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CN-119625691-B - Ground identification processing method and device, electronic equipment and computer storage medium

CN119625691BCN 119625691 BCN119625691 BCN 119625691BCN-119625691-B

Abstract

The embodiment of the application provides a ground identification processing method, a ground identification processing device, electronic equipment and a computer storage medium. The method comprises the steps of identifying received image information, determining the number of first ground identifiers in a first lane, determining target first ground identifiers in the first ground identifiers according to first distances between the first ground identifiers and vehicles in a first direction when the first lane comprises a plurality of first ground identifiers, determining second distances between the non-target first ground identifiers and the target first ground identifiers in the first direction according to position differences between the non-target first ground identifiers and the target first ground identifiers, and determining the non-target first ground identifiers and the target first ground identifiers corresponding to the second distances being smaller than a preset threshold value as the ground identifiers of a current road section. The application can accurately determine the ground identification belonging to the current road section in the plurality of first ground identifications, thereby improving the accuracy of ground identification.

Inventors

  • LIN QI

Assignees

  • 零束科技有限公司

Dates

Publication Date
20260508
Application Date
20241202

Claims (10)

  1. 1. A ground identification processing method, characterized by being applied to a control unit of a vehicle, the method comprising: identifying received image information, and determining the number of first ground identifiers in a first lane, wherein the image information comprises the ground identifiers, the first lane is the lane where a vehicle is located on the current road surface, and the first ground identifiers are the ground identifiers in the first lane; When the first lane comprises a plurality of first ground identifiers, determining a target first ground identifier in the first ground identifiers according to a first distance between each first ground identifier and a vehicle in a first direction, wherein the first distance between the target first ground identifier and the vehicle is smaller than the first distance between a non-target first ground identifier and the vehicle, and the first direction is the vehicle travelling direction; determining a second distance between each non-target first ground mark and the target first ground mark in the first direction according to the position difference between the non-target first ground mark and the target first ground mark; And determining the non-target first ground identification and the target first ground identification corresponding to the second distance smaller than a preset threshold value as the ground identification of the current road section.
  2. 2. The method of claim 1, wherein the image information further comprises a second lane and a second ground identification, wherein the second lane is another lane on a current road surface, the second ground identification is the ground identification on the second lane; The identifying the received image information to determine the number of the first ground identifiers in the first lane comprises the following steps: acquiring the position of the ground mark in a second direction and the position range of the first lane in the second direction in the image information, wherein the ground mark comprises the first ground mark and the second ground mark, the second direction is a direction perpendicular to the travelling direction of the vehicle, and the lane comprises the first lane and the second lane; and determining the ground mark as the first ground mark when the position of the ground mark in the second direction belongs to the position range of the first lane in the second direction.
  3. 3. The method of claim 1, wherein the determining the second distance in the first direction between each of the non-target first ground identifications and the target first ground identification based on the difference in location between the non-target first ground identifications and the target first ground identifications comprises: acquiring the position of the target first ground mark, the position of each non-target first ground mark and the position of the vehicle; determining the distance between the target first ground mark and the vehicle in a first direction according to the position of the target first ground mark and the position of the vehicle; Determining the distance between each non-target first ground mark and the vehicle in the first direction according to the position of each non-target first ground mark and the position of the vehicle; And determining a second distance between each non-target first ground identifier and the target first ground identifier in the first direction according to the distance between the target first ground identifier and the vehicle in the first direction and the difference between the distances between each non-target first ground identifier and the vehicle in the first direction.
  4. 4. The method according to claim 1, characterized in that the method comprises: Acquiring the non-target first ground identification and the target first ground identification of the current road section; Splicing the non-target first ground mark to the target first ground mark according to a preset splicing algorithm to obtain a third ground mark; and displaying the third ground identification on a display interface of the vehicle.
  5. 5. The method of claim 4, wherein prior to the displaying the third ground identification on the display interface of the vehicle, the method further comprises: Acquiring the position of the third ground mark in a second direction and the position of the lane center line of the first lane in the second direction, wherein the second direction is a direction perpendicular to the vehicle travelling direction; And when the position of the third ground mark in the second direction is different from the position of the lane center line of the first lane in the second direction, moving the third ground mark to the position of the lane center line of the first lane in the second direction so that the third ground mark is positioned on the center line of the first lane.
  6. 6. The method of claim 5, wherein the method further comprises: Acquiring the position of the third ground mark and the position of a fourth ground mark on a second lane, wherein the fourth ground mark is obtained by splicing the ground marks on the current road section in the second lane; determining a distance between the third ground mark and the vehicle in the first direction according to the position of the third ground mark and the position of the vehicle; determining a distance between the fourth ground mark and the vehicle in the first direction according to the position of the fourth ground mark and the position of the vehicle; Determining a distance average value according to the distance between the third ground mark and the vehicle in the first direction and the distance between the fourth ground mark and the vehicle in the first direction; Moving the third ground sign in the first direction such that the distance from the third ground sign to the vehicle in the first direction is the distance average value, and Moving the third ground mark in the first direction so that the distance between the fourth ground mark and the vehicle in the first direction is the distance average value; The displaying the third ground identification on the display interface of the vehicle comprises: And displaying the third ground mark after position adjustment and the fourth ground mark after position adjustment on a display interface of the vehicle.
  7. 7. A ground identification processing device, characterized by being applied to a control unit of a vehicle, the device comprising: The system comprises an identification module, a first image processing module and a second image processing module, wherein the identification module is used for identifying received image information and determining the number of first ground identifiers in a first lane, the image information comprises the ground identifiers, the first lane is a lane where a vehicle on a current road surface is located, and the first ground identifiers are the ground identifiers in the first lane; A first determining module, configured to determine, when a plurality of first ground identifiers are included in the first lane, a target first ground identifier according to a first distance between each of the first ground identifiers and a vehicle in a first direction, where the first distance between the target first ground identifier and the vehicle is smaller than the first distance between a non-target first ground identifier and the vehicle, and the first direction is the vehicle traveling direction; The second determining module is used for determining a second distance between each non-target first ground mark and the target first ground mark in the first direction according to the position difference between the non-target first ground mark and the target first ground mark; and the third determining module is used for determining the non-target first ground identifier and the target first ground identifier corresponding to the second distance smaller than a preset threshold value as the ground identifiers of the current road section.
  8. 8. An electronic device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is configured to store at least one executable instruction, where the executable instruction causes the processor to perform operations corresponding to a method for processing a ground identification according to any one of claims 1 to 6.
  9. 9. A computer storage medium having stored thereon a computer program which when executed by a processor implements a method of ground identification processing as claimed in any one of claims 1 to 6.
  10. 10. A computer program product comprising computer instructions for instructing a computing device to perform operations corresponding to a method of processing a ground identification as claimed in any one of claims 1 to 6.

