CN112001986B - Virtual lane generation method and device, electronic equipment and storage medium - Google Patents
Virtual lane generation method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The disclosure provides a method and a device for generating a virtual lane in a level crossing, electronic equipment and a storage medium, and relates to the fields of intelligent traffic and automatic driving. The generation method comprises the following steps: acquiring relevant road information of a target level crossing, wherein the relevant road information comprises a corresponding relation between an entering road section and an exiting road section and lane information of the entering road section and the exiting road section, and the lane information comprises position information of a lane; determining, for each entry road segment, a first number of virtual connection line segments based on the respective lane information, wherein the virtual connection line segments are located within the target level crossing and connect the respective entry lanes and exit lanes; according to a preset rule, determining multiple target virtual connection line segments from a first number of virtual connection line segments, wherein the target virtual connection line segments are not intersected with each other in a target level crossing; and generating a virtual lane in the target level crossing based on the corresponding target virtual connection line segment.
Description
Technical Field
The present disclosure relates to the field of intelligent traffic and autopilot, and in particular, to a method for generating a virtual lane in a level crossing, a device for generating a virtual lane in a level crossing, an electronic device, and a computer-readable storage medium
Background
In the existing navigation technology, route guidance is generally performed only for roads, and the navigated route can only be refined to the corresponding road. For example, when a vehicle guided by navigation information turns left at a front intersection, only steering arrow information can be prompted to the driver, the driver needs to judge the travel route of the vehicle at the intersection by himself, navigation is not accurate enough, and intelligent traffic and automatic driving requirements are not met.
Disclosure of Invention
According to an aspect of the present disclosure, there is provided a method for generating a virtual lane in a level crossing, including: acquiring relevant road information of a target level crossing, wherein the relevant road information comprises a corresponding relation between a plurality of entering road sections and a plurality of exiting road sections, entering lane information of each entering road section and exiting lane information of each exiting road section, the entering lane information comprises position information of each entering lane, and the exiting lane information comprises position information of each exiting lane; determining, for each of the entry road segments of the plurality of entry road segments, a first number of virtual connection line segments based on the respective entry lane information and the exit lane information of the respective at least one exit road segment, wherein each of the virtual connection line segments is located within the target level crossing and connects a respective entry lane and exit lane; according to a preset rule, determining multiple target virtual connection line segments from a first number of virtual connection line segments corresponding to each entering road segment, wherein the multiple target virtual connection line segments corresponding to each entering road segment are not intersected in the target level crossing; and generating a virtual lane in the target level crossing based on the corresponding target virtual connection line segment.
According to another aspect of the present disclosure, there is also provided a device for generating a virtual lane in a level crossing, including: an acquisition module configured to acquire relevant road information of a target level crossing, the relevant road information including a corresponding relationship between a plurality of entry road segments and a plurality of exit road segments, and entry lane information of each of the entry road segments and exit lane information of each of the exit road segments, the entry lane information including position information of each of the entry lanes, the exit lane information including position information of each of the exit lanes; a first determination module configured to determine, for each of the entry road segments of the plurality of entry road segments, a first number of virtual connection line segments based on the respective entry lane information and the exit lane information of the respective at least one exit road segment, wherein each of the virtual connection line segments is located within the target level crossing and connects a respective entry lane and exit lane; the second determining module is configured to determine a plurality of target virtual connection line segments from a first number of virtual connection line segments corresponding to each entering road segment according to a preset rule, wherein the plurality of target virtual connection line segments corresponding to each entering road segment are not intersected with each other in the target level crossing; and a generation module configured to generate a virtual lane within the target level crossing based on the respective target virtual connection line segments.
According to another aspect of the present disclosure, there is also provided an electronic apparatus including: a processor; and a memory storing a program comprising instructions that when executed by the processor cause the processor to perform a method of generating a virtual lane within a level crossing according to the above.
According to another aspect of the present disclosure, there is also provided a computer-readable storage medium storing a program comprising instructions that, when executed by a processor of an electronic device, cause the electronic device to perform a method of generating a virtual lane within a level crossing according to the above.
According to another aspect of the present disclosure, there is also provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the above-mentioned method.
