CN111765893A

CN111765893A - Electronic map road hanging method and equipment

Info

Publication number: CN111765893A
Application number: CN202010598784.8A
Authority: CN
Inventors: 韩明靖
Original assignee: Navinfo Co Ltd
Current assignee: Navinfo Co Ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2020-10-13
Anticipated expiration: 2040-06-28
Also published as: CN111765893B

Abstract

The invention provides a method and equipment for hanging electronic map roads, wherein the method comprises the following steps: acquiring a to-be-processed intersection and corresponding intersection reference lines thereof according to an acquired road hanging request, wherein the intersection reference lines comprise an entering intersection reference line and an exiting intersection reference line; the method comprises the steps of determining the communication relation between an entering intersection reference line and an exiting intersection reference line for each entering intersection reference line, and hanging an entering road corresponding to the entering intersection reference line in the intersection and an exiting road corresponding to the entering intersection reference line in the intersection according to the communication relation, so that automatic hanging of the roads in the intersection is realized, the road hanging efficiency is high, the accuracy is high, and the problems of low road hanging efficiency and high road hanging error rate caused by manual hanging of the roads in the intersection are solved.

Description

Electronic map road hanging method and equipment

Technical Field

The embodiment of the invention relates to the technical field of maps, in particular to a method and equipment for hanging electronic map roads.

Background

The intersection is a plane intersection, that is, a part where two or more roads intersect on the same plane, and there is a conflict between traffic flows. When a high-precision map is produced, it is necessary to hitch roads at an intersection and connect the roads at the intersection.

In the prior art, when a road in an intersection is hooked in a high-precision map, related personnel generally determine an entering intersection road and an exiting intersection road in the intersection, then determine the entering intersection road and the exiting intersection road with hooking relations by looking up related hooking rules, and hook the entering intersection road and the exiting intersection road with hooking relations, namely hook the entering intersection road and the exiting intersection road with hooking relations.

However, the inventors found that at least the following problems exist in the prior art: the road in the intersection is hung in a manual mode, so that the road hanging efficiency is low, and when the hanging relation between the road entering the intersection and the road exiting the intersection is determined, errors are easy to occur, and the road hanging error rate is high.

Disclosure of Invention

The embodiment of the invention provides a method and equipment for hooking roads on an electronic map, which are used for solving the technical problems of low road hooking efficiency and high road hooking error rate caused by manually hooking the roads in an intersection in the prior art.

In a first aspect, an embodiment of the present invention provides an electronic map road hitching method, including:

acquiring a to-be-processed intersection and corresponding intersection reference lines thereof according to the acquired road hanging request, wherein the intersection reference lines comprise an entering intersection reference line and an exiting intersection reference line;

and determining the communication relation between the entering intersection reference line and the exiting intersection reference line for each entering intersection reference line, and hanging an entering road corresponding to the entering intersection reference line in the intersection and an exiting road corresponding to the entering intersection reference line in the intersection according to the communication relation.

In a second aspect, an embodiment of the present invention provides an electronic map road hitching apparatus, including:

the information acquisition module is used for acquiring the intersection to be processed and the intersection reference lines corresponding to the intersection to be processed according to the acquired road hanging request, wherein the intersection reference lines comprise an entering intersection reference line and an exiting intersection reference line;

and the processing module is used for determining the communication relation between the intersection entering reference line and the intersection exiting reference line for each intersection entering reference line, and hooking an entering road corresponding to the intersection entering reference line in the intersection and an exiting road corresponding to the intersection entering reference line in the intersection according to the communication relation.

In a third aspect, an embodiment of the present invention provides an electronic device, including: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executes computer-executable instructions stored by the memory, causing the at least one processor to perform the electronic map road hooking method of any of the first aspects.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer-executable instructions are stored, and when a processor executes the computer-executable instructions, the electronic map road hitching method according to the first aspect and various possible designs of the first aspect is implemented.

The method determines the intersection to be processed and the corresponding entering intersection reference line and exiting intersection reference line of the intersection according to the acquired road hanging request, and determines the communication relation between the entering intersection reference line and the exiting intersection reference line for each entering intersection reference line, wherein the communication relation indicates how the entering road corresponding to the entering intersection reference line and the exiting road corresponding to the exiting intersection reference line are hung, and then the entering road and the exiting road are accurately hung according to the communication relation, so that the automatic hanging of the road in the intersection is realized, the road hanging efficiency is high, the accuracy is high, and the problems of low road hanging efficiency and high road hanging error rate caused by manually hanging the road in the intersection can be avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of an intersection provided by an embodiment of the present invention;

fig. 2 is a first schematic flow chart of a method for hooking an electronic map road according to an embodiment of the present invention;

fig. 3 is a second schematic flow chart illustrating a method for hooking an electronic map road according to an embodiment of the present invention; (ii) a

FIG. 4 is a schematic diagram of an extended line of an exit intersection reference line according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an included angle between an extension line of an entering intersection reference line and an extension line of an exiting intersection reference line according to an embodiment of the present invention;

fig. 6 is a third schematic flow chart of the electronic map road hitching method according to the embodiment of the present invention;

FIG. 7 is a schematic view of the center line of the access lane and the guiding arrows provided by the embodiment of the present invention;

FIG. 8 is a diagram illustrating a buffer according to an embodiment of the present invention;

fig. 9 is a first schematic diagram of a center line of a left-turn entering lane and a center line of a left-turn exiting lane corresponding to the center line of the left-turn entering lane according to the embodiment of the present invention;

fig. 10 is a second schematic diagram of a center line of a left-turn entry lane and a corresponding center line of a left-turn exit lane according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of determining a steering exit lane centerline according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of curve fitting provided by an embodiment of the present invention;

fig. 13 is a fourth schematic flow chart illustrating a method for hooking an electronic map road according to an embodiment of the present invention;

FIG. 14 is a schematic view of a hitched road according to an embodiment of the present invention;

FIG. 15 is a schematic view of a hitched lane boundary according to an embodiment of the present invention;

fig. 16 is a schematic structural diagram of an electronic map road hitch apparatus provided in an embodiment of the present invention;

fig. 17 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the prior art, when a road in an intersection is hooked, for example, when the roads A, B, C and D in fig. 1 are hooked, a person involved in the hooking process generally determines an entering intersection road and an exiting intersection road in the intersection, then determines the entering intersection road and the exiting intersection road in a hooking relationship by referring to a relevant hooking rule, and hooks the entering intersection road and the exiting intersection road in the hooking relationship, that is, hooks the entering intersection road and the exiting intersection road in the hooking relationship. The road in the intersection is hung in a manual mode, so that the road hanging efficiency is low, and when the hanging relation between the road entering the intersection and the road exiting the intersection is determined, errors are easy to occur, and the road hanging error rate is high.

Therefore, aiming at the problems, the technical idea of the invention is to obtain an entering intersection reference line and an exiting intersection reference line corresponding to an intersection, determine the communication direction between the entering intersection reference line and the exiting intersection reference line for each entering intersection reference line, determine the lane direction of the entering lane center line corresponding to the entering intersection reference line, determine the exiting lane center line corresponding to the entering lane center line according to the lane direction of the entering lane center line and the communication direction between the entering intersection reference line and the exiting intersection reference line corresponding to the entering intersection reference line, and then draw a hitching curve between the entering lane center line and the exiting lane center line corresponding to the entering lane center line so as to realize the automatic hitching of the entering lane center line and the exiting lane center line.

The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Fig. 2 is a first flowchart of a method for hooking an electronic map to a road according to an embodiment of the present invention, where an execution main body in the embodiment may be a computer or other electronic device with data processing capability, as shown in fig. 2, the method includes:

s201, acquiring the intersection to be processed and corresponding intersection reference lines thereof according to the acquired road hanging request, wherein the intersection reference lines comprise an entering intersection reference line and an exiting intersection reference line.