Description

Ground identification processing method and device, electronic equipment and computer storage medium Technical Field The embodiment of the application relates to the technical field of computers, in particular to a ground identification processing method, a ground identification processing device, electronic equipment and a computer storage medium. Background During automatic driving, ground marks (text, arrows) on the lane are generally recognized and output by the visual perception module of the vehicle. However, because the automatic driving scene is complex, when the visual perception module recognizes the ground mark, the recognized ground mark is different from the actual ground mark in position, as shown in fig. 1, and further, the problem of recognizing the ground marks of different road sections as the ground mark of the same road section can occur. Disclosure of Invention In view of the above, embodiments of the present application provide a method, an apparatus, an electronic device, and a computer storage medium for processing a ground identifier, so as to at least partially solve the above-mentioned problems. According to a first aspect of an embodiment of the present application, there is provided a ground identification processing method applied to a control unit of a vehicle, the method including: Identifying the received image information, and determining the number of first ground identifiers in a first lane, wherein the image information comprises the ground identifiers, the first lane is the lane where the vehicle is located on the current road surface, and the first ground identifiers are the ground identifiers of the first lane; When the first lane comprises a plurality of first ground identifiers, determining a target first ground identifier in the first ground identifiers according to a first distance between each first ground identifier and a vehicle in a first direction, wherein the first distance between the target ground identifier and the vehicle is smaller than the first distance between a non-target first ground identifier and the vehicle, and the first direction is the vehicle travelling direction; determining a second distance between each non-target first ground mark and the target first ground mark in the first direction according to the position difference between the non-target first ground mark and the target first ground mark; And determining the non-target first ground identification and the target first ground identification corresponding to the second distance smaller than a preset threshold value as the ground identification of the current road section. In some embodiments, the image information further includes a second lane and a second ground identification, wherein the second lane is other lanes on the current road surface and the second ground identification is the ground identification on the second lane; The identifying the received image information to determine the number of the first ground identifiers in the first lane comprises the following steps: acquiring the position of the ground mark in a second direction and the position range of the first lane in the second direction in the image information, wherein the ground mark comprises the first ground mark and the second ground mark, the second direction is a direction perpendicular to the travelling direction of the vehicle, and the lane comprises the first lane and the second lane; and determining the ground mark as the first ground mark when the position of the ground mark in the second direction belongs to the position range of the first lane in the second direction. In some embodiments, the determining the second distance in the first direction between each of the non-target first ground identifications and the target first ground identification according to the difference in the positions of the non-target first ground identifications and the target first ground identifications includes: acquiring the position of the target first ground mark, the position of each non-target first ground mark and the position of the vehicle; Determining the second distance between the target first ground mark and the vehicle in the first direction according to the position of the target first ground mark and the position of the vehicle; Determining the second distance between each non-target first ground mark and the vehicle in the first direction according to the position of each non-target first ground mark and the position of the vehicle; and determining a second distance between each non-target first ground identifier and the target first ground identifier in the first direction according to the distance between the target first ground identifier and the vehicle and the difference between the distances between each non-target first ground identifier and the vehicle. In some embodiments, the method comprises: Acquiring the non-target first ground identification and the target first ground identification of the cu