By the method for generating the virtual connection lanes, which is provided by the embodiment of the invention, the virtual connection line segments which are not intersected with each other in the level crossing can be rapidly and accurately determined, so that the virtual connection line segments are used for generating the virtual lanes in the level crossing, and the virtual connection line segments are suitable for the fields of intelligent traffic and automatic driving.
Drawings
The accompanying drawings illustrate exemplary embodiments and, together with the description, serve to explain exemplary implementations of the embodiments. The illustrated embodiments are for exemplary purposes only and do not limit the scope of the claims. Throughout the drawings, identical reference numerals designate similar, but not necessarily identical, elements.
FIG. 1 is a flowchart illustrating a method of generating a virtual lane within a level crossing according to an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a level crossing according to an exemplary embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating azimuth angles according to an exemplary embodiment of the present disclosure;
FIG. 4 is a flowchart illustrating a method of determining a target virtual connection line segment based on intersection point information and deflection angle in accordance with an exemplary embodiment of the present disclosure;
5 a-5 e are schematic diagrams illustrating a culling process of virtual connection line segments within an exemplary level crossing according to an exemplary embodiment of the present disclosure;
FIG. 6 is a schematic block diagram illustrating a generation apparatus of a virtual lane within a level crossing according to an exemplary embodiment of the present disclosure; and
FIG. 7 is a block diagram illustrating an exemplary computing device that may be used in connection with the exemplary embodiments.
Detailed Description
The present disclosure is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. In addition, for convenience of description, only a portion related to the related invention is shown in the drawings.
In the present disclosure, the use of the terms "first," "second," and the like to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of the elements, unless otherwise indicated, and such terms are merely used to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, they may also refer to different instances based on the description of the context.
It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other. Unless the context clearly indicates otherwise, the elements may be one or more if the number of the elements is not specifically limited. Furthermore, the term "and/or" as used in this disclosure encompasses any and all possible combinations of the listed items.
According to the related art, a navigation technique generally performs route guidance only for roads, and a navigated route can be refined only to a corresponding road. No specific lane exists in the level crossing, and lane-level navigation cannot be realized.
Based on the above, the present disclosure provides a method for generating a virtual lane in a level crossing. The generation method comprises the steps of firstly determining a certain number of virtual connection line segments according to the corresponding relation between an entering road section and an exiting road section of a level crossing and the position information of an entering lane and an exiting lane; and then determining multiple target virtual connecting line segments which are not intersected with each other in a certain number of virtual connecting line segments according to a preset rule, and generating a virtual lane based on the target virtual connecting line segments. Therefore, a certain number of virtual connection line segments used for connecting an entering lane and an exiting lane in the level crossing can be quickly determined, and target virtual connection line segments which are not intersected with each other in the crossing can be accurately and quickly determined from the determined certain number of virtual connection line segments, so that omission and errors can not occur. Virtual lanes within the level crossing can be generated based on the determined target virtual connection line segments for lane-level navigation.
In the present disclosure, a level intersection refers to an intersection where a plane intersects, that is, a piece of empty space formed when a road intersects with a road plane, in which a vehicle can steer in multiple directions, and no specific lane is located in the empty space. The entry road section refers to a road section that enters the level crossing in its traveling direction. The exit road section refers to a road section that is far from the level crossing in its traveling direction. The lane refers to a road formed by two lane dividing lines through which a vehicle can pass.
The method for generating a virtual lane in a level crossing according to an embodiment of the present disclosure will be further described below with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating a method of generating a virtual lane within a level crossing according to an exemplary embodiment of the present disclosure. As shown in fig. 1, the generating method may include: step 101, obtaining relevant road information of a target level crossing, wherein the relevant road information comprises a corresponding relation between a plurality of entering road sections and a plurality of exiting road sections, entering lane information of each entering road section and exiting lane information of each exiting road section, the entering lane information comprises position information of each entering lane, and the exiting lane information comprises position information of each exiting lane; step 102, for each of the entry road segments, determining a first number of virtual connection line segments based on the corresponding entry lane information and the exit lane information of the corresponding at least one exit road segment, wherein each virtual connection line segment is located within the target level crossing and connects a corresponding entry lane and exit lane; step 103, determining multiple target virtual connection line segments from a first number of virtual connection line segments corresponding to each entering road segment according to a preset rule, wherein the multiple target virtual connection line segments corresponding to each entering road segment are not intersected in the target level crossing; and 104, generating a virtual lane in the target level crossing based on the corresponding target virtual connection line segment. By the generation method, the virtual connecting line segments which are not intersected with each other in the level crossing can be rapidly and accurately determined, and the virtual connecting line segments are used for generating virtual lanes in the level crossing suitable for intelligent traffic and automatic driving.