In this embodiment, after acquiring the road hooking request, it is indicated that hooking processing needs to be performed on the road in the high-precision map, and then the intersection needing hooking processing in the high-precision map is acquired. Because the reference line is needed to be used for hanging the road in the intersection, the intersection reference line corresponding to the intersection is also needed to be obtained, and the intersection reference line comprises an entering intersection reference line and an exiting intersection reference line.

The intersection reference line is a reference line corresponding to an entry road in the intersection, and the entry road is a road with a direction of a road intersection part in the intersection, for example, both the road a and the road B in fig. 1 are entry roads.

The exit intersection reference line is a reference line corresponding to an exit intersection road in the intersection, and the exit road is a road with a direction away from a road intersection part in the intersection, for example, both the road C and the road D in fig. 1 are exit roads.

Optionally, the road hooking request includes an identifier of the intersection to be processed, and the corresponding intersection to be processed is directly determined according to the identifier.

The reference line is also called LGRL or link, and the geometric expression of the road surface of the high-precision map is expressed as a three-dimensional broken line, which is the main basis for path calculation.

S202, determining the communication relation between the intersection entering reference line and the intersection exiting reference line for each intersection entering reference line, and hanging an entering road corresponding to the intersection entering reference line in the intersection and an exiting road corresponding to the intersection entering reference line in the intersection according to the communication relation.

In this embodiment, for each entering intersection reference line, a communication relationship between the entering intersection reference line and the exiting intersection reference line is determined, that is, a communication relationship between an entering road corresponding to the entering intersection reference line and an exiting road corresponding to the exiting intersection reference line is determined, where the communication relationship indicates how to hitch the entering road and the exiting road, and the entering road and the exiting road are automatically hitched according to the communication relationship between the entering road and the exiting road.

Optionally, the communication relation refers to a communication direction, which represents a road communication direction.

Specifically, the high-precision map is a map composed of elements based on a lane-level topology, so that both the entry road and the exit road are composed of at least one lane, for convenience of description and understanding, the lane in the entry road is taken as the entry lane, that is, the entry road includes at least one entry lane, and the lane in the exit road is taken as the exit lane, that is, the exit road includes at least one exit lane.

In addition, when automatically hooking the entering road and the exiting road, the entering lane of the entering road and the exiting lane of the exiting road are actually hooked.

From the above description, it can be seen that the intersection to be processed and the entering intersection reference line and the exiting intersection reference line corresponding to the intersection are determined according to the acquired road hooking request, and for each entering intersection reference line, the communication relationship between the entering intersection reference line and the exiting intersection reference line is determined, which indicates how the entering road corresponding to the entering intersection reference line and the exiting road corresponding to the exiting intersection reference line are hooked, and then the entering road and the exiting road are hooked according to the communication relationship, so that the automatic hooking of the road in the intersection is realized, and the problems of low road hooking efficiency and high road hooking error rate caused by manually hooking the road in the intersection are avoided.

In addition, when determining the communication direction between the entering intersection reference line and the exiting intersection reference line, the communication direction is determined according to the included angle between the entering intersection reference line and the exiting intersection reference line, and the following describes in detail the process of determining the communication direction according to the included angle between the entering intersection reference line and the exiting intersection reference line with reference to a specific embodiment.

Fig. 3 is a third schematic flow chart of the electronic map road hitching method provided in the embodiment of the present invention, and this embodiment describes in detail a specific implementation process of screening out a target road route matching a road section reference line from road lines of a standard map on the basis of the embodiment of fig. 2, and as shown in fig. 3, the method includes:

s301, acquiring the intersection to be processed and corresponding intersection reference lines thereof according to the acquired road hanging request, wherein the intersection reference lines comprise an entering intersection reference line and an exiting intersection reference line.

In the present embodiment, in the high-precision map data, the road geometry (including the reference line, the center line, and the lane boundary) entering the intersection and exiting the intersection is already created, and at this time, the intersection needs to be hooked.

When the intersection is hooked, the intersection entering reference line and the intersection exiting reference line which need to be hooked automatically need to be selected manually, namely, a specific road is selected, and the intersection to be processed is obtained.

Optionally, when performing frame selection, the frame selection may be performed by selecting a polygon.

In addition, after determining the intersection to be processed, it is necessary to determine whether the intersection meets the following non-hooking support conditions: the end point of the crossing reference line and the starting point of the crossing reference line are in hanging connection; the passing direction of the crossing reference line entering or exiting is bidirectional; the intersection is a non-standard intersection; a non-standard lane exists in the entering lane or the exiting lane; vehicle passing existence time domain information entering a lane or exiting the lane; the number of the crossing reference lines is not the first preset number.

If at least one condition that the intersection does not support hooking is met, determining that the intersection to be processed cannot be automatically hooked, and manually hooking is needed, and if all conditions that do not support hooking are not met, determining that the intersection to be processed can be automatically hooked.

Specifically, the hooking relation exists between the end point of the intersection entering reference line and the starting point of the intersection exiting reference line, which indicates that the intersection entering reference line and the intersection exiting reference line are hooked, that is, the intersection is hooked, and hooking is not required to be repeated.

Specifically, the non-standard intersection comprises at least one of a major-minor road intersection, a major intersection, and a roundabout intersection, and the non-standard lane comprises at least one of a variable lane, a bus lane, an HOV lane, and a tidal lane.

Specifically, the first preset number is 3 or 4.

S302, for each crossing reference line, determining an included angle between the crossing reference line and the crossing exit reference line, and determining a communication direction between the crossing reference line and the crossing exit reference line according to the included angle, wherein the communication direction comprises left turn communication, straight going communication, right turn communication and opposite side communication.

In this embodiment, for each entering intersection reference line, an angle between the entering intersection reference line and each exiting intersection reference line is determined, and a communication direction between the entering intersection reference line and each exiting intersection reference line is determined according to the angle between the entering intersection reference line and each exiting intersection reference line.

Specifically, when a difference between an included angle between an entering intersection reference line and a certain exiting intersection reference line and a preset left-turn included angle value (for example, the preset left-turn included angle value is-90 °) is within a preset range, it indicates that the included angle is close to the preset left-turn included angle value, i.e., above or below the preset left-turn included angle value, and then it is determined that a communication direction between the entering intersection reference line and the exiting intersection reference line is left-turn communication, i.e., it is determined that the exiting intersection reference line is the left-turn direction of the entering intersection reference line.

When the difference between the included angle between an entering intersection reference line and a certain exiting intersection reference line and a preset right-turn included angle value (for example, the preset right-turn included angle value is 90 °) is within a preset range, the included angle is close to the preset right-turn included angle value, namely, above or below the preset right-turn included angle value, the communication direction between the entering intersection reference line and the exiting intersection reference line is determined to be right-turn communication, namely, the exiting intersection reference line is determined to be the right-turn direction of the entering intersection reference line.

When the difference between the included angle between an entering intersection reference line and a certain exiting intersection reference line and a preset straight included angle value (for example, the preset straight included angle value is 0 °) is within a preset range, the included angle is close to the preset straight included angle value, namely, above or below the preset straight included angle value, the communication direction between the entering intersection reference line and the exiting intersection reference line is determined to be straight communication, namely, the exiting intersection reference line is determined to be the straight direction of the entering intersection reference line.

When the difference between the included angle between an entering intersection reference line and a certain exiting intersection reference line and a preset opposite-side included angle value (for example, the preset opposite-side included angle value is 180 °) is within a preset range, the included angle is close to the preset opposite-side included angle value, namely, above or below the preset opposite-side included angle value, the communication direction between the entering intersection reference line and the exiting intersection reference line is determined to be opposite-side communication, namely, the exiting intersection reference line is determined to be the opposite-side road direction of the entering intersection reference line, namely, an exiting road corresponding to the exiting intersection reference line and an entering road corresponding to the entering intersection reference line are determined to be on the same side, and the exiting intersection reference line and the entering intersection reference line are not required to be hooked. Wherein the predetermined pair of side pinch values is 180 °.

