CN110415314A - Construct method, apparatus, storage medium and the electronic equipment of intersection road network - Google Patents
Construct method, apparatus, storage medium and the electronic equipment of intersection road network Download PDFInfo
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- CN110415314A CN110415314A CN201910357505.6A CN201910357505A CN110415314A CN 110415314 A CN110415314 A CN 110415314A CN 201910357505 A CN201910357505 A CN 201910357505A CN 110415314 A CN110415314 A CN 110415314A
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Abstract
This disclosure relates to a kind of method, apparatus, storage medium and electronic equipment for constructing intersection road network, which comprises obtain the directional information for being oriented to arrow of the lane line information of road connecting with intersection and the road close to the intersection；For each road, according to the directional information of the guiding arrow of the road, the connection relationship of the road Yu the intersection is determined, it is driving into road or being driven out to road for the intersection that the connection relationship, which is used to characterize the road,；According to the directional information of each lane line information driven into road and guiding arrow, and the directional information of each the lane line information being driven out in road and guiding arrow, determine the pairing relationship of the intersection driven between the lane in road and the lane of the intersection being driven out in road.By the technical solution of the disclosure, the automation building of intersection road network may be implemented, and efficiency and accuracy rate are high.
Description
Technical field
This disclosure relates to field of computer technology, and in particular, to it is a kind of construct intersection road network method, dress
It sets, storage medium and electronic equipment.
Background technique
High-precision map refers to high-precision, the map of fining definition contains more horn of plenty compared to general map
The information such as information, such as road network data, intersection road net data, become automatic Pilot/unmanned technology weight
Want component part.
The initial data source of high-precision map is the collected point cloud data of professional collecting vehicle and panorama sketch etc..It is constructing
When the road network of high-precision map, by being cleaned to initial data, vector extraction, a series of processing such as data processing,
Obtain solid line in pavement of road, dotted line, the profile isovector data for being oriented to arrow, further to these road vectors data into
The strong Semantic Processing of row, constructs road network.
However, for intersection region, usually not Road in the region, thus it is difficult to extract go out the region
Relevant road vectors data, this just needs manually to participate in mark and building intersection road network.
Summary of the invention
In order to overcome the problems, such as present in the relevant technologies, purpose of this disclosure is to provide a kind of building intersection road networks
Method, apparatus, storage medium and electronic equipment.
To achieve the goals above, embodiment of the present disclosure first aspect provides a kind of side for constructing intersection road network
Method, comprising:
The lane line information of road connecting with intersection and the road are obtained close to the guiding arrow of the intersection
Directional information；
For each road, according to the directional information of the guiding arrow of the road, determine the road with it is described
The connection relationship of intersection, it is driving into road or being driven out to for the intersection that the connection relationship, which is used to characterize the road,
Road；
According to the directional information of each lane line information driven into road and guiding arrow and each described sail
The directional information of lane line information in road and guiding arrow out, determines the lane driven into road and the institute of the intersection
State the pairing relationship between the lane of intersection being driven out in road.
Optionally, described to be directed to each road, according to the directional information of the guiding arrow of the road, determining should
The connection relationship of road and the intersection, comprising:
For each road, if the guiding arrow of the road is directed toward close to the direction of the intersection, really
The fixed road drives into road for the intersection；
If the guiding arrow of the road is directed toward the direction far from the intersection, it is determined that the road is the intersection
Mouth is driven out to road.
Optionally, the lane line information of each road includes the reference line of the road, the lane line quantity for being included
And the location information in each lane, each road include the road close to the directional information of the guiding arrow of the intersection
Each lane corresponding to guiding arrow be directed toward；
The directional information and each institute according to each lane line information driven into road and guiding arrow
The directional information for stating the lane line information being driven out in road and guiding arrow, determines the lane of the intersection driven into road
Pairing relationship between the lane of the intersection being driven out in road, comprising:
For it is each it is described drive into road, the reference line and each reference line for being driven out to road of road are driven into according to this
Between angle, determine and each described be driven out to road relative to the driving direction for driving into road；
The lane driven into road is classified according to corresponding guiding arrow direction, this is obtained and drives into road
The quantity of guiding type belonging to each lane and each guiding style lanes；
Drive into each lane in road for this, according to goal orientation type belonging to the lane and it is each described in sail
Road drives into the driving direction of road relative to this out, from being driven out in road for the intersection, selects target and is driven out to road,
And
According to the location information in the lane, this drive into quantity, the target of the goal orientation style lanes of road
The lane quantity and the target that are driven out to road are driven out to the location information in each lane of road, determine that the target is driven out to road
In target lane with lane pairing, and connection is established into the lane and the target lane.
Optionally, each lane at least belongs to one of following guiding type: straight trip turns left, turns right.
Optionally, described to drive into each lane in road for this, according to goal orientation type belonging to the lane with
And it each described be driven out to the driving direction that road drives into road relative to this and selected from being driven out in road for the intersection
Target is driven out to road, comprising:
If the goal orientation type includes turning left, from being driven out in road for the intersection, selection is sailed relative to this
Enter road driving direction be turn left be driven out to road, be driven out to road as the target；
The location information according to the lane, this drive into the quantity, described of the goal orientation style lanes of road
Target be driven out to road lane quantity and the target be driven out to road each lane location information, determine that the target is driven out to
The target lane matched in road with the lane, and connection is established into the lane and the target lane, comprising:
Using the leftmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with the mesh
Mark is driven out to the leftmost side lane line along the separate intersection direction of road as the second benchmark, if the lane is close to described
The target is then driven out to the n-th lane in road close to second benchmark, as institute by the n-th lane of the first benchmark
State target lane, wherein N is the integer more than or equal to 1.
Optionally, described to drive into each lane in road for this, according to goal orientation type belonging to the lane with
And it each described be driven out to the driving direction that road drives into road relative to this and selected from being driven out in road for the intersection
Target is driven out to road, comprising:
If the goal orientation type includes turning right, from being driven out in road for the intersection, selection is sailed relative to this
Enter road driving direction be turn right be driven out to road, be driven out to road as the target；
The location information according to the lane, this drive into the quantity, described of the goal orientation style lanes of road
Target be driven out to road lane quantity and the target be driven out to road each lane location information, determine that the target is driven out to
The target lane matched in road with the lane, and connection is established into the lane and the target lane, comprising:
Using the rightmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with the mesh
Mark is driven out to the rightmost side lane line along the separate intersection direction of road as the second benchmark, if the lane is close to described
The target is then driven out to the n-th lane in road close to second benchmark, as institute by the n-th lane of the first benchmark
State target lane, wherein N is the integer more than or equal to 1.