According to some embodiments, the relevant road information of the target level crossing can be obtained by identifying and analyzing the road image shot by the acquisition vehicle on site with the laser point cloud and the high-definition camera.
According to some embodiments, step 101, obtaining the relevant road information of the target level crossing may include: acquiring road section information of a target level crossing; and obtaining the lane information of the road section of the target level crossing. Wherein, the road segment information may include: position information of a road section, a corresponding relation between an entering road section and a corresponding exiting road section, a road name, and the like. The lane information of the road section may include: position information of a lane, a traffic direction of the lane, a type of the lane, and the like.
According to some embodiments, the respective relationship between the plurality of entry road segments and the plurality of exit road segments may include a steering relationship between the plurality of entry road segments and the plurality of exit road segments. For example, the correspondence may also include traffic control information. The steering relationship of the entry road section and the corresponding exit road section refers to the steering direction relationship in the space of the entry road section and the corresponding exit road section, i.e., turning around, turning left, going straight, and turning right. Taking the level crossing as shown in fig. 2 as an example, the steering relationship between the exit road segment R2 and the entry road segment R1 is a right turn, and the steering relationship between the exit road segment R4 and the entry road segment R1 is a straight run. According to some examples, the steering relationship of an entry road segment to a corresponding exit road segment may be determined by the azimuth angles of the entry road segment and the exit road segment. The azimuth angle may be defined as the amount of angle that passes between any point on the side of the entry road segment near the level crossing and any point on the side of the corresponding exit road segment near the level crossing, starting from the direction of travel of the entry road segment, rotated clockwise. As shown in fig. 3, the entering direction a is the traveling direction of a certain entering road section in the level crossing, the exiting direction B is the connecting line segment between any point on the side of the entering road section close to the level crossing and any point on the side of the corresponding exiting road section close to the level crossing, and the azimuth angle between the entering road section and the exiting road section is the angle α. For example, if the angle α is in the range of [345 °,360 ° ] or [0 °,15 ° ], the steering relationship between the exit section and the entry section is considered to be straight.
According to some embodiments, the position information of each entering lane is the coordinates of any point on the first side of the entering lane, the position of each exiting lane is the coordinates of any point on the second side of the exiting lane, and the first side and the second side are both close to the target level crossing, preferably, any point on the first side and the second side may be the midpoint of the sides, for example, points a to H in fig. 2. Wherein the coordinates of any point on the first side and the second side may be, for example, longitude and latitude (GPS) coordinates.
According to some embodiments, the entering lane information may further include traffic direction information for each entering lane. The traffic direction information is direction information shown by a steering arrow on the lane, and may include at least one of the following: straight, left turn, right turn, and turn around.
In step 102, for each of the entry road segments of the plurality of entry road segments, a first number of virtual connection line segments is determined based on the respective entry lane information and the exit lane information of the respective at least one exit road segment, wherein each of the virtual connection line segments is located within the target level crossing and connects the respective entry lane and exit lane. For example, taking the level crossing shown in fig. 2 as an example, for the entering road segment R1, any point B (for example, a midpoint of a side) on the side of the entering lane L2 near the target level crossing of the entering road segment R1 is connected to any point C (for example, a midpoint of a side) on the side of the exiting lane L3 near the level crossing of the exiting road segment R2 corresponding to the entering road segment, so that a virtual connecting line segment 1 that is located in the level crossing and connects the entering lane L2 and the exiting lane L3 can be obtained. Likewise, the entry lanes L1 and L2 in the entry section R1 within the level crossing are connected with at least one exit lane of the corresponding at least one exit section (R2, R4, and R6), and a number of virtual connection line segments for the entry section R1 is determined.