Specifically, when the included angle between the entering intersection reference line and the exiting intersection reference line is determined, the included angle is determined according to the extension line of the entering intersection reference line and the extension line of the exiting intersection reference line, that is, the entering intersection reference line is extended according to the passing direction of the entering intersection reference line, so that the extension line of the entering intersection reference line is obtained. And according to the direction opposite to the passing direction of the exit intersection reference line, extending the exit intersection reference line to obtain an extension line of the exit intersection reference line. And acquiring an included angle between an extension line of the entering intersection reference line and an extension line of the exiting intersection reference line to obtain an included angle between the entering intersection reference line and the exiting intersection reference line.

In this embodiment, according to the passing direction of the entering intersection reference line, i.e. the passing direction of the road corresponding to the entering intersection reference line, the entering intersection reference line is extended to obtain the extension line of the entering intersection reference line, and according to the direction opposite to the passing direction of the exiting intersection reference line, i.e. the direction opposite to the passing direction of the road corresponding to the exiting intersection reference line, the exiting intersection reference line is extended to obtain the extension line of the exiting intersection reference line, the extension line of the entering intersection reference line intersects with the exiting intersection reference line, the included angle between the intersecting extension line of the entering intersection reference line and the exiting intersection reference line is determined, so as to obtain the included angle between the entering intersection reference line and the exiting intersection reference line

Taking a specific application scenario as an example, referring to fig. 4, LGRL1, LGRL2, LGRL3, and LGRL4 are entry intersection reference lines, LGRL '1, LGRL' 2, LGRL '3, and LGRL' 4 are exit intersection reference lines, an included angle between LGRL1 and each exit intersection reference line is determined, and an extension line of LGRL '1, an extension line of LGRL' 2, an extension line of LGRL '3, and an extension line of LGRL' 4 are obtained by extending each exit intersection reference line according to a reverse direction of a passing direction of each exit intersection reference line. Referring to fig. 5, LGRL1 is extended in the direction of passage of LGRL1, resulting in an extension of LGRL 1. An included angle between an extension line of the LGRL1 and an extension line of the LGRL '4 is α 1, an included angle between an extension line of the LGRL1 and an extension line of the LGRL' 2 is α 2, an included angle between an extension line of the LGRL1 and an extension line of the LGRL '3 is α 3, an included angle between an extension line of the LGRL1 and an extension line of the LGRL' 1 is α 4, the LGRL '4 is determined to be a right-turn direction of the LGRL1 because α 1 is similar to a preset right-turn pinch angle value, the LGRL' 2 is determined to be a left-turn direction of the LGRL1 because α 2 is similar to a preset left-turn pinch angle value, the LGRL '3 is determined to be a straight direction of the LGRL1 because α 3 is similar to a preset straight pinch angle value, and the LGRL' 1 is determined to be an opposite-side direction of the LGRL1 because α 4 is similar to a preset straight pinch angle value.

S303, hanging an entering road corresponding to the entering intersection reference line in the intersection and an exiting road corresponding to the entering intersection reference line in the intersection according to the communication direction.

In this embodiment, according to the direction of communication between the entering intersection reference line and the exiting intersection reference line, an entering road corresponding to the entering intersection reference line in the intersection and an exiting road corresponding to the entering intersection reference line in the intersection are hooked.

In this embodiment, the communication direction between the intersection entering reference line and the intersection exiting reference line is determined by determining the included angle between the intersection entering reference line and the intersection exiting reference line, so that the relevant roads can be automatically hooked according to the communication direction.

Specifically, when an entering lane in a road is hooked with an exiting lane in an exiting road, a lane center line of the entering lane is actually hooked with a lane center line of the exiting lane, and a detailed description is given below of a process of hooking the lane center line of the entering lane with the lane center line of the exiting lane in combination with a specific embodiment.

Fig. 6 is a third schematic flow chart of an electronic map road hitching method provided in an embodiment of the present invention, which is based on the embodiment of fig. 2, and this embodiment describes in detail a specific implementation process of hitching a lane center line of an entering lane and a lane center line of an exiting lane, and as shown in fig. 6, the method includes:

s601, acquiring the intersection to be processed and corresponding intersection reference lines thereof according to the acquired road hanging request, wherein the intersection reference lines comprise an entering intersection reference line and an exiting intersection reference line.

The implementation process of S601 in this embodiment is similar to the implementation process of S202 in the embodiment of fig. 2, and is not described again here.

S602, determining the communication relation between the crossing reference line and the crossing exit reference line for each crossing reference line.

The process of determining the communication relationship between the entering intersection reference line and the exiting intersection reference line in this embodiment is similar to the process of determining the communication relationship in the above embodiment, and is not described herein again.

S603, obtaining the lane center line of each entering lane, obtaining the lane center line of each exiting lane, and obtaining the lane center line of each exiting lane.

In this embodiment, for each intersection entering reference line, a lane included in an entry road corresponding to the intersection entering reference line is obtained, an entry lane corresponding to the intersection entering reference line is obtained, and a lane center line of the entry lane is used as an entry lane center line, so that an entry lane center line corresponding to the intersection entering reference line can be obtained.

And for each exit intersection reference line, acquiring a lane included in an exit road corresponding to the exit intersection reference line, acquiring an exit lane corresponding to the exit intersection reference line, and taking the lane center line of the exit lane as the exit lane center line, thereby acquiring the exit lane center line corresponding to the exit intersection reference line.

Optionally, when the length of the center line of the entering lane is short, for example, the range of manual frame selection is small, the center line of the entering lane is extended according to the opposite direction of the passing direction of the intersection reference line corresponding to the center line of the entering lane, so that the extended length of the center line of the entering lane meets the preset length, for example, is equal to 10 meters.

S604, determining the lane direction of each entering lane central line, and determining the exiting lane central line corresponding to the entering lane central line according to the lane direction and the communication relation.

In this embodiment, for each entering lane center line corresponding to one entering intersection reference line, the lane direction of the entering lane center line is determined, where the lane direction represents the passing direction represented by the entering lane center line, and then the exiting lane center line corresponding to the entering lane center line is determined according to the lane direction of the entering lane center line, that is, the exiting lane center line having a hitching relationship with the entering lane center line is determined.

Specifically, when determining the lane direction into the center line of the lane, the determination may be made in several ways.

In the first way, a guide arrow intersecting the center line of the access lane is acquired. Acquiring the direction of a guide arrow, and obtaining the lane direction entering the lane center line according to the direction of the guide arrow, namely determining a target guide arrow from the guide arrow, wherein the distance between the target guide arrow and the end point of the lane center line is less than or equal to a preset distance difference; and acquiring the direction of a target guide arrow to obtain the lane direction entering the center line of the lane.

In this embodiment, a guidance arrow indicating a direction is generally present on the road surface, and therefore, a guidance arrow intersecting with the center line of the entering lane may be acquired to determine the lane direction of the center line of the entering lane, and since the guidance arrow on the lane may change in a direction parallel to the center line of the lane, for example, as shown in fig. 7, from an arrow indicating a straight direction to an arrow indicating a left turn direction, after the guidance arrow intersecting with the center line of the entering lane is acquired, a target guidance arrow is determined from the acquired guidance arrows, and the distance from the end point of the center line of the entering lane to the target guidance arrow is less than or equal to a preset distance difference, that is, a guidance arrow closer to the intersection of roads at the intersection is acquired.

When the number of target guide arrows is equal to 1, the direction of the target guide arrow, i.e., the direction indicated by the target guide arrow, is taken as the lane direction of the center line of the entering lane, the direction of the guide arrow intersecting lane2 as shown in fig. 8 is the lane direction of the lane2, and the direction of the guide arrow intersecting lane3 is the lane direction of the lane 3. When the number of the target guide arrows is larger than 1, the direction of the target guide arrow with the minimum distance from the end point of the center line of the entering lane, namely the target guide arrow traced back first is taken as the lane direction of the center line of the entering lane, so that the lane direction is accurately acquired.

