature is greater than preset threshold, to effective target information
It carries out curve fitting, obtains curve-fitting results；
The fitting result confidence level judging unit 1504 is for judging the straight line fitting result or curve-fitting results
Confidence level whether be greater than preset fitting result confidence threshold value, if so, output straight line fitting result or curve matching knot
Fruit is road edge information.
Further, the road edge information acquisition module 1304 can also include offset starting point determination unit 1601,
Effective target information selecting section 1602 and offset boundary judging unit 1603；
The offset starting point determination unit 1601 is used to obtain offset starting point according to the lane line information；
The effective target information selecting section 1602 is used to deviate starting point according to the road edge and effective target is believed
The abscissa of breath carries out the selection of effective target information, to obtain offset boundary；
The offset boundary judging unit 1603 is for judging whether the offset boundary is road edge, if so, defeated
The offset boundary is road edge information out.
A kind of positioning device in vehicle driving lane that the present embodiment proposes is believed by lane line information and effective target
Breath, assisting navigation map carries out lane grade positioning, can be by curve or straight wherein at the specific three-lane road edge of determination
Line is fitted to obtain road edge information, or finds offset boundary and obtain road edge information, according to the road edge information
Lane grade positioning is carried out with lane line information.Described device can be on the navigation map of lower accuracy, according to visual sensor
It is assisted with radar sensor, lane where can determine vehicle, reaches the precision of lane grade map, can reduce cost, and just
It is used in volume production.
Embodiment 3:
The embodiment of the present invention proposes a kind of terminal, and the terminal includes a kind of determining for vehicle driving lane described above
Position device, the terminal can be a kind of vehicle.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of localization method in vehicle driving lane, which is characterized in that the described method includes:
Acquire lane line information；
Acquire target information；
Obtain the effective target information in the target information；
According to the effective target information and the lane line information, road edge information is obtained；
Judge whether the road edge information is continuous；
If so, obtaining the current driving lane of vehicle according to the road edge information, the lane line information and map datum
Information.
2. a kind of localization method in vehicle driving lane according to claim 1, which is characterized in that the judgement target letter
Whether breath can be collected further include:
If it is not, then obtaining vehicle lane change information and lane historical information；
According to the vehicle lane change information, the lane historical information and the lane line information, the current driving of vehicle is obtained
Lane information.
3. a kind of localization method in vehicle driving lane according to claim 1, which is characterized in that described to obtain the mesh
Mark information in effective target information include:
According to the threshold speed, the static object information in target information is obtained；
According to the lane line information, judge the static object information whether in lane line；
If it is not, the static object information is then calculated as effective target information.
4. a kind of localization method in vehicle driving lane according to claim 1, which is characterized in that described to have according to
Target information and the lane line information are imitated, obtaining road edge information includes:
Obtain curvature information；
Judge whether the curvature information is greater than curvature threshold；
If it is not, then carrying out straight line fitting to the effective target information, straight line fitting result is obtained；
According to the curvature information, the confidence level of the straight line fitting result is obtained；
Judge whether the confidence level of the straight line fitting result is greater than preset confidence threshold value；
If so, output straight line fitting result is road edge information.
5. a kind of localization method in vehicle driving lane according to claim 4, which is characterized in that the judgement curvature letter
Whether breath is greater than curvature threshold further include:
If so, carrying out curve fitting to the effective target information, curve-fitting results are obtained；
According to the curvature information, the confidence level of the curve-fitting results is obtained；
Judge whether the confidence level of the curve-fitting results is greater than preset confidence threshold value；
If so, curve of output fitting result is road edge information.
6. a kind of localization method in vehicle driving lane according to claim 1, which is characterized in that the judgement road
Whether road side information is continuous further include:
If it is not, obtaining vehicle lane change information, then to determine vehicle current driving lane；
Obtain road edge historical information；
According to the road edge historical information and vehicle current driving lane, road edge information is supplemented；
According to the road edge information and the lane line information after supplement, the current driving lane information of vehicle is obtained.
7. a kind of localization method in vehicle driving lane according to claim 1, which is characterized in that described to have according to
Target information and the lane line information are imitated, road edge information is obtained further include:
According to the lane line information, offset starting point is obtained；
The abscissa of starting point and effective target information is deviated according to the road edge, carries out the selection of effective target information, with
Obtain offset boundary；
Judge whether the offset boundary is road edge；
If so, exporting the offset boundary is road edge information.
8. a kind of localization method in vehicle driving lane according to claim 1, which is characterized in that described according to the road
Road side information, the lane line information and map datum, the current driving lane information for obtaining vehicle include:
According to the map datum, the first width information is obtained；
The first width information is calibrated according to the second width information in the lane line information, obtains lane width information；
According to the road edge information and the lane line information, current lane boundary information is obtained；
According to the lane width information and the current lane boundary information, the current driving lane information of vehicle is obtained.
9. a kind of positioning device in vehicle driving lane, which is characterized in that described device includes: lane line acquisition module, target
Information acquisition module, effective target information acquisition module, road edge information acquisition module, road edge continuity judgment module
Module is obtained with lane information；
The lane line acquisition module is for acquiring lane line information；
The target information acquisition module is for acquiring target information；
The effective target information acquisition module is used to obtain effective target information in the target information；
The road edge information acquisition module is used to obtain road according to the lane line information and the effective target information
Side information；
The road edge continuity judgment module is for judging whether the road edge information is continuous；
The lane information obtains module and is used to be obtained according to the road edge information, the lane line information and map datum
Obtain the current driving lane information of vehicle.
10. a kind of terminal, which is characterized in that the terminal includes a kind of positioning device in vehicle driving lane described above.
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