In some embodiments, since some road segments are traffic-controlled and are not reachable, no virtual connection segment may be established between an entry road segment and a corresponding exit road segment that is traffic-controlled.
In some embodiments, when the type of entry lane is a bus lane, the entry lane can only be connected to an exit lane that is also a bus lane to establish a virtual connection line segment.
According to some embodiments, step 102, determining a first number of virtual connection segments for each of the plurality of entry segments based on the respective entry lane information and the exit lane information of the respective at least one exit segment may comprise: determining, for each of the entry road segments, all exit lanes corresponding to each entry lane of the entry road segment based on the respective entry lane information and the exit lane information of the respective at least one exit road segment; based on the corresponding position information, a virtual connection line segment is established between each entering lane of the entering road section and all exiting lanes corresponding to the entering lane. That is, based on the position information of the entering lane and the corresponding exiting lane, all exiting lanes corresponding to each entering lane of a certain entering section in the level crossing are determined, and a virtual connecting line segment of complete pairing is established between all entering lanes and corresponding all exiting lanes of the entering section. In this way, all possible virtual connection segments can be established between a certain entry road segment and all corresponding exit road segments within the level crossing.
According to some embodiments, all exit lanes of all exit sections corresponding to each entry lane of each entry section may be determined in consideration of the traffic direction of the lanes and according to the steering relationship of the entry section and the exit section. Thus, for each of the entry road segments of the plurality of entry road segments, determining all exit lanes corresponding to each entry lane of the entry road segment based on the respective entry lane information and the exit lane information of the respective at least one exit road segment may comprise: for each of the plurality of entry road segments, determining one or more exit road segments corresponding to the entry lane from at least one exit road segment corresponding to the entry road segment based on the corresponding traffic direction information and a steering relationship between the plurality of entry road segments and a plurality of exit road segments; all exit lanes of the one or more exit road segments corresponding to the entry lane are determined as exit lanes corresponding to the entry lane. That is, the traffic direction information (i.e., straight, left turn, right turn, turn around) of each entering lane may be matched with the steering relationship (i.e., straight, left turn, right turn, turn around) between the entering lane to which it belongs and the corresponding exiting lane to determine all exiting lanes of each entering lane of a certain entering lane, and thus all exiting lanes of each entering lane of the entering lane. For example, as shown in fig. 2, taking the entering lane L1 of the entering lane L1 as an example, according to the passing direction (straight and left turn) of the entering lane L1 and the steering relation of the entering lane R1 to which the entering lane L1 belongs and the corresponding exiting lane, the straight exiting lane of the entering lane L1 may be determined as R4, and the left-turned exiting lane thereof as R6, and thus all exiting lanes L7 and L8 of the exiting lane R4 and all exiting lanes L11 and L12 of the exiting lane R6 are determined as the corresponding all exiting lanes of the entering lane L1. By the method, the completely matched virtual connection line segment which is established according with the actual traffic condition based on the traffic direction information of the entering lane and the steering relation between the entering road section and the corresponding exiting road section in the level crossing can be obtained.
In step 103, multiple target virtual connection segments are determined from the first number of virtual connection segments corresponding to each of the entering road segments according to a preset rule, wherein the multiple target virtual connection segments corresponding to each of the entering road segments do not intersect each other at the target level crossing. That is, at least one of the intersecting virtual connection segments is determined and removed from the first number of virtual connection segments for each of the entry segments according to a preset rule to generate target virtual connection segments for each of the entry segments that do not intersect each other within the target level crossing. For example, as shown in fig. 2, the virtual connection segments 4 and 5 cross at the level crossing, at least one of the virtual connection segments 4 and 5 may be eliminated, so that the corresponding multi-label virtual connection segments of the entering road segment R1 do not cross each other at the level crossing.