When it is determined that there is no guide arrow intersecting the center line of the entering lane, a buffer is drawn in a direction perpendicular to the center line of the entering lane, starting from the end point of the center line of the entering lane, and a target guide arrow is acquired from the buffer, for example, as shown in fig. 8, a buffer of 3 meters is made in a direction perpendicular to the traveling direction of lane1 from the end point of lane1 as a starting point within 10 meters in the opposite direction to the traveling direction, and a target guide arrow is acquired from the buffer.

In the second mode, a lane number corresponding to a lane center line is obtained. And obtaining the lane direction entering the lane center line according to the lane serial number corresponding to the lane center line based on a preset lane direction rule.

In this embodiment, for a lane serial number corresponding to each entering lane central line corresponding to an entering intersection reference line, the lane direction of the entering lane central line is determined according to a preset lane direction rule and the lane serial number corresponding to the entering lane central line, so as to realize quick acquisition of the lane direction.

Optionally, the preset lane direction rule is that the lane direction of the lane center line with the smallest lane number is the left-turn direction, the lane direction of the lane center line with the largest lane number is the right-turn direction, and the lane directions of the remaining lane center lines are the straight directions. For example, there are 4 lanes corresponding to the intersection reference line, that is, there are 4 entering lane center lines, which are entering lane center line 1, entering lane center line 2, entering lane center line 3 and entering lane center line 4, respectively. The lane number of the entering lane center line 1 is 1, the lane number of the entering lane center line 2 is 2, the lane number of the entering lane center line 3 is 3, and the lane number of the entering lane center line 4 is 4, then the lane direction of the entering lane center line 1 is determined as a left-turn direction, the lane direction of the entering lane center line 4 is determined as a right-turn direction, and the lane directions of the entering

lane center lines

2 and 3 are determined as a straight direction.

In the case of specifying the lane direction, the lane direction may be specified in any one of the first and second manners, or the lane direction may be specified in the second manner when the lane direction is unsuccessfully specified in the first manner.

In addition, after the lane direction entering the center line of the lane is determined, rendering display can be carried out on the lane direction, so that a worker can confirm the lane direction according to the actual situation, the lane direction can be changed when the lane direction is confirmed to be wrong, and the changed lane direction is rendered in real time, so that the correctness of the lane direction is ensured.

Optionally, determining a lane exit center line corresponding to the lane entering center line according to the lane direction and the communication relationship, including:

and acquiring a center line of a steering entering lane in the center line of the entering lane, wherein the center line of the steering entering lane is a center line of a left-turn entering lane or a center line of a right-turn entering lane, the lane direction of the center line of the left-turn entering lane is a left-turn direction, and the lane direction of the center line of the right-turn entering lane is a right-turn direction.

And acquiring a first exit lane central line from the exit lane central line, wherein the communication direction between an exit intersection reference line corresponding to the first exit lane central line and an entry intersection reference line corresponding to the steering entry lane central line is left-turn communication or right-turn communication.

And determining a steering exit lane center line corresponding to the steering entry lane center line according to the first exit lane center line, wherein the steering exit lane center line comprises a left-turn exit lane center line or a right-turn exit lane center line.

In this embodiment, in order to realize quick and accurate hitching of the lane center line, the left-turn entering lane center line and the right-turn entering lane center line of all the entering lane center lines corresponding to the reference line entering the intersection may be hitched first.

The exit intersection reference line corresponding to the first exit lane center line refers to an exit intersection reference line corresponding to the exit lane corresponding to the first exit lane center line. The entry intersection reference line corresponding to the center line of the turning entry lane refers to an entry intersection reference line corresponding to an entry lane corresponding to the center line of the turning entry lane.

Specifically, when the center line of the turning entering lane is the center line of the left-turning entering lane, the communication direction between the exit intersection reference line corresponding to the first exit lane center line and the entering intersection reference line corresponding to the center line of the turning entering lane is left-turning communication, and then the center line of the turning exiting lane corresponding to the center line of the turning entering lane is determined according to the first exit lane center line, including:

and when the number of the center lines of the left-turn entering lane is equal to 1, acquiring lane serial numbers corresponding to the center lines of the first exiting lane, and acquiring the smallest lane serial number from the lane serial numbers.

And acquiring a first exit lane central line corresponding to the minimum lane serial number to obtain a left-turn exit lane central line.

When the number of the left-turn entering lane center lines is larger than 1, determining first exiting lane center lines with a first target number from the first exiting lane center lines according to lane sequence numbers corresponding to the first exiting lane center lines to obtain left-turn exiting lane center lines, wherein the first target number is the same as the number of the left-turn entering lane center lines.

In this embodiment, when the center line of the left-turn entering lane is hooked, the exit intersection reference line corresponding to the center line of the first exit lane is the left-turn direction of the entering intersection reference line corresponding to the center line of the left-turn entering lane.

Specifically, when the number of the center lines of the left-turn entering lane is equal to 1, the lane serial number corresponding to each first exiting lane center line is obtained, and the smallest lane serial number is obtained from the lane serial numbers, the first exit lane central line corresponding to the smallest lane serial number is used as the left-turn exit lane central line corresponding to the left-turn entrance lane central line, the center line of the left-turn entering lane is in a hanging relation with the center line of the left-turn exiting lane, for example, the lane number of the left turn entering lane center line in fig. 9 is n, there are two first exiting lane center lines, the lane numbers are m, m +1, then the center line of the left-turn entering lane is hooked with the center line of the first exiting lane with the lane serial number m, namely, the center line of the first exit lane with the lane serial number m is the center line of the left-turn exit lane corresponding to the center line of the left-turn entry lane.

Specifically, when the number of the left-turn entering lane center lines is greater than 1, determining first exiting lane center lines of a first target number from the first exiting lane center lines according to lane serial numbers corresponding to the first exiting lane center lines to obtain left-turn exiting lane center lines, wherein the first target number is the same as the number of the left-turn entering lane center lines.

When the number of the left-turn entering lane center lines is larger than 1, according to the sequence of the lane serial numbers corresponding to the first exit lane center lines from small to large, the first exit lane center lines with the first target number are determined from the first exit lane center lines to obtain left-turn exit lane center lines, namely the first exit lane center lines with the smaller lane serial number are determined from the first exit lane center lines to obtain left-turn target exit lane center lines. The first number of targets is the same as the number of left turn access lane centerlines. And then, according to the sequence of the lane serial numbers from small to large, the center lines of the left-turn target exit lanes and the center lines of the left-turn entry lanes are in one-to-one correspondence, and the center lines of the left-turn exit lanes corresponding to the center lines of the left-turn entry lanes are determined. For example, in fig. 10, the lane number of the left-turn exit lane center line corresponding to the left-turn entry lane center line having the lane number n is m, and the lane number of the left-turn exit lane center line corresponding to the left-turn entry lane center line having the lane number n +1 is m + 1.

Optionally, when the center line of the steering entering lane is the center line of the left-turning entering lane, determining, according to the first exit lane center line, a center line of the steering exit lane corresponding to the center line of the steering entering lane, including:

for each exit intersection reference line, counting a first number of exit lanes corresponding to the exit intersection reference line, and acquiring an entry intersection reference line corresponding to the exit intersection reference line to obtain an entry intersection reference line of the target. And counting the number of the turning entering lanes corresponding to all the target entering intersection reference lines respectively to obtain a second number. If the first quantity is different from the second quantity, obtaining a second target quantity according to the first quantity based on a preset lane distribution rule, and determining a first exit lane central line of the second target quantity from the first exit lane central lines to obtain a left-turn exit lane central line.

