# US 2022/0036731 A1 · Method for detecting vehicle lane change, roadside device, and cloud control platform > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2022/0036731 A1 - Document ID: US20220036731A1 - Status: Published application - Kind: A1 - Application number: 17/504,249 - Filed: 2021-10-18 - Published: 2022-02-03 - Earliest claimed: 2020-12-21 - Assignees: Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. - Applicants: Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. - Inventors: Xiulin Huang - Web page: https://patentgrep.com/patent/US20220036731A1 ## CPC - G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G06T 7/55: from multiple images - G06V 20/13: Satellite images - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G08G 1/0116: {from roadside infrastructure, e.g. beacons} - G08G 1/0133: {for classifying traffic situation} - G08G 1/0141: {for traffic information dissemination} - G08G 1/0145: {for active traffic flow control} - G08G 1/04: using optical or ultrasonic detectors - G06T 2207/30236: Traffic on road, railway or crossing - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract The present disclosure provides a method and apparatus for detecting a lane change. The method may include: performing object detection on a vehicle image acquired by a camera to obtain two-dimensional vehicle information of a vehicle in the vehicle image; determining three-dimensional vehicle information corresponding to the two-dimensional vehicle information using a ground equation and a parameter of the camera; and determining, in response to meeting a detection condition, based on lane location information in a high definition map and the three-dimensional vehicle information, whether the vehicle has a lane change, to obtain a lane change detection result. ## Claims ### Claim 1 A method for detecting a vehicle lane change, the method comprising: performing object detection on a vehicle image acquired by a camera to obtain two-dimensional vehicle information of a vehicle in the vehicle image; determining three-dimensional vehicle information corresponding to the two-dimensional vehicle information using a ground equation and a parameter of the camera, both the two-dimensional vehicle information and the three-dimensional vehicle information comprising a vehicle location; and determining, in response to meeting a detection condition, based on lane location information in a high-definition map and the three-dimensional vehicle information, whether the vehicle has a lane change, to obtain a lane change detection result. ### Claim 2 (depends on 1) The method according to claim 1, wherein the determining whether the vehicle has a lane change, to obtain a lane change detection result, comprises: determining whether the vehicle has a constant lane change within a preset historical duration, to obtain the lane change detection result, wherein the preset historical duration is a number of historical frames or a historical time length, and the number of historical frames is a preset number of frames of vehicle images continuously acquired by the camera. ### Claim 3 (depends on 1) The method according to claim 1, wherein a number of the camera is at least two, and the vehicle images acquired by the at least two cameras present the vehicle; the determining whether the vehicle has a lane change, based on lane location information in a high definition map and the three-dimensional vehicle information, comprises: fusing three-dimensional vehicle information of the vehicle images acquired by the at least two cameras to obtain a three-dimensional fusion result; and determining whether the vehicle has the lane change, using the lane location information in the high definition map and the three-dimensional fusion result. ### Claim 4 (depends on 3) The method according to claim 3, wherein the lane location information is a lane line location; the determining whether the vehicle has the lane change, using the lane location information in the high definition map and the three-dimensional fusion result, comprises: performing location comparison between a vehicle location in the three-dimensional fusion result and the lane line location in the high definition map to obtain a location comparison result; and tracking whether the vehicle has the constant lane change within the preset historical duration, based on each location comparison result of the vehicle within the preset historical duration. ### Claim 5 (depends on 1) The method according to claim 1, wherein the in response to meeting a detection condition, comprises: determining that the detection condition is met, in response to reaching a detection period duration, wherein the detection period duration is greater than an image acquisition period duration and less than a preset period duration. ### Claim 6 An electronic device, comprising: one or more processors; and a storage apparatus storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform operations, comprising: performing object detection on a vehicle image acquired by a camera to obtain two-dimensional vehicle information of a vehicle in the vehicle image; determining three-dimensional vehicle information corresponding to the two-dimensional vehicle information using a ground equation and a parameter of the camera, both the two-dimensional vehicle information and the three-dimensional vehicle information comprising a vehicle location; and determining, in response to meeting a detection condition, based on lane location information in a high-definition map and the three-dimensional vehicle information, whether the vehicle has a lane change, to obtain a lane change detection result. ### Claim 7 (depends on 6) The electronic device according to claim 