According to some embodiments, step 103, determining a plurality of target virtual connection segments from the first number of virtual connection segments corresponding to each of the entering road segments according to a preset rule, where the plurality of target virtual connection segments corresponding to each of the entering road segments do not intersect each other within the target level crossing, may include: determining information of a plurality of crossing points between the first number of virtual connecting line segments, and the plurality of crossing points being located between two end points of the corresponding virtual connecting line segments; and determining the multi-item target virtual connection line segment from the corresponding first number of virtual connection line segments of each entering road segment according to a preset rule based on the information of the plurality of crossing points. For example, a linear equation of the virtual connecting line segments may be established, and a plurality of intersection information (e.g., may include intersection coordinates and/or correspondence between the intersection and the virtual connecting line segments) between the first number of virtual connecting line segments may be determined based on the respective linear equation.
Taking the virtual connecting line segments 4 and 5 in fig. 2 as an example, the method for determining whether two virtual connecting line segments intersect and the coordinates of the intersection point between the two intersecting virtual connecting line segments may be as follows:
1) A straight line equation of the virtual connecting line segment 4 connecting the midpoint B on the side of the entering lane L2 near the level crossing and the midpoint F on the side of the exiting lane L8 near the level crossing is determined, and may be expressed as follows:
a1X+b1Y+c1＝0
a1＝YF-YB
b1＝XB-XF
c1＝YBXF-XBYF
Wherein X B and Y B are the coordinates of the point B in the entrance lane L2, and X F and Y F are the coordinates of the point F in the exit lane L8.
2) A straight line equation of the virtual connecting line segment 5 connecting the midpoint a on the side of the entering lane L1 near the level crossing and the midpoint E on the side of the exiting lane L7 near the level crossing is determined, and may be expressed as follows:
a2X+b2Y+c2＝0
a2＝YE-YA
b2＝XA-XE
c2＝YAXE-XAYE
Wherein, X A and Y A are the coordinates of the point A of the entering lane L1, and X E and Y E are the coordinates of the point F of the exiting lane L7.
3) According to the linear equation of the virtual connecting line segments 4 and 5, calculating the coordinate of the intersection point of the virtual connecting line segments 4 and 5, the obtained coordinate of the intersection point can be expressed as follows:
{(b1c2-b2c1)/(a1b2-a2b1),(a2c1-a1c2)/(a1b2-a2b1)}
4) It is determined whether the intersection coordinates are located between two end points (point B and point F) of the corresponding virtual connecting line segment 4 (excluding point B and point F), and if so, the virtual connecting line segments 4 and 5 are considered to intersect within the level intersection.
Likewise, a full-space traversal operation may be performed in the first number of virtual connection lines according to the above intersection coordinate algorithm to determine a plurality of intersection information. And then, based on the information of the plurality of crossing points, determining the multi-item mark virtual connection line segment from the corresponding first number of virtual connection line segments of each entering road segment according to a preset rule. By the method, the crossed virtual connection line segments can be accurately and quickly selected.
According to some embodiments, all the entering lanes of the multiple entering road segments of the target level crossing may be set to be connected with at least one exiting lane of the corresponding exiting road segment, and all the exiting lanes of the multiple exiting road segments may be connected with at least one entering lane of the corresponding entering road segment, so that it can be ensured that all the entering lanes and all the exiting lanes of the target level crossing are hooked.
In an exemplary embodiment, for each of the plurality of entry road segments, all entry lanes may be configured to be connected to the exit lane of the corresponding at least one exit road segment by the corresponding target virtual connection line segment, and all exit lanes of the at least one exit road segment may also be connected to the entry lane of the entry road segment by the corresponding target virtual connection line segment, so that it is possible to ensure that all entry lanes and all exit lanes of the target level crossing are hooked. In this case, for whether or not all the entering lanes and all the exiting lanes of a certain entering road section within the level crossing are hooked with the corresponding target virtual connection line segments, the determination may be made when at least one of the virtual connection line segments intersecting each other is removed after the information of the plurality of intersections between the first number of virtual connection line segments is determined, or the determination may be made comprehensively after the determination of the multi-item target virtual connection line segments, but the present disclosure is not limited thereto.