In this embodiment, when the first number and the second number are different, which indicates that the numbers of the entering lanes and the exiting lanes are not consistent, and an independent exiting lane cannot be allocated to each entering lane, the second target number is obtained according to the first number based on a preset lane allocation rule, and the center line of the first exiting lane of the second target number is determined from the center line of the first exiting lane, so as to obtain the center line of the left-turn exiting lane. For example, referring to fig. 11, when the intersection is a T-shaped intersection, there is no straight lane, and the first number and the second number are different, the center line of the left-turn exit lane is determined according to a preset lane allocation rule.

The turning entering lane corresponding to the target entering intersection reference line is an entering lane corresponding to a central line of the turning entering lane corresponding to the target entering intersection reference line, for example, both the left-turning lane and the right-turning lane in fig. 11 are turning entering lanes.

The preset lane allocation rule is a right-turn-priority left-turn rule, that is, when the first number is N and N is an odd number, the number of the center lines of the right-turn exit lane is (N +1)/2, the number of the center lines of the left-turn exit lane is (N-1)/2, and when N is an even number, both the center lines of the right-turn exit lane and the center lines of the left-turn exit lane are N/2, for example, in fig. 11, the first number is 3, the second number is 2, and the first number and the second number are different, the number of the center lines of the right-turn exit lane is 2, and the number of the center lines of the left-turn exit lane is 1.

When the center line of the turning entering lane is the center line of the right-turning entering lane, and correspondingly, the communication direction between the exit intersection reference line corresponding to the first exit lane center line and the entrance intersection reference line corresponding to the center line of the turning entering lane is right-turning communication, the center line of the turning exiting lane corresponding to the center line of the turning entering lane is determined according to the first exit lane center line, and the method comprises the following steps:

and when the number of the center lines of the right-turn entering lanes is equal to 1, acquiring lane serial numbers corresponding to the center lines of the first exiting lanes, and acquiring the maximum lane serial number from the lane serial numbers.

And acquiring a first exit lane center line corresponding to the maximum lane serial number to obtain a right-turn exit lane center line.

And when the number of the right-turn entering lane center lines is greater than 1, determining first exiting lane center lines of a second target number from the first exiting lane center lines according to the lane serial numbers corresponding to the first exiting lane center lines to obtain right-turn exiting lane center lines, wherein the second target number is the same as the number of the right-turn entering lane center lines.

In this embodiment, when the center line of the right-turn entering lane is hooked, the exit intersection reference line corresponding to the center line of the first exit lane is the right-turn direction of the entering intersection reference line corresponding to the center line of the right-turn entering lane.

The exit intersection reference line corresponding to the first exit lane center line is an exit intersection reference line corresponding to the exit lane corresponding to the first exit lane center line, and the entry intersection reference line corresponding to the turning entry lane center line is an entry intersection reference line corresponding to the entry lane corresponding to the turning entry lane center line.

Optionally, when the center line of the steering entering lane is the center line of the right-turning entering lane, determining, according to the first exit lane center line, a center line of the steering exit lane corresponding to the center line of the steering entering lane, including:

for each exit intersection reference line, counting a first number of exit lanes corresponding to the exit intersection reference line, and acquiring an entry intersection reference line corresponding to the exit intersection reference line to obtain an entry intersection reference line of the target. And counting the number of the turning entering lanes corresponding to all the target entering intersection reference lines respectively to obtain a second number. If the first quantity is different from the second quantity, obtaining a second target quantity according to the first quantity based on a preset lane distribution rule, and determining a first exit lane central line of the second target quantity from the first exit lane central lines to obtain a right-turn exit lane central line.

In this embodiment, the process of determining the center line of the right-turn exit lane is similar to the process of determining the center line of the left-turn exit lane, and therefore, the description thereof is omitted.

In addition, after determining the center line of the right-turn exit lane and the center line of the left-turn exit lane, the method continues to determine the center line of the straight exit lane corresponding to the center line of the straight entry lane, and the specific process comprises the following steps: and acquiring a straight entering lane center line in the entering lane center line, wherein the lane direction of the straight entering lane center line is the straight direction. And acquiring a second exit lane central line from the exit lane central line, wherein the communication direction between an exit intersection reference line corresponding to the second exit lane central line and an entry intersection reference line corresponding to the straight entry lane central line is straight communication. And determining the straight exit lane central line corresponding to the straight entry lane central line according to the second exit lane central line.

The exit intersection reference line corresponding to the second exit lane center line is an exit intersection reference line corresponding to the exit lane corresponding to the second exit lane center line, and the entry intersection reference line corresponding to the straight entry lane center line is an entry intersection reference line corresponding to the entry lane corresponding to the straight entry lane center line.

In this embodiment, a second exit lane center line is determined from all exit lane center lines, the exit intersection reference line corresponding to the second exit lane center line is the straight direction of the entry intersection reference line corresponding to the straight entry lane center line, and then the straight exit lane center line corresponding to the straight entry lane center line is determined from the second exit lane center line.

Specifically, when a straight exit lane center line corresponding to the straight entry lane center line is determined from the second exit lane center line, a third exit lane center line is determined from the second exit lane center line, wherein the third exit lane center line is the second exit lane center line of the second exit lane center line except for the left-turn exit lane center line and the right-turn exit lane center line. And then determining the straight exit lane central line corresponding to the straight entry lane central line from the third exit lane central lines according to a preset straight distribution rule for each straight entry lane central line.

In this embodiment, the determined left-turn exit lane center line and right-turn exit lane center line may exist in the second exit lane center line, so that the determined left-turn exit lane center line and right-turn exit lane center line may be first discarded from the second exit lane center line, and the remaining exit lane center lines may be used as third exit lane center lines, and then a straight exit lane center line corresponding to the straight entry lane center line may be selected from the third exit lane center lines according to the preset straight distribution rule.

The preset straight line distribution rule comprises an angle minimum rule. And for each straight entering lane central line, acquiring an included angle value between the straight entering lane central line and each hanging straight line, wherein the straight hanging central line is obtained by hanging the straight entering lane central line and a third exiting lane central line. And taking the center line of the third exit lane corresponding to the hitching straight center line with the minimum included angle value as the center line of the straight exit lane corresponding to the center line of the straight entering lane.

Optionally, the preset straight line distribution rule further includes a traffic flow balance rule. When the number of lanes is large, the lanes are hooked according to the minimum angle rule, which may result in large traffic pressure of a certain lane, for example, the difference between the number of center lines of an entering lane hooked by a center line of a certain exiting lane and the number of center lines of an entering lane hooked by a center line of an exiting lane adjacent to the center line of the exiting lane is large, for example, greater than 1, then a manual confirmation is prompted to ensure the accuracy of the hooking relationship in the intersection.

In this embodiment, after determining the center line of the steering exit lane corresponding to the center line of the steering entry lane, the two are hooked to obtain the center line of the hitched steering lane. In order to avoid vehicle collision, the center lines of the target hanging turning lanes cannot be crossed, the intersection entering reference lines corresponding to the center lines of the entering lanes corresponding to the center lines of the target hanging turning lanes are the same, and the intersection exiting reference lines corresponding to the center lines of the exiting lanes corresponding to the center lines of the target hanging turning lanes are the same. For example, the intersection comprises an entering road a and an exiting road B, the entering road a comprises an entering lane a1 and an entering lane a2, the exiting road comprises an exiting lane B1 and an exiting lane B2, the lane center line of the entering lane a1 is the center line 1 of a left-turn entering lane, the lane center line of the entering lane a2 is the center line 2 of a left-turn entering lane, the lane center line of the exiting lane a1 is the center line 1 of a left-turn exiting lane, the lane center line of the exiting lane a2 is the center line 2 of a left-turn entering lane, a hitching relation exists between the center line 1 of the left-turn entering lane and the center line 1 of the left-turn exiting lane, the hitching relation is carried out to obtain a hitching steering center line 1, similarly, the hitching steering center line 2 of the right-turn entering lane and the right-turn exiting lane is obtained to obtain a hitching steering center line 2, namely, the corresponding entering roads are the same, and the exit intersection reference lines corresponding to the center lines 1 and 2 of the hitching turning lane are the same, namely, the corresponding exit roads are the same, so that the center lines 1 and 2 of the hitching turning lane cannot be crossed.