6, wherein the determining whether the vehicle has a lane change, to obtain a lane change detection result, comprises: determining whether the vehicle has a constant lane change within a preset historical duration, to obtain the lane change detection result, wherein the preset historical duration is a number of historical frames or a historical time length, and the number of historical frames is a preset number of frames of vehicle images continuously acquired by the camera. ### Claim 8 (depends on 6) The electronic device according to claim 6, wherein a number of the camera is at least two, and the vehicle images acquired by the at least two cameras present the vehicle; the determining whether the vehicle has a lane change, based on lane location information in a high definition map and the three-dimensional vehicle information, comprises: fusing three-dimensional vehicle information of the vehicle images acquired by the at least two cameras to obtain a three-dimensional fusion result; and determining whether the vehicle has the lane change, using the lane location information in the high definition map and the three-dimensional fusion result. ### Claim 9 (depends on 8) The electronic device according to claim 8, wherein the lane location information is a lane line location; the determining whether the vehicle has the lane change, using the lane location information in the high definition map and the three-dimensional fusion result, comprises: performing location comparison between a vehicle location in the three-dimensional fusion result and the lane line location in the high definition map to obtain a location comparison result; and tracking whether the vehicle has the constant lane change within the preset historical duration, based on each location comparison result of the vehicle within the preset historical duration. ### Claim 10 (depends on 6) The electronic device according to claim 6, wherein the in response to meeting a detection condition, comprises: determining that the detection condition is met, in response to reaching a detection period duration, wherein the detection period duration is greater than an image acquisition period duration and less than a preset period duration. ### Claim 11 A non-transitory computer readable storage medium, storing a computer program thereon, wherein the program, when executed by a processor, causes the one or more processors to perform operations, comprising: performing object detection on a vehicle image acquired by a camera to obtain two-dimensional vehicle information of a vehicle in the vehicle image; determining three-dimensional vehicle information corresponding to the two-dimensional vehicle information using a ground equation and a parameter of the camera, both the two-dimensional vehicle information and the three-dimensional vehicle information comprising a vehicle location; and determining, in response to meeting a detection condition, based on lane location information in a high-definition map and the three-dimensional vehicle information, whether the vehicle has a lane change, to obtain a lane change detection result. ### Claim 12 (depends on 11) The non-transitory computer readable storage medium according to claim 11, wherein the determining whether the vehicle has a lane change, to obtain a lane change detection result, comprises: determining whether the vehicle has a constant lane change within a preset historical duration, to obtain the lane change detection result, wherein the preset historical duration is a number of historical frames or a historical time length, and the number of historical frames is a preset number of frames of vehicle images continuously acquired by the camera. ### Claim 13 (depends on 11) The non-transitory computer readable storage medium according to claim 11, wherein a number of the camera is at least two, and the vehicle images acquired by the at least two cameras present the vehicle; the determining whether the vehicle has a lane change, based on lane location information in a high definition map and the three-dimensional vehicle information, comprises: fusing three-dimensional vehicle information of the vehicle images acquired by the at least two cameras to obtain a three-dimensional fusion result; and determining whether the vehicle has the lane change, using the lane location information in the high definition map and the three-dimensional fusion result. ### Claim 14 (depends on 13) The non-transitory computer readable storage medium according to claim 13, wherein the lane location information is a lane line location; the determining whether the vehicle has the lane change, using the lane location information in the high definition map and the three-dimensional fusion result, comprises: performing location comparison between a vehicle location in the three-dimensional fusion result and the lane line location in the high definition map to obtain a location comparison result; and tracking whether the vehicle has the constant lane change within the preset historical duration, based on each location comparison result of the vehicle within the preset historical duration. ### Claim 15 (depends on 11) The non-transitory computer readable storage medium according to claim 11, wherein the in response to meeting a detection condition, comprises: determining that the detection condition is met, in response to reaching a detection period duration, wherein the detection period duration is greater than an image acquisition period duration and less than a preset period duration. ### Claim 16 (depends on 6) A roadside device, comprising the electronic device according to claim 6. ### Claim 17 (depends on 6) A cloud control platform, comprising the electronic device according to claim 6.