Optionally, described to drive into each lane in road for this, according to goal orientation type belonging to the lane with
And it each described be driven out to the driving direction that road drives into road relative to this and selected from being driven out in road for the intersection
Target is driven out to road, comprising:
If the goal orientation type includes straight trip, from being driven out in road for the intersection, selection is sailed relative to this
Enter road driving direction be straight trip be driven out to road, be driven out to road as the target；
The location information according to the lane, this drive into the quantity, described of the goal orientation style lanes of road
Target be driven out to road lane quantity and the target be driven out to road each lane location information, determine that the target is driven out to
The target lane matched in road with the lane, and connection is established into the lane and the target lane, comprising:
In the lane in varying numbers for being driven out to road in the target of the goal orientation style lanes for driving into road
In the case where quantity, using the leftmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with
The target is driven out to the leftmost side lane line along the separate intersection direction of road as the second benchmark；
It is equal to the number of track-lines that the target is driven out to road in the quantity of the goal orientation style lanes for driving into road
In the case where amount, if the lane is that the target is driven out in road close be somebody's turn to do close to the n-th lane of first benchmark
The n-th lane of second benchmark, as the target lane；
In the lane in varying numbers for being driven out to road in the target of the goal orientation style lanes for driving into road
In the case where quantity, if the lane is to be driven out to the target close in road close to the n-th lane of first benchmark
One or more lanes of the N-2 of second benchmark into N+2, as the target lane；
Wherein, N is the integer more than or equal to 1.
Optionally, it is described for it is each it is described drive into road, the reference line of road is driven into according to this and each described is driven out to
Angle between the reference line of road determines and each described is driven out to road relative to the driving direction for driving into road, comprising:
For it is each it is described drive into road and it is any it is described be driven out to road, if the reference line for driving into road is driven out to this
Angle between the reference line on road is located in the first preset range, it is determined that this is driven out to the traveling that road drives into road relative to this
Direction is straight trip；
If this drive into road reference line and this be driven out to the angle between the reference line of road and be located in the second preset range,
Then determine that this is driven out to road and drives into the driving direction of road relative to this to turn right, wherein the lower limit of second preset range
Value is greater than the upper limit value of first preset range；
If this drive into road reference line and this be driven out to the angle between the reference line of road and be located in third preset range,
Then determine that this is driven out to road and drives into the driving direction of road relative to this to turn left, wherein the upper limit of second preset range
Value is less than the lower limit value of first preset range.
Embodiment of the present disclosure second aspect provides a kind of device for constructing intersection road network, comprising:
Module is obtained, the lane line information and the road for obtaining the road connecting with intersection are intersected close to described
The directional information of the guiding arrow of mouth；
First determining module, for being directed to each road, according to the directional information of the guiding arrow of the road,
Determine that the connection relationship of the road Yu the intersection, the connection relationship are driving into for the intersection for characterizing the road
Road is driven out to road；
Second determining module, for being believed according to the direction of each lane line information driven into road and guiding arrow
The directional information of breath and each the lane line information being driven out in road and guiding arrow, determines sailing for the intersection
Enter the pairing relationship between the lane in road and the lane of the intersection being driven out in road.
Optionally, first determining module includes:
First determines submodule, for being directed to each road, if the guiding arrow of the road is directed toward close to institute
State the direction of intersection, it is determined that the road drives into road for the intersection；If the guiding arrow of the road is directed toward
Direction far from the intersection, it is determined that the road is driven out to road for the intersection.
Optionally, the lane line information of each road includes the reference line of the road, the lane line quantity for being included
And the location information in each lane, each road include the road close to the directional information of the guiding arrow of the intersection
Each lane corresponding to guiding arrow be directed toward；
Second determining module includes:
Second determines submodule, for for it is each it is described drive into road, the reference line of road and each is driven into according to this
The angle being driven out between the reference line of road determines and each described is driven out to road relative to the traveling side for driving into road
To；
Classification submodule, for the lane driven into road to be classified according to corresponding guiding arrow direction,
Obtain the quantity for driving into guiding type belonging to each lane of road and each guiding style lanes；
Pairing submodule, for driving into each lane in road for this, according to goal orientation class belonging to the lane
Type and it is each it is described be driven out to the driving direction that road drives into road relative to this, from being driven out in road for the intersection, choosing
Take out target and be driven out to road, and according to the location information in the lane, this drive into the goal orientation style lanes of road
Quantity, the target be driven out to road lane quantity and the target be driven out to road each lane location information, determine institute
It states target and is driven out to the target lane matched in road with the lane, and connection is established into the lane and the target lane.
Optionally, each lane at least belongs to one of following guiding type: straight trip turns left, turns right.
Optionally, the pairing submodule is used for:
If the goal orientation type includes turning left, from being driven out in road for the intersection, selection is sailed relative to this
Enter road driving direction be turn left be driven out to road, be driven out to road as the target；
Using the leftmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with the mesh
Mark is driven out to the leftmost side lane line along the separate intersection direction of road as the second benchmark, if the lane is close to described
The target is then driven out to the n-th lane in road close to second benchmark, as institute by the n-th lane of the first benchmark
State target lane, wherein N is the integer more than or equal to 1.
Optionally, the pairing submodule is used for:
If the goal orientation type includes turning right, from being driven out in road for the intersection, selection is sailed relative to this
Enter road driving direction be turn right be driven out to road, be driven out to road as the target；
Using the rightmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with the mesh
Mark is driven out to the rightmost side lane line along the separate intersection direction of road as the second benchmark, if the lane is close to described
The target is then driven out to the n-th lane in road close to second benchmark, as institute by the n-th lane of the first benchmark
State target lane, wherein N is the integer more than or equal to 1.
Optionally, the pairing submodule is used for:
If the goal orientation type includes straight trip, from being driven out in road for the intersection, selection is sailed relative to this
Enter road driving direction be straight trip be driven out to road, be driven out to road as the target；
In the lane in varying numbers for being driven out to road in the target of the goal orientation style lanes for driving into road
In the case where quantity, using the leftmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with
The target is driven out to the leftmost side lane line along the separate intersection direction of road as the second benchmark；
It is equal to the number of track-lines that the target is driven out to road in the quantity of the goal orientation style lanes for driving into road
In the case where amount, if the lane is that the target is driven out in road close be somebody's turn to do close to the n-th lane of first benchmark
The n-th lane of second benchmark, as the target lane；
In the lane in varying numbers for being driven out to road in the target of the goal orientation style lanes for driving into road
In the case where quantity, if the lane is to be driven out to the target close in road close to the n-th lane of first benchmark
One or more lanes of the N-2 of second benchmark into N+2, as the target lane；
Wherein, N is the integer more than or equal to 1.