In addition, after the straight exit lane center line corresponding to the straight entry lane center line is determined, the straight entry lane center line and the straight exit lane center line are hooked to obtain a hooked straight entry lane center line, in order to avoid vehicle collision, no intersection can exist between the target hooked straight entry lane center lines, the entry intersection reference lines corresponding to the entry lane center lines corresponding to the target hooked straight entry lane center lines are the same, and the exit intersection reference lines corresponding to the exit lane center lines corresponding to the target hooked straight entry lane center lines are the same.

In addition, the center lines of the hanging lanes (including the center line of the hanging steering lane and the center line of the hanging straight lane) corresponding to the center line of the same entering lane cannot be overlapped and crossed, namely, when one entering lane center line corresponds to the center lines of a plurality of hanging lanes, the center lines of the plurality of hanging lanes cannot be overlapped or crossed.

And S605, hanging the center line of the entering lane and the center line of the exiting lane corresponding to the center line of the entering lane.

In this embodiment, after determining the center line of the entering lane and the center line of the exiting lane, which have a hitching relationship, the center line of the entering lane and the center line of the exiting lane, which have a hitching relationship with each other, are hitched, that is, the center line of the entering lane and the center line of the exiting lane corresponding to the center line of the entering lane are hitched.

Specifically, the two center lines are hung, in fact, the end points of the two center lines are connected through a curve, namely, the curve is drawn through automatic fitting so as to connect the center line of the entering lane with the center line of the exiting lane corresponding to the center line of the entering lane, and the curve obtained through fitting is the center line of the hanging lane, so that the automatic hanging of the center line of the lane is realized.

When a curve is drawn, a plurality of shape points need to be determined, and then the shape points are automatically fitted. For example, as shown in fig. 12, the left-turn hitching center line is drawn according to shape points A, B and C, one right-turn hitching center line is drawn according to

shape points

1, 2 and 3, and the other right-turn hitching center line is drawn according to

shape points

1, 4 and 5.

In addition, after the center lines of the entering lane and the exiting lane in the intersection are hooked, a plurality of hooked lane center lines are obtained, and the relevant hooked lane information can be determined according to the hooked lane center lines.

Fig. 13 is a fourth schematic flowchart of the electronic map road hitching method according to the embodiment of the present invention, and this embodiment describes in detail a specific implementation process of screening out a target road route matching a road section reference line from road lines of a standard map on the basis of any of the above embodiments, as shown in fig. 13, the method includes:

s1301, acquiring the intersection to be processed and corresponding intersection reference lines thereof according to the acquired road hanging request, wherein the intersection reference lines comprise an intersection entering reference line and an intersection exiting reference line.

S1302, determining a communication relation between the entering intersection reference line and the exiting intersection reference line for each entering intersection reference line, and hanging an entering road corresponding to the entering intersection reference line in the intersection and an exiting road corresponding to the entering intersection reference line in the intersection according to the communication relation.

The implementation processes of S1301 to S1302 in this embodiment are similar to the implementation processes of S201 to S202 in the embodiment of fig. 2, and are not described again here.

S1303, hooking an entering road corresponding to the entering intersection reference line in the intersection and an exiting road corresponding to the entering intersection reference line in the intersection to obtain the center lines of a plurality of hooked lanes.

In this embodiment, after hooking the entering road corresponding to the entering intersection reference line in the intersection and the exiting road corresponding to the entering intersection reference line in the intersection, which indicates that the center lines of the entering lane and the exiting lane to be hooked have been hooked, a plurality of hooking lane center lines are obtained, and the hooking lane center lines refer to hooking portions between the center lines of the entering lane and the center lines of the exiting lane corresponding thereto, that is, hooking curves, such as those in fig. 10.

And S1304, generating a hanging road of the hanging lane central line according to the central lines of the hanging lanes, wherein the hanging road comprises a hanging lane boundary corresponding to the central line of the hanging lane, at least one of a hanging reference line and a hanging non-reference line.

In this embodiment, when the center line of the hitching lane is generated, the hitching lane corresponding to the center line of the hitching lane is also generated. And after obtaining the hitching lane corresponding to the lane center line, determining the hitching lane in the same direction, namely the center line of the hitching lane in the same direction, and generating a corresponding hitching road.

The intersection reference lines corresponding to the center lines of the entering lanes corresponding to the center lines of the hanging lanes in the same direction are the same, and the intersection reference lines corresponding to the center lines of the exiting lanes corresponding to the hanging lanes are also the same. For example, the center line of the entering lane corresponding to the center line 1 of the hitching lane is the center line 1 of the entering lane, the center line of the corresponding exit lane is the center line 1 of the exit lane, the center line of the corresponding entry lane of the center line 2 of the hitching lane is the center line 2 of the entry lane, and the corresponding exit lane central line is the exit lane central line 2, the entry lane central line 1 and the entry lane central line 2 correspond to the entry intersection reference line 1, the exit lane central line 1 and the exit lane central line 2 correspond to the exit intersection reference line 1, the center line 1 of the hanging lane and the center line 2 of the hanging lane are the center lines of the hanging lanes in the same direction, correspondingly, the hanging lane1 corresponding to the center line 1 of the hanging lane and the hanging lane2 corresponding to the center line 2 of the hanging lane are the hanging lanes in the same direction, and the hanging lane1 and the hanging lane2 form a hanging road.

Specifically, the hitched road comprises a hitched lane boundary corresponding to a central line of the hitched lane, a hitched reference line, a hitched non-reference line and the like.

Wherein, a lane central line corresponds two lane boundaries, and the hitching lane boundary corresponding to the hitching lane central line is two lane boundaries of the hitching lane corresponding to the hitching lane central line. Referring to fig. 14, the center line of the hitching lane is the intersection of the entering lane center line lane1 and the exiting lane center line lane2, and the two lane boundaries of the hitching lane center line correspond to hitches of the lane boundaries of the entering lane center line lane1 and the exiting lane center line lane2, that is, the left lane boundary of the hitching lane center line is the hitching of the left lane boundary mark1 of lane1 and the left lane boundary mark2 of lane2, and the right lane boundary of the hitching lane center line is the hitching of the right lane boundary mark1 'of lane1 and the right lane boundary mark 2' of lane 2.

Optionally, a common lane boundary rule of the center line of the hitching lane is preset. When the boundaries of the hanging lanes generated by the central lines of the two hanging lanes completely overlap, only one of the boundaries of the hanging lanes is reserved, namely the central lines of the two lanes share one boundary of the hanging lane.

Optionally, the boundaries of the opposite-side left-turn hitching lane are not overlapped or crossed regularly. As shown in a of fig. 15, when there is an overlap or intersection between the hitching lane boundary of the hitching lane center line corresponding to the left-turn entrance lane center line and the hitching lane boundary of the hitching lane center line corresponding to the opposite side left-turn entrance lane center line, it is adjusted to ensure that the minimum distance between the hitching lane boundaries is not less than the preset distance limit (e.g., L1), so that there is no overlap or intersection between the left-turn entrance lane center line and the opposite side left-turn entrance lane center line (as shown in b of fig. 15). The communication direction of the intersection reference line corresponding to the center line of the left-turn entering lane and the intersection reference line corresponding to the center line of the left-turn entering lane is in straight communication. When the lane boundary corresponding to the center line of the left-turn hitching lane is drawn according to the rule that the hitching lane boundaries do not overlap or intersect, the vehicle can be guided to turn left without colliding with the opposite side left-turn vehicle.