It should be understood that the above definition is only one preferred form of the present disclosure, and the present disclosure is not limited thereto as to the manner in which all entering lanes and all exiting lanes within a level crossing are guaranteed to be articulated. According to some examples, for a certain entering road segment in the target level crossing, a part of exiting lanes in a corresponding exiting road segment of the entering road segment may not be connected with the entering lanes of the entering road segment through a corresponding target virtual connecting line segment, so long as the part of exiting lanes are connected with other entering road segments in the level crossing through a corresponding target virtual connecting line segment, all entering lanes and all exiting lanes in the level crossing may be satisfied to have a hitching.
According to some embodiments, for each of the plurality of entry road segments, a number of target virtual connection segments corresponding to the entry road segment for each exit lane of the corresponding at least one exit road segment may be set to be less than a set value. Therefore, the hidden trouble of traffic can be avoided, and a plurality of entering lanes with the same direction are prevented from entering the same exiting lane (namely, the principle of few hitches of the same exiting lane). The set value may be, for example, 3.
For example, after determining information of a plurality of intersections between the first number of virtual connection segments, it may be determined whether to reject at least one of the intersecting virtual connection segments, or may be determined comprehensively after determining a plurality of target virtual connection segments, but the disclosure is not limited thereto.
According to some embodiments, based on the information of the plurality of intersections, determining the multi-label virtual connection line segment from the corresponding first number of virtual connection line segments of each of the entry road segments according to a preset rule may include: determining a deflection angle of each virtual connecting line segment relative to the vehicle running direction of the entering road segment for the first number of virtual connecting line segments; based on the information of the plurality of crossing points and the deflection angles corresponding to the first number of virtual connection line segments, the multi-item target virtual connection line segments are determined from the first number of virtual connection line segments corresponding to each entering road segment according to a preset rule, so that the guiding requirement of the vehicle on natural smooth running in the crossing can be met. The deflection angle is the included angle between the advancing direction of the entering road section and the virtual connecting line section. According to some examples, for crossed virtual connection line segments, virtual connection line segments with small deflection angles can be reserved, and virtual connection line segments with large deflection angles can be eliminated.
A preferred embodiment of the above steps (determining the multi-objective virtual connection line segment from the first number of virtual connection line segments corresponding to each of the entry road segments according to a preset rule based on the information of the plurality of intersections and the deflection angles corresponding to the first number of virtual connection line segments) will be further described with reference to fig. 4 and 5. Wherein fig. 4 is a flowchart illustrating a method of determining a target virtual connection line segment based on intersection point information and a deflection angle according to an exemplary embodiment of the present disclosure; fig. 5a to 5e are schematic views illustrating a culling process of virtual connection line segments within an exemplary level crossing according to an exemplary embodiment of the present disclosure. In fig. 5a to 5e, R401 is a schematic representation of an entry road segment, R402 and R403 are schematic representations of exit road segments of corresponding straight and left turns of the entry road segment R401, respectively, and L401 to L412 are schematic representations of the relevant lanes of the entry road segment and the exit road segment.
According to some embodiments, as shown in fig. 4, based on the information of the plurality of intersections and the deflection angles corresponding to the first number of virtual connection segments, determining the multi-entry virtual connection segment from the first number of virtual connection segments corresponding to each of the entry segments according to a preset rule may include: and step 401, determining a virtual connecting line segment with the corresponding deflection angle smaller than the set angle as an optimal target virtual connecting line segment. That is, the virtual connecting line segment with the deflection angle smaller than the set angle (i.e., the principle of small deflection angle) is preferentially determined as the optimal target virtual connecting line segment and stored, thereby meeting the guiding requirement of the vehicle for natural smooth running in the intersection. Preferably, a virtual connecting line segment with a deflection angle of zero can be determined as the optimal target virtual connecting line segment for the straight direction; for the turning direction, the optimal target virtual connecting line segment can be determined comprehensively according to the principle of small deflection angle. As shown in fig. 5a to 5b, the virtual connection line segments 501 to 505 in fig. 5a are determined as the best target virtual connection line segments.
According to some embodiments, other virtual connecting line segments except the optimal target virtual connecting line segment can be eliminated, the optimal target virtual connecting line segment is directly determined to be the final target virtual connecting line segment, and a virtual lane is established.
According to some embodiments, as shown in fig. 4, based on the information of the plurality of intersections and the deflection angles corresponding to the first number of virtual connection segments