Optionally, described second determine that submodule is used for:
For it is each it is described drive into road and it is any it is described be driven out to road, if the reference line for driving into road is driven out to this
Angle between the reference line on road is located in the first preset range, it is determined that this is driven out to the traveling that road drives into road relative to this
Direction is straight trip；
If this drive into road reference line and this be driven out to the angle between the reference line of road and be located in the second preset range,
Then determine that this is driven out to road and drives into the driving direction of road relative to this to turn right, wherein the lower limit of second preset range
Value is greater than the upper limit value of first preset range；
If this drive into road reference line and this be driven out to the angle between the reference line of road and be located in third preset range,
Then determine that this is driven out to road and drives into the driving direction of road relative to this to turn left, wherein the upper limit of second preset range
Value is less than the lower limit value of first preset range.
The embodiment of the present disclosure third aspect provides a kind of computer readable storage medium, is stored thereon with computer program,
The step of embodiment of the present disclosure first aspect the method is realized when the program is executed by processor.
Embodiment of the present disclosure fourth aspect provides a kind of electronic equipment, comprising: memory is stored thereon with computer journey
Sequence；Processor, for executing the computer program in the memory, to realize described in embodiment of the present disclosure first aspect
The step of method.
By technical solution provided by the present disclosure, it can at least reach following technical effect:
By obtaining the arrow that is oriented to of the lane line information of road connecting with intersection and road close to the intersection
Directional information can determine the connection relationship of the road and intersection, obtain according to the directional information of the guiding arrow of every road
Road and it is driven out to road to driving into for intersection, finally, believing according to the direction of the lane line information and guiding arrow of driving into road
Breath, and it is driven out to the lane line information of road and the directional information of guiding arrow, it determines the lane for driving into road and is driven out to road
Lane between pairing relationship, realize intersection road network automation building, solve the road of existing high-precision map
Road network building in road intersection is difficult, needs artificial the problem of participating in building, and compared in the related technology by manually participating in structure
It builds, improves the building efficiency and accuracy rate of intersection road network, and then improve the efficiency of entire high-precision map structuring.
Further, after constructing intersection road network by the above method, pairing result can be loaded onto the road network pre-established
File, shows intersection with two dimension or 3-D view format and what is connect with intersection drives into road and be driven out to road, and according to
Drive into the lane of road and be driven out to road lane between pairing relationship, the lane to match is put down by spline-fit method
Slip obtains intersection road network view, more intuitively to show constructed intersection road network.In addition, base
In the intersection road network of building, it can be generated for accurately graphic language justice and strong support is provided, it is automatic to be applied to
Driving and the emulation testing of automatic Pilot.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of process of the method for building intersection road network shown according to one exemplary embodiment of the disclosure
Figure；
Fig. 2 is road and to be driven out to road schematic diagram according to driving into for the intersection shown in one exemplary embodiment of the disclosure；
Fig. 3 is a kind of lane driven into road shown according to one exemplary embodiment of the disclosure and is driven out in road
The flow chart of the determination method of pairing relationship between lane；
Fig. 4 to Fig. 7 is the schematic diagram according to the intersection road network shown in one exemplary embodiment of the disclosure；
Fig. 8 is a kind of frame of the device of building intersection road network shown according to one exemplary embodiment of the disclosure
Figure；
Fig. 9 is a kind of frame of the device of building intersection road network shown according to disclosure another exemplary embodiment
Figure；
Figure 10 is the structural schematic diagram according to a kind of electronic equipment shown in disclosure another exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Term " first ", " second " in the embodiment of the present disclosure etc. are to be used to distinguish similar objects, it is not necessary to be interpreted as special
Fixed sequence or precedence.
The embodiment of the present disclosure provides a kind of method for constructing intersection road network, and this method can be by electronic equipment reality
It applies.As shown in Figure 1, Fig. 1 is a kind of method of building intersection road network shown according to one exemplary embodiment of the disclosure
Flow chart, this method comprises:
S101, acquisition and intersection connection road lane line information and road close to the intersection guiding arrow
Directional information.
Wherein, the lane line information of each road connecting with intersection may include the lane quantity that the road is included
With the lane line in each lane and position, the reference line of the road etc., guiding arrow of each road close to the intersection
Directional information may include that guiding arrow corresponding to each lane of the road is directed toward (such as to turn left, turn left or straight trip, straight
Row turns right, turns right or keeps straight on) etc..Intersection described in the embodiment of the present disclosure can include but is not limited to crossroad, T-shaped
Crossing, rotary island crossing etc..
In a kind of optional embodiment, the collected ambient image of collecting vehicle and point cloud data can be handled
And integration, extract attribute information (quantity, face including lane line of intersection and the lane line connecting with the intersection
Color, type etc.), position it is adjacent and move towards consistent information and close to the intersection guiding arrow directional information.Then, root
According to the attribute information of lane line, position is adjacent and moves towards consistent information and clusters lane line, and lane line is corresponding
Guiding arrow is bound, and guiding arrow corresponding to each lane of the lane line set for belonging to same road and each road is obtained
Head directional information.
S102, it is directed to each road, according to the directional information of the guiding arrow of the lane line information of the road and the road,
Determine the connection relationship of the road Yu the intersection.
Wherein, it is driving into road or being driven out to for the intersection that the connection relationship of road and intersection, which is used to characterize the road,
Road.
In a kind of optional embodiment, for each road, if guiding arrow of the road close to the intersection refers to
To the direction close to the intersection, it is determined that the road is that road is driven into intersection, road as shown in Figure 2 110,120,
130 and 140；For each road, if guiding arrow of the road close to the intersection is directed toward the direction far from the intersection,
Then determine that the road is driven out to road, road 210,220,230 and 240 as shown in Figure 2 for the intersection.
S103, it according to each lane line information driven into road and is oriented to the directional information of arrow and each is driven out to
The directional information of lane line information and guiding arrow in road, determines that the lane of the intersection driven into road intersects with this
Pairing relationship between the lane of mouth being driven out in road.