After obtaining the hitching road, the hitching reference line of the hitching road may be determined according to the hitching lane boundary corresponding to the hitching road, that is, a hitching lane boundary is selected from the hitching lane boundaries corresponding to the hitching road (for example, a hitching lane boundary with the sequence number of 2 is selected), and is determined as a target hitching lane boundary, and then the hitching reference line of the hitching road is generated at the position of the target hitching lane boundary.

After the hooking reference line is obtained, if an entering intersection reference line corresponding to the center line of the entering lane exists and the hooking reference line corresponding to the center line of the hooking lane is not hooked, a non-reference line is generated between the entering intersection reference line and the hooking reference line; or a hanging reference line corresponding to the central line of the hanging lane exists, and the exit intersection reference line corresponding to the central line of the exit lane is not hung, a non-reference line is generated between the hanging reference line and the exit intersection reference line so as to provide logical connection between the road reference lines.

Optionally, in the preview mode, after determining the center line of the hitching lane of the intersection and the hitching road thereof, rendering and displaying the intersection according to the center line of the hitching lane and the corresponding hitching road thereof, and generating a preview picture of the intersection.

The preview picture comprises a center line of a hanging lane and hanging road elements corresponding to a hanging road, namely the hanging road elements included in the hanging road, wherein the hanging road elements comprise at least one of a hanging lane boundary, a hanging reference line and a hanging non-reference line; for another example, when the hitched road includes a hitched lane boundary, a hitched reference line and a hitched non-reference line, the hitched road elements include a hitched lane boundary, a hitched reference line and a hitched non-reference line.

In addition, optionally, after the modification instruction is acquired, corresponding modification operation is performed on the preview image according to the modification instruction.

In this embodiment, in the preview mode, if a modification instruction input by a user is received, the relevant elements in the preview screen are modified according to the modification instruction, so that the user can modify the hooking result conveniently.

In this embodiment, optionally, after obtaining the hitched road, relevant information corresponding to hitched road elements included in the hitched road is determined to determine the hitched road information.

Specifically, the hitching road information includes information on a hitching lane boundary, information on a hitching reference line, information on a hitching non-reference line, and the like.

The hitching lane center line information is the attribute of the lane center line, for example, the lane center line is a lane in an intersection, and the driving function control can be guided according to the lane center line information.

The hitching lane boundary information is an attribute of a lane boundary, for example, the lane boundary is not traversable. The hooking reference line information is an attribute of a reference line, for example, which hooking reference lines belong to an intersection.

Fig. 16 is a schematic structural diagram of an electronic map road hitch apparatus according to an embodiment of the present invention. As shown in fig. 16, the electronic map road hitch apparatus 16 includes: an information acquisition module 161 and a processing module 162.

The information obtaining module 161 is configured to obtain the intersection to be processed and the intersection reference lines corresponding to the intersection according to the obtained road hitching request, where the intersection reference lines include an entering intersection reference line and an exiting intersection reference line.

The processing module 162 is configured to determine, for each entering intersection reference line, a communication relationship between the entering intersection reference line and the exiting intersection reference line, and hitch, according to the communication relationship, an entering road in the intersection corresponding to the entering intersection reference line and an exiting road in the intersection corresponding to the entering intersection reference line.

In one possible design, the entry road includes at least one entry lane and the exit road includes at least one exit lane.

The processing module 162 is further configured to obtain a lane center line of each entering lane, and obtain a lane center line of each exiting lane, obtain a lane center line of each exiting lane. The processing module 162 is further configured to determine, for each entering lane center line, a lane direction of the entering lane center line, and determine, according to the lane direction and the communication relationship, an exiting lane center line corresponding to the entering lane center line. The processing module 162 is further configured to hitch the center line of the entering lane and the center line of the exiting lane corresponding to the center line of the entering lane.

In one possible design, the processing module 162 is further configured to obtain a guidance arrow intersecting the centerline of the access lane.

The processing module 162 is further configured to obtain a direction of the guiding arrow, and obtain a lane direction entering a lane center line according to the direction of the guiding arrow.

In one possible design, the processing module 162 is further configured to take the direction of the guiding arrow as the lane direction into the lane center line when the number of guiding arrows is equal to 1.

The processing module 162 is further configured to determine a guide arrow closest to the intersection from the guide arrows when the number of the guide arrows is greater than 1, and use a direction of the closest guide arrow as a lane direction entering a center line of the lane.

In one possible design, the processing module 162 is further configured to obtain a lane number corresponding to a lane center line.

The processing module 162 is further configured to obtain a lane direction entering the lane center line according to the lane sequence number corresponding to the lane center line based on a preset lane direction rule.

In one possible design, the processing module 162 is further configured to obtain a steering entry lane centerline in the entry lane centerline, where the steering entry lane centerline is a left-turn entry lane centerline or a right-turn entry lane centerline.

The processing module 162 is further configured to obtain a first exit lane center line from the exit lane center line, where a communication direction between an exit intersection reference line corresponding to the first exit lane center line and an entry intersection reference line corresponding to a turning entry lane center line is left-turn communication or right-turn communication. The processing module 162 is further configured to determine, according to the first exit lane center line, a steering exit lane center line corresponding to the steering entry lane center line.

In one possible design, the processing module 162 is further configured to, when the center line of the steering entering lane is a center line of a left-turn entering lane, obtain a lane number corresponding to the center line of the first exiting lane when the number of the center lines of the left-turn entering lane is equal to 1, and obtain a smallest lane number from the lane numbers. The processing module 162 is further configured to obtain a first exit lane center line corresponding to the smallest lane number, and obtain a left-turn exit lane center line. The processing module 162 is further configured to determine, according to the lane number corresponding to the first exit lane center line, first exit lane center lines of a first target number from the first exit lane center lines to obtain left-turn exit lane center lines when the number of the left-turn entry lane center lines is greater than 1, where the first target number is the same as the number of the left-turn entry lane center lines.

In a possible design, the processing module 162 is further configured to, when the center line of the turning entering lane is the center line of the left-turning entering lane, count, for each exit intersection reference line, a first number of exit lanes corresponding to the exit intersection reference line, and obtain an entry intersection reference line corresponding to the exit intersection reference line, so as to obtain an entry intersection reference line of the target.

The processing module 162 is further configured to count the number of the turning entering lanes corresponding to all the target entering the intersection reference lines, so as to obtain a second number. The processing module 162 is further configured to, if the first number is different from the second number, obtain a second target number according to the first number based on a preset lane allocation rule, and determine a first exit lane center line of the second target number from the first exit lane center lines to obtain a left-turn exit lane center line.

In one possible design, the processing module 162 is further configured to obtain a straight entering lane center line entering the lane center line, where a lane direction of the straight entering lane center line is a straight direction. The processing module 162 is further configured to obtain a second exit lane center line from the exit lane center line, where a communication direction between an exit intersection reference line corresponding to the second exit lane center line and an entry intersection reference line corresponding to a straight entry lane center line is straight communication. The processing module 162 is further configured to determine, according to the second exit lane center line, a straight exit lane center line corresponding to the straight entry lane center line.

In one possible design, the processing module 162 is further configured to determine a third exit lane center line from the second exit lane center line, where the third exit lane center line is a second exit lane center line of the second exit lane center line except for a left-turn exit lane center line and a right-turn exit lane center line. The processing module 162 is further configured to, for each straight entering lane center line, determine, according to a preset straight allocation rule, a straight exiting lane center line corresponding to the straight entering lane center line from the third exiting lane center line.

In one possible design, the connectivity includes a direction of connectivity. The processing module 162 is further configured to determine an included angle between the entering intersection reference line and the exiting intersection reference line. The processing module 162 is further configured to determine a communication direction between the entering intersection reference line and the exiting intersection reference line according to the included angle, where the communication direction includes left turn communication, straight going communication, right turn communication, and opposite side communication.

In one possible design, the processing module 162 is further configured to obtain a passing direction entering the intersection reference line and a passing direction exiting the intersection reference line.