Wherein, the lane (hereinafter referred to as " driving into lane ") driven into road and the lane being driven out in road are (hereinafter referred to as
" being driven out to lane ") between pairing relationship be used for characterize from this drive into lane enter the intersection vehicle need to be driven out to lane from this
It is driven out to.
In an optional implementation manner, the lane line information of the road connecting with intersection got includes each
The location information of the reference line of road, the lane line quantity for being included and each lane, guiding arrow of the road close to the intersection
The directional information of head includes that guiding arrow corresponding to each lane of the road is directed toward.Correspondingly, as shown in figure 3, the step can
To include:
S311, drive into road for each, according to this drive into road reference line and each reference line for being driven out to road it
Between angle, determine each driving direction for being driven out to road and driving into road relative to this.
Wherein, it is driven out to road and refers to that vehicle drives into road from this and is driven out into this relative to the driving direction for driving into road
The driving direction on road, the driving direction include any one of the directions such as turn left, keep straight on, turn right.
In the specific implementation, for driving into road, reference line can be it along the leftmost side for being directed toward the intersection direction
Lane line, lane line A1, A2, A3 and A4 as shown in Figure 2；For being driven out to road, reference line be can be along far from the intersection
The leftmost side lane line in mouth direction, lane line B1, B2, B3 and B4 as shown in Figure 2.It drives into road for each and any is driven out to
Road, if this drive into road reference line and this be driven out to the angle between the reference line of road and be located in the first preset range,
Determine that this is driven out to road and drives into the driving direction of road relative to this as straight trip；If the reference line for driving into road is driven out to this
Angle between the reference line on road is located in the second preset range, it is determined that this is driven out to the traveling that road drives into road relative to this
Direction is to turn right, wherein the lower limit value of the second preset range is greater than the upper limit value of first preset range；If this drives into road
Reference line and this be driven out to the angle between the reference line of road and be located in third preset range, it is determined that this be driven out to road relative to
This drives into the driving direction of road to turn left, wherein the upper limit value of third preset range is less than the lower limit of first preset range
Value.Wherein, the first preset range, the second preset range and third preset range can be configured according to actual needs.
For example, the first preset range may be configured as (- 45 °, 45 °), the second preset range be may be configured as (46 °, 135 °), the
Three preset ranges may be configured as (- 135 °, -46 °).Still by taking scene figure shown in Fig. 2 as an example, for driving into road 110, this is sailed
Enter the reference line A 1 of road and be driven out to road 210 reference line B 1 between angle be located in the first preset range, then can determine
It is driven out to road 210 and drives into the driving direction of road 110 relative to this as straight trip；This drives into the reference line A 1 of road and is driven out to road
Angle between 240 reference line B 4 is located in the second preset range, then can determine that being driven out to road 240 drives into road relative to this
Driving direction be turn right；This drive into the reference line A 1 of road and be driven out to road 220 reference line B 2 between angle be located at the
In three preset ranges, then it can determine that being driven out to road 220 drives into the driving direction of road relative to this to turn left.
S312, the lane driven into road is classified according to corresponding guiding arrow direction, obtains this and drives into
The quantity of guiding type belonging to each lane of road and each guiding style lanes.
In the specific implementation, road is driven into for each, this can be driven into guiding arrow corresponding in road and be directed toward packet
The lane of straight trip is included as Through Lane, this driven into guiding arrow corresponding in road be directed toward include the lane turned left as
Left turn lane, it includes that the lane turned right is sailed as right-turn lane, and by this that this, which is driven into guiding arrow corresponding in road,
Entering in road corresponding guiding arrow includes the lane turned around as turn lane.
It is worth noting that driving into each lane in road, at least belong to one of following guiding type: straight
Row, left-hand rotation, right-hand rotation etc..For example, guiding arrow corresponding to the lane refers to the lane 111 shown in Fig. 2 for driving into road 110
To including turning left and keeping straight on, then it can determine that the lane had not only belonged to left turn lane type, but also belong to Through Lane type.
S313, each lane in road is driven into for this, according to goal orientation type belonging to the lane and each
The driving direction for being driven out to road and driving into road relative to this selects target and sails from being driven out in road for the intersection
Road out, and according to the location information in the lane, this drive into the quantity of the goal orientation style lanes of road, the mesh
Mark be driven out to road lane quantity and the target be driven out to road each lane location information, determine that the target is driven out to
The target lane of the lane Lu Zhongyu pairing, and connection is established into the lane and the target lane.
In the specific implementation, each lane in road is driven into for this, if goal orientation type packet belonging to the lane
Include left-hand rotation, then being driven out in road from intersection, choose relative to the driving direction for driving into road be left-hand rotation be driven out to road,
Road is driven out to as target.In view of vehicle turns left from road is driven into after intersection, usually preferentially enters target and be driven out to
The leftmost side lane on road, correspondingly, can the edge that road be driven into be directed toward the leftmost side lane line of intersection as the first benchmark,
Using target be driven out to road along far from intersection direction leftmost side lane line as the second reference line, if the lane be close to should
The n-th lane of first benchmark then matches in the n-th lane that target is driven out in road close to second benchmark as with the lane
Pair target lane, connection is established into the lane and the target lane.Wherein, N is the integer more than or equal to 1.
It illustratively,, can will be opposite for the lane 111 driven into road 110 still by taking implement scene shown in Fig. 2 as an example
It is that the road 220 that is driven out to turn left is driven out to road as target in the driving direction for driving into road 110.Road 110 is driven into this
Lane line A1 as the first benchmark, the lane line B2 of road is driven out to as the second reference line using target, lane 111 is close to the
The 1st lane of one benchmark A1, then by target be driven out in road 220 close to the second benchmark B2 the 1st lane 221 as with vehicle
The target lane that road 111 matches, wherein the dotted arrow in figure indicates pairing relationship.
Each lane in road is driven into for this, if goal orientation type belonging to the lane includes turning right, from friendship
Prong is driven out in road, choose relative to the driving direction for driving into road be right-hand rotation be driven out to road, be driven out to as target
Road.In view of vehicle is turned right from road is driven into after intersection, the rightmost side vehicle that target is driven out to road is usually preferentially entered
Road, correspondingly, can this drive into road edge be directed toward the intersection direction rightmost side lane line as the first benchmark, with target
The rightmost side lane line along the separate intersection direction of road is driven out to as the second benchmark, if the lane is close to first base
Target is then driven out to the n-th lane in road close to the second benchmark, as the mesh matched with the lane by quasi- n-th lane
Lane is marked, connection is established into the lane and the target lane.Wherein, N is the integer more than or equal to 1.
It illustratively,, can will be opposite for the lane 112 driven into road 110 still by taking implement scene shown in Fig. 2 as an example
It is that the road 240 that is driven out to turned right is driven out to road as target in the driving direction for driving into road 110.Road 110 is driven into this
Lane line A1 ' be used as the first benchmark, the lane line B4 ' of road is driven out to as the second reference line using target, lane 112 is close
Target is then driven out to the 1st 242 conduct of lane in road 240 close to the second benchmark B4 ' by the 1st lane of the first benchmark A1 '
The target lane matched with lane 112, wherein the dotted arrow in figure indicates pairing relationship.
Each lane in road is driven into for this, if goal orientation type belonging to the lane includes straight trip, from friendship
Prong be driven out in road choose relative to the driving direction for driving into road be keep straight on be driven out to road, be driven out to as target
Road.Correspondingly, the lane quantity of road is driven out to for the quantity of the goal orientation style lanes for driving into road and target
Between size relation, can be divided into the pairing of three kinds of situations, i.e., (1) this to drive into road including with the goal orientation style lanes
Quantity be equal to target and be driven out to the lane quantity of road；(2) number for driving into the goal orientation style lanes that road includes
Amount is less than the lane quantity that target is driven out to road；(3) this drive into the goal orientation style lanes that road includes quantity it is big
The lane quantity of road is driven out in target.
For situation (1), the lane and target that this can be driven into road are driven out to the lane in road and establish correspondingly
Pairing relationship, it can be directed toward the leftmost side lane line in intersection direction as the first benchmark, with target in the edge for driving into road
The leftmost side lane line along the separate intersection direction of road is driven out to as the second benchmark, if the lane is close to first base
Target is then driven out to the n-th lane in road close to second benchmark, as what is matched with the lane by quasi- n-th lane
Connection is established in the lane and the target lane by target lane.Wherein, N is the integer more than or equal to 1.
Illustratively, as shown in figure 4, the Through Lane for driving into road includes lane 1 and lane 2, target is driven out to road and includes
Lane 1 ' and lane 2 ', according to the above method, it may be determined that lane 1 and the pairing of lane 1 ' and lane 2 and the pairing of lane 2 ', wherein
Dotted arrow in figure indicates pairing relationship.
For situation (2) and (3), equally can this drive into road edge be directed toward intersection direction leftmost side lane line make
For the first benchmark, using target be driven out to road along the leftmost side lane line far from the intersection direction as the second benchmark, if should
Lane is that target is then driven out to the N-2 to N+2 in road close to second benchmark close to the n-th lane of the first benchmark
In one or more lanes connection is established into the lane and the target lane as the target lane matched with the lane.Its
In, N is the integer more than or equal to 1.
Further, for situation (2), specific algorithm are as follows:
1 is set by the traversal starting subscript t_start that target is driven out to road, from driving into distance first benchmark in road
Nearest Through Lane (i.e. the Through Lane of number k1) starts, and circulation executes the first operation, until t_start and drives into road
The sum of quantity of middle Through Lane is greater than target and is driven out to the lane quantity in road, wherein the first operation is that will drive into road
The Through Lane and target that number is k are driven out to the lane pairing that the number in road is t and t_start are added 1.
Illustratively, as shown in figure 5, the Through Lane driven into road includes lane 1~3, it includes vehicle that target, which is driven out to road,
Road 1 '~4 ', according to the above method, can will determine lane 1 respectively with lane 1 ' and the pairing of lane 2 ', lane 2 respectively with lane 2 '
It is matched with lane 3 ', lane 3 is matched with lane 3 ' and lane 4 ' respectively, wherein the dotted arrow in figure indicates pairing relationship.
For situation (3), specific algorithm are as follows:
Setting this for the traversal starting subscript k_start that drives into road, to drive into distance first benchmark in road nearest
The number k1 of Through Lane is driven out in road the lane of number t=1 since target, and circulation executes the second operation, until k_
The lane quantity that start and target are driven out in lane is greater than this and drives into the quantity of Through Lane in road, wherein the second operation is
The lane that the number numbered and be driven out in road for the Through Lane of k with target is t will be driven into road to match and add k_start
1。
Illustratively, as shown in fig. 6, the Through Lane driven into road includes lane 1~4, it includes vehicle that target, which is driven out to road,
Road 1 ' and 2 ' can will determine that lane 1 and lane 2 are matched with lane 1 ' according to the above method, and lane 2 and lane 4 are and lane
2 ' pairings, wherein the dotted arrow in figure indicates pairing relationship.
It is worth noting that there is the lane of a variety of directions for corresponding guiding arrow, then it can sailing from intersection
Out in road, choose it is a plurality of be driven out to road as target and be driven out to road, correspondingly, according to above method embodiment, which can
It is matched with a plurality of lane for being driven out to road.For example, it includes the lane turned left and kept straight on that corresponding guiding arrow, which is directed toward, it can
Choose relative to the driving direction for driving into road be turn left be driven out to road and driving direction be straight trip be driven out to road make
It is driven out to road for target, correspondingly, embodiment, the lane with lane pairing include that driving direction is to turn left according to the method described above
The left turn lane that is driven out in road of target and driving direction be that the target of straight trip is driven out to one or more lane in road,
As shown in Figure 7.
In addition, disclosure above-described embodiment is only illustrated with intersection, the case where for multiple intersections, for each
A intersection, embodiment according to the method described above, construct complete intersection road network.
Further, the above method can also include: before executing step S103, according to the shape of the intersection got
Shape, each road and connection relationship of the intersection etc., confirm the legitimacy of intersection.Specifically, if being connect with the intersection
Road include driving into road and to be driven out to road, then can determine that the intersection is legal.
Using the method for the building intersection road network that the embodiment of the present disclosure provides, it is connect by acquisition with intersection
The lane line information of road and road close to the guiding arrow of the intersection directional information, according to the guiding arrow of every road
Directional information, can determine the connection relationship of the road and intersection, obtain driving into for intersection and road and be driven out to road, most
Afterwards, it according to the directional information of the lane line information and guiding arrow of driving into road, and is driven out to the lane line information of road and leads
To the directional information of arrow, determine drive into the lane of road and be driven out to road lane between pairing relationship, realize that road is handed over
The automation of prong road network constructs, and solves the intersection road network building difficulty of existing high-precision map, needs artificial ginseng
The problem of with building, and compared to by manually participating in building, the building for improving intersection road network is imitated in the related technology
Rate and accuracy rate, and then improve the efficiency of entire high-precision map structuring.Further, road is constructed by the above method
After the road network of intersection, pairing result can be loaded onto the road network file pre-established, be handed over two dimension or the display of 3-D view format
Prong and what is connect with intersection drive into road and be driven out to road, and according to the lane for driving into road and the lane for being driven out to road it
Between pairing relationship, the lane to match is smoothly connected by spline-fit method, obtains intersection road network view, with
Just constructed intersection road network is more intuitively shown.In addition, the intersection road network based on building, can be high-precision
It spends cartographic semantics and offer strong support is provided, to be applied to the emulation testing of automatic Pilot and automatic Pilot.
The embodiment of the present disclosure also provides a kind of device for constructing intersection road network, which can be applied to electronics and set
It is standby.As shown in figure 8, Fig. 8 is a kind of device of building intersection road network shown according to one exemplary embodiment of the disclosure
Block diagram, which includes:
Module 801 is obtained, the lane line information and the road for obtaining the road connecting with intersection are close to described
The directional information of the guiding arrow of intersection；
First determining module 802 is believed for being directed to each road according to the direction of the guiding arrow of the road
Breath determines that the connection relationship of the road Yu the intersection, the connection relationship are the intersections for characterizing the road
It drives into road or is driven out to road；
Second determining module 803, for the finger according to each lane line information driven into road and guiding arrow
To the directional information of information and each the lane line information being driven out in road and guiding arrow, the intersection is determined
The pairing relationship driven between the lane in road and the lane of the intersection being driven out in road.
Optionally, as shown in figure 9, first determining module 802 includes:
First determines submodule 821, for being directed to each road, if the guiding arrow direction of the road is close
The direction of the intersection, it is determined that the road drives into road for the intersection；If the guiding arrow of the road refers to
To the direction far from the intersection, it is determined that the road is driven out to road for the intersection.
Optionally, the lane line information of each road includes the reference line of the road, the lane line quantity for being included
And the location information in each lane, each road include the road close to the directional information of the guiding arrow of the intersection
Each lane corresponding to guiding arrow be directed toward；
As shown in figure 9, second determining module 803 includes:
Second determines submodule 831, for for it is each it is described drive into road, the reference line of road and each is driven into according to this
A angle being driven out between the reference line of road determines and each described is driven out to road relative to the traveling for driving into road
Direction；
Classification submodule 832, for being divided the lane driven into road according to corresponding guiding arrow direction
Class obtains the quantity for driving into guiding type belonging to each lane of road and each guiding style lanes；
Pairing submodule 833, for driving into each lane in road for this, according to goal orientation belonging to the lane
Type and it is each it is described be driven out to the driving direction that road drives into road relative to this, from being driven out in road for the intersection,
Select target and be driven out to road, and according to the location information in the lane, this drive into the goal orientation style lanes of road
Quantity, the target be driven out to road lane quantity and the target be driven out to road each lane location information, determine
The target is driven out to the target lane in road with lane pairing, and connection is established in the lane and the target lane.
Optionally, each lane at least belongs to one of following guiding type: straight trip turns left, turns right.
Optionally, the pairing submodule 833 is used for:
If the goal orientation type includes turning left, from being driven out in road for the intersection, selection is sailed relative to this
Enter road driving direction be turn left be driven out to road, be driven out to road as the target；
Using the leftmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with the mesh
Mark is driven out to the leftmost side lane line along the separate intersection direction of road as the second benchmark, if the lane is close to described
The target is then driven out to the n-th lane in road close to second benchmark, as institute by the n-th lane of the first benchmark
State target lane, wherein N is the integer more than or equal to 1.
Optionally, the pairing submodule 833 is used for:
If the goal orientation type includes turning right, from being driven out in road for the intersection, selection is sailed relative to this
Enter road driving direction be turn right be driven out to road, be driven out to road as the target；
Using the rightmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with the mesh
Mark is driven out to the rightmost side lane line along the separate intersection direction of road as the second benchmark, if the lane is close to described
The target is then driven out to the n-th lane in road close to second benchmark, as institute by the n-th lane of the first benchmark
State target lane, wherein N is the integer more than or equal to 1.
Optionally, the pairing submodule 833 is used for:
If the goal orientation type includes straight trip, from being driven out in road for the intersection, selection is sailed relative to this
Enter road driving direction be straight trip be driven out to road, be driven out to road as the target；
In the lane in varying numbers for being driven out to road in the target of the goal orientation style lanes for driving into road
In the case where quantity, using the leftmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with
The target is driven out to the leftmost side lane line along the separate intersection direction of road as the second benchmark；
It is equal to the number of track-lines that the target is driven out to road in the quantity of the goal orientation style lanes for driving into road
In the case where amount, if the lane is that the target is driven out in road close be somebody's turn to do close to the n-th lane of first benchmark
The n-th lane of second benchmark, as the target lane；
In the lane in varying numbers for being driven out to road in the target of the goal orientation style lanes for driving into road
In the case where quantity, if the lane is to be driven out to the target close in road close to the n-th lane of first benchmark
One or more lanes of the N-2 of second benchmark into N+2, as the target lane；
Wherein, N is the integer more than or equal to 1.
Optionally, described second determine that submodule is used for:
For it is each it is described drive into road and it is any it is described be driven out to road, if the reference line for driving into road is driven out to this
Angle between the reference line on road is located in the first preset range, it is determined that this is driven out to the traveling that road drives into road relative to this
Direction is straight trip；
If this drive into road reference line and this be driven out to the angle between the reference line of road and be located in the second preset range,
Then determine that this is driven out to road and drives into the driving direction of road relative to this to turn right, wherein the lower limit of second preset range
Value is greater than the upper limit value of first preset range；
If this drive into road reference line and this be driven out to the angle between the reference line of road and be located in third preset range,
Then determine that this is driven out to road and drives into the driving direction of road relative to this to turn left, wherein the upper limit of second preset range
Value is less than the lower limit value of first preset range.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each function mould
The division progress of block can according to need and for example, in practical application by above-mentioned function distribution by different functional modules
It completes, i.e., the internal structure of device is divided into different functional modules, to complete all or part of the functions described above.
The specific work process of foregoing description functional module, can refer to corresponding processes in the foregoing method embodiment, no longer superfluous herein
It states.