The processing module 162 is further configured to extend the intersection reference line according to the passing direction of the intersection reference line, so as to obtain an extension line of the intersection reference line. The processing module 162 is further configured to extend the exit intersection reference line in a direction opposite to the passing direction of the exit intersection reference line, so as to obtain an extension line of the exit intersection reference line. The processing module 162 is further configured to obtain an included angle between an extension line of the intersection entering reference line and an extension line of the intersection exiting reference line, so as to obtain an included angle between the intersection entering reference line and the intersection exiting reference line.

In one possible design, the processing module 162 is further configured to hitch an entering road corresponding to the entering intersection reference line in the intersection and an exiting road corresponding to the entering intersection reference line in the intersection, so as to obtain a plurality of central lines of hitched lanes. The processing module 162 is further configured to generate a hitching road for hitching the lane center line according to the plurality of hitching lane center lines, where the hitching road includes at least one of a hitching lane boundary, a hitching reference line and a hitching non-reference line corresponding to the hitching lane center line.

In one possible design, the processing module 162 is further configured to generate a preview of the intersection, where the preview includes a center line of the hitched lane and a corresponding hitched road element of the hitched road. The processing module 162 is further configured to, after the modification instruction is obtained, perform corresponding modification operation on the preview image according to the modification instruction.

The electronic map road hitching equipment provided by the embodiment can be used for executing the technical scheme of the method embodiment, the implementation principle and the technical effect are similar, and the details are not repeated here.

Fig. 17 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present invention. As shown in fig. 17, the electronic device 17 of the present embodiment includes: at least one processor 171 and a memory 172. The processor 171 and the memory 172 are connected by a bus 173.

In a specific implementation process, the at least one processor 171 executes computer-executable instructions stored in the memory 172, so that the at least one processor 171 executes the electronic map road hooking method in the above method embodiment.

For a specific implementation process of the processor 171, reference may be made to the above method embodiments, which have similar implementation principles and technical effects, and details of this embodiment are not described herein again.

In the embodiment shown in fig. 17, it should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor. The memory may comprise high speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.

An embodiment of the present invention further provides a computer-readable storage medium, where a computer execution instruction is stored in the computer-readable storage medium, and when a processor executes the computer execution instruction, the electronic map road hitching method is implemented as described above.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit. The unit formed by the modules can be realized in a hardware form, and can also be realized in a form of hardware and a software functional unit.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.

Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electronic map road hanging method is characterized by comprising the following steps:

2. The method of claim 1, wherein the entry road comprises at least one entry lane and the exit road comprises at least one exit lane;

the hanging connection of the entering road corresponding to the entering intersection reference line in the intersection and the exiting road corresponding to the entering intersection reference line in the intersection according to the communication relation comprises the following steps:

acquiring a lane center line of each entering lane, and acquiring a lane center line of each exiting lane;

for each entering lane central line, determining the lane direction of the entering lane central line, and determining an exiting lane central line corresponding to the entering lane central line according to the lane direction and the communication relation;

and hanging the center line of the entering lane and the center line of the exiting lane corresponding to the center line of the entering lane.

3. The method of claim 2, wherein the determining the lane direction of the incoming lane centerline comprises:

acquiring a guide arrow intersected with the center line of the entering lane;

and acquiring the direction of the guide arrow, and acquiring the lane direction of the center line of the entering lane according to the direction of the guide arrow.

4. The method of claim 2, wherein determining an exit lane centerline corresponding to the entry lane centerline according to the lane direction and the connectivity comprises:

acquiring a steering entering lane center line in the entering lane center line, wherein the steering entering lane center line is a left-turn entering lane center line or a right-turn entering lane center line;

acquiring a first exit lane central line from the exit lane central line, wherein the communication direction between an exit intersection reference line corresponding to the first exit lane central line and an entry intersection reference line corresponding to the steering entry lane central line is left-turn communication or right-turn communication;

and determining a steering exit lane central line corresponding to the steering entry lane central line according to the first exit lane central line.

5. The method of claim 4, wherein when the steering entry lane center line is a left-turn entry lane center line, determining a steering exit lane center line corresponding to the steering entry lane center line according to the first exit lane center line comprises:

when the number of the left-turn entering lane center lines is equal to 1, acquiring lane serial numbers corresponding to the first exiting lane center lines, acquiring the smallest lane serial number from the lane serial numbers, acquiring a first exiting lane center line corresponding to the smallest lane serial number, and acquiring the left-turn exiting lane center line, and when the number of the left-turn entering lane center lines is greater than 1, determining first exiting lane center lines with a first target number from the first exiting lane center lines according to the lane serial numbers corresponding to the first exiting lane center lines, and acquiring the left-turn exiting lane center lines, wherein the first target number is the same as the number of the left-turn entering lane center lines; and/or

For each exit intersection reference line, counting a first number of exit lanes corresponding to the exit intersection reference line, acquiring an entry intersection reference line corresponding to the exit intersection reference line, acquiring a target entry intersection reference line, counting the number of turning entry lanes corresponding to all target entry intersection reference lines, acquiring a second number, and if the first number is different from the second number, acquiring the second number of targets according to the first number based on a preset lane distribution rule, and determining a first exit lane central line of the second target number from the first exit lane central line, so as to acquire the left-turn exit lane central line.

6. The method of claim 4, wherein the determining an exit lane centerline corresponding to the entry lane centerline according to the lane direction and the connectivity comprises;

acquiring a straight entering lane center line in the entering lane center line, wherein the lane direction of the straight entering lane center line is a straight direction;

acquiring a second exit lane central line from the exit lane central line, wherein the communication direction between an exit intersection reference line corresponding to the second exit lane central line and an entry intersection reference line corresponding to the straight entry lane central line is straight communication;

and determining the straight exit lane central line corresponding to the straight entry lane central line according to the second exit lane central line.

7. The method of claim 6, wherein determining a straight exit lane centerline corresponding to the straight entry lane centerline from the second exit lane centerline comprises:

determining a third exit lane center line from the second exit lane center line, wherein the third exit lane center line is a second exit lane center line of the second exit lane center line except for a left-turn exit lane center line and a right-turn exit lane center line;

and for each straight entering lane central line, determining a straight exiting lane central line corresponding to the straight entering lane central line from the third exiting lane central lines according to a preset straight distribution rule.

8. The method of claim 1, wherein the connectivity relationship comprises a connectivity direction;

the determining the communication relationship between the entry intersection reference line and the exit intersection reference line comprises:

determining an included angle between the entering intersection reference line and the exiting intersection reference line;

and determining the communication direction between the entering intersection reference line and the exiting intersection reference line according to the included angle, wherein the communication direction comprises left turn communication, straight going communication, right turn communication and opposite side communication.

9. The method of claim 8, wherein said determining an angle between said entry intersection reference line and said exit intersection reference line comprises:

acquiring the passing direction of the entering intersection reference line and the passing direction of the exiting intersection reference line;

according to the passing direction of the crossing reference line, prolonging the crossing reference line to obtain an extension line of the crossing reference line;

according to the direction opposite to the passing direction of the exit intersection reference line, extending the exit intersection reference line to obtain an extension line of the exit intersection reference line;

and acquiring an included angle between the extension line of the entering intersection reference line and the extension line of the exiting intersection reference line to acquire an included angle between the entering intersection reference line and the exiting intersection reference line.

10. The method according to any one of claims 1 to 9, further comprising:

hooking an entering road corresponding to the entering intersection reference line in the intersection and an exiting road corresponding to the entering intersection reference line in the intersection to obtain a plurality of hooked lane center lines;

and generating a hanging road of the hanging lane central line according to the central lines of the hanging lanes, wherein the hanging road comprises at least one of a hanging lane boundary, a hanging reference line and a hanging non-reference line corresponding to the central line of the hanging lane.

11. An electronic device, comprising: at least one processor and memory;

the memory stores computer-executable instructions;

the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the electronic map road hooking method of any of claims 1 to 10.