Using the device of above-mentioned building intersection road network, the lane line by obtaining the road connecting with intersection is believed
Breath and road can according to the directional information of the guiding arrow of every road close to the directional information of the guiding arrow of the intersection
To determine the connection relationship of the road and intersection, obtains driving into for intersection and road and be driven out to road, finally, according to driving into
The lane line information on road and the directional information of guiding arrow, and it is driven out to the lane line information of road and the direction letter of guiding arrow
It ceases, the pairing relationship between the determining lane driven into the lane of road and be driven out to road realizes the automatic of intersection road network
Change and construct, solves the problems, such as that the intersection road network building of existing high-precision map is difficult, needs artificial participation building, and
Compared to constructing in the related technology by manually participation, the building efficiency and accuracy rate of intersection road network are improved, in turn
Improve the efficiency of entire high-precision map structuring.It further, can after constructing intersection road network by the above method
Pairing result is loaded onto the road network file pre-established, intersection is shown with two dimension or 3-D view format and is connected with intersection
What is connect drives into road and is driven out to road, and according to the pairing relationship between the lane driven into the lane of road and be driven out to road, leads to
It crosses spline-fit method to be smoothly connected the lane to match, intersection road network view is obtained, more intuitively to show
Constructed intersection road network.In addition, the intersection road network based on building, can generate for accurately graphic language justice
Strong support is provided, to be applied to the emulation testing of automatic Pilot and automatic Pilot.
The embodiment of the present disclosure also provides a kind of calculation machine readable storage medium storing program for executing, is stored thereon with computer program, the program quilt
The step of method for the building intersection road network that above method embodiment provides is realized when processor executes.
The embodiment of the present disclosure also provides a kind of electronic equipment, which can be provided as a kind of server, should
Electronic equipment includes: memory, is stored thereon with computer program；Processor, by executing based on described in the memory
Calculation machine program, with realize above method embodiment provide building intersection road network method the step of.
Figure 10 is a kind of structural schematic diagram of the electronic equipment, and as shown in Figure 10, which may include: place
Manage device 1001, memory 1002.The electronic equipment 1000 can also include multimedia component 1003, input/output (I/O) interface
One or more of 1004 and communication component 1005.
Wherein, processor 1001 is used to control the integrated operation of the electronic equipment 1000, to complete above-mentioned building road
All or part of the steps in the method for intersection road network.Memory 1002 is for storing various types of data to support at this
The operation of electronic equipment 1000, these data for example may include any using journey for what is operated on the electronic equipment 1000
The instruction of sequence or method and the relevant data of application program, such as contact data, the message of transmitting-receiving, picture, audio, view
Frequency etc..The memory 1002 can be real by any kind of volatibility or non-volatile memory device or their combination
It is existing, such as static random access memory (Static Random Access Memory, abbreviation SRAM), electric erasable can be compiled
Journey read-only memory (Electrically Erasable Programmable Read-Only Memory, abbreviation EEPROM),
Erasable Programmable Read Only Memory EPROM (Erasable Programmable Read-Only Memory, abbreviation EPROM), can compile
Journey read-only memory (Programmable Read-Only Memory, abbreviation PROM), read-only memory (Read-Only
Memory, abbreviation ROM), magnetic memory, flash memory, disk or CD.Multimedia component 1003 may include screen and sound
Frequency component.Wherein screen for example can be touch screen, and audio component is used for output and/or input audio signal.For example, audio group
Part may include a microphone, and microphone is for receiving external audio signal.The received audio signal can be further
It is stored in memory 1002 or is sent by communication component 1005.Audio component further includes at least one loudspeaker, for exporting
Audio signal.I/O interface 1004 provides interface between processor 1001 and other interface modules, other above-mentioned interface modules can
To be keyboard, mouse, button etc..These buttons can be virtual push button or entity button.Communication component 1005 is used for the electricity
Wired or wireless communication is carried out between sub- equipment 1000 and other equipment.Wireless communication, such as Wi-Fi, bluetooth, near-field communication
(Near Field Communication, abbreviation NFC), 2G, 3G or 4G or they one or more of combination, therefore
The corresponding communication component 1005 may include: Wi-Fi module, bluetooth module, NFC module.
In one exemplary embodiment, electronic equipment 1000 can be by one or more application specific integrated circuit
(Application Specific Integrated Circuit, abbreviation ASIC), digital signal processor (Digital
Signal Processor, abbreviation DSP), digital signal processing appts (Digital Signal Processing Device,
Abbreviation DSPD), programmable logic device (Programmable Logic Device, abbreviation PLD), field programmable gate array
(Field Programmable Gate Array, abbreviation FPGA), controller, microcontroller, microprocessor or other electronics member
Part is realized, for executing the above-mentioned method for constructing intersection road network.
In a further exemplary embodiment, a kind of computer readable storage medium including program instruction is additionally provided, it should
The step of method of above-mentioned building intersection road network is realized when program instruction is executed by processor.For example, the computer
Readable storage medium storing program for executing can be the above-mentioned memory 1002 including program instruction, and above procedure instruction can be by electronic equipment 1000
The method that processor 1001 is executed to complete above-mentioned building intersection road network.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (11)
1. a kind of method for constructing intersection road network characterized by comprising
Obtain the finger for being oriented to arrow of the lane line information of road connecting with intersection and the road close to the intersection
To information；
Determine that the road intersects with described according to the directional information of the guiding arrow of the road for each road
Mouthful connection relationship, it is driving into road or being driven out to road for the intersection that the connection relationship, which is used to characterize the road,；
According to the directional information of each lane line information driven into road and guiding arrow and each described it is driven out to
The directional information of lane line information in road and guiding arrow, determine the intersection the lane driven into road and the friendship
Pairing relationship between the lane of prong being driven out in road.
2. the method according to claim 1, wherein described be directed to each road, according to the institute of the road
The directional information for stating guiding arrow, determines the connection relationship of the road Yu the intersection, comprising:
For each road, if the guiding arrow of the road is directed toward close to the direction of the intersection, it is determined that should
Road drives into road for the intersection；
If the guiding arrow of the road is directed toward the direction far from the intersection, it is determined that the road is the intersection
It is driven out to road.
3. the method according to claim 1, wherein the lane line information of each road includes the road
The location information of reference line, the lane line quantity for being included and each lane, each road leading close to the intersection
It include that guiding arrow corresponding to each lane of the road is directed toward to the directional information of arrow；
It the directional information according to each lane line information driven into road and guiding arrow and each described sails
The directional information of lane line information in road and guiding arrow out, determines the lane driven into road and the institute of the intersection
State the pairing relationship between the lane of intersection being driven out in road, comprising:
For it is each it is described drive into road, driven between the reference line of road and each reference line for being driven out to road according to this
Angle, determine and each described be driven out to road relative to the driving direction for driving into road；
The lane driven into road is classified according to corresponding guiding arrow direction, obtains each vehicle for driving into road
The quantity of guiding type belonging to road and each guiding style lanes；
Drive into each lane in road for this, according to goal orientation type belonging to the lane and it is each described in be driven out to
The driving direction of road is driven on road relative to this, from being driven out in road for the intersection, selects target and is driven out to road, and
It is driven out to according to the location information in the lane, quantity, the target of driving into the goal orientation style lanes of road
The lane quantity and the target of road are driven out to the location information in each lane of road, determine the target be driven out in road with
The target lane of lane pairing, and connection is established into the lane and the target lane.
4. according to the method described in claim 3, it is characterized in that, each lane at least belongs in following guiding type
One: straight trip turns left, turns right.
5. according to the method described in claim 4, it is characterized in that, described drive into each lane in road for this, according to
Goal orientation type belonging to the lane and it is each it is described be driven out to the driving direction that road drives into road relative to this, from described
Intersection is driven out in road, is selected target and is driven out to road, comprising:
If the goal orientation type includes turning left, from being driven out in road for the intersection, selection is driven into relative to this
The driving direction on road be turn left be driven out to road, be driven out to road as the target；
The location information according to the lane, this drive into quantity, the target of the goal orientation style lanes of road
The lane quantity and the target that are driven out to road are driven out to the location information in each lane of road, determine that the target is driven out to road
In target lane with lane pairing, and connection is established into the lane and the target lane, comprising:
The leftmost side lane line for being directed toward the intersection direction using the edge for driving into road is sailed as the first benchmark with the target
The leftmost side lane line along the separate intersection direction of road is as the second benchmark out, if the lane is close to described first
The target is then driven out to the n-th lane in road close to second benchmark, as the mesh by the n-th lane of benchmark
Mark lane, wherein N is the integer more than or equal to 1.
6. according to the method described in claim 4, it is characterized in that, described drive into each lane in road for this, according to
Goal orientation type belonging to the lane and it is each it is described be driven out to the driving direction that road drives into road relative to this, from described
Intersection is driven out in road, is selected target and is driven out to road, comprising:
If the goal orientation type includes turning right, from being driven out in road for the intersection, selection is driven into relative to this
The driving direction on road be turn right be driven out to road, be driven out to road as the target；
The location information according to the lane, this drive into quantity, the target of the goal orientation style lanes of road
The lane quantity and the target that are driven out to road are driven out to the location information in each lane of road, determine that the target is driven out to road
In target lane with lane pairing, and connection is established into the lane and the target lane, comprising:
The rightmost side lane line for being directed toward the intersection direction using the edge for driving into road is sailed as the first benchmark with the target
The rightmost side lane line along the separate intersection direction of road is as the second benchmark out, if the lane is close to described first
The target is then driven out to the n-th lane in road close to second benchmark, as the mesh by the n-th lane of benchmark
Mark lane, wherein N is the integer more than or equal to 1.
7. according to the method described in claim 4, it is characterized in that, described drive into each lane in road for this, according to
Goal orientation type belonging to the lane and it is each it is described be driven out to the driving direction that road drives into road relative to this, from described
Intersection is driven out in road, is selected target and is driven out to road, comprising:
If the goal orientation type includes straight trip, from being driven out in road for the intersection, selection is driven into relative to this
The driving direction on road be straight trip be driven out to road, be driven out to road as the target；
The location information according to the lane, this drive into quantity, the target of the goal orientation style lanes of road
The lane quantity and the target that are driven out to road are driven out to the location information in each lane of road, determine that the target is driven out to road
In target lane with lane pairing, and connection is established into the lane and the target lane, comprising:
In the lane quantity in varying numbers for being driven out to road in the target of the goal orientation style lanes for driving into road
In the case where, using the leftmost side lane line in the edge direction intersection direction for driving into road as the first benchmark, with described
Target is driven out to the leftmost side lane line along the separate intersection direction of road as the second benchmark；
It is equal to the lane quantity that the target is driven out to road in the quantity of the goal orientation style lanes for driving into road
In the case of, if the lane be close to first benchmark n-th lane, by the target be driven out in road close to this second
The n-th lane of benchmark, as the target lane；
In the lane quantity in varying numbers for being driven out to road in the target of the goal orientation style lanes for driving into road
In the case where, if the lane be close to the n-th lane of first benchmark, by the target be driven out in road close to this
One or more lanes of the N-2 of two benchmark into N+2, as the target lane；
Wherein, N is the integer more than or equal to 1.
8. the method according to any one of claim 3 to 7, which is characterized in that it is described for it is each it is described drive into road,
The angle between the reference line of road and each reference line for being driven out to road is driven into according to this, determines each described be driven out to
Road is relative to the driving direction for driving into road, comprising:
For it is each it is described drive into road and it is any it is described be driven out to road, if the reference line for driving into road is driven out to road with this
Angle between reference line is located in the first preset range, it is determined that this is driven out to the driving direction that road drives into road relative to this
For straight trip；
If this drive into road reference line and this be driven out to the angle between the reference line of road and be located in the second preset range, really
Fixed this is driven out to road and drives into the driving direction of road relative to this to turn right, wherein the lower limit value of second preset range is big
In the upper limit value of first preset range；
If this drive into road reference line and this be driven out to the angle between the reference line of road and be located in third preset range, really
Fixed this is driven out to road and drives into the driving direction of road relative to this to turn left, wherein the upper limit value of second preset range is small
In the lower limit value of first preset range.
9. a kind of device for constructing intersection road network characterized by comprising
Module is obtained, the lane line information and the road for obtaining the road connecting with intersection are close to the intersection
It is oriented to the directional information of arrow；
First determining module, according to the directional information of the guiding arrow of the road, is determined for being directed to each road
The connection relationship of the road and the intersection, it is that road is driven into the intersection that the connection relationship, which is used to characterize the road,
Or it is driven out to road；
Second determining module, for according to each lane line information driven into road and guiding arrow directional information,
And the directional information of each the lane line information being driven out in road and guiding arrow, determine driving into for the intersection
Lane in road and the pairing relationship between the lane of the intersection being driven out in road.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of any one of claims 1 to 8 the method is realized when execution.
11. a kind of electronic equipment characterized by comprising
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize any one of claims 1 to 8 institute
The step of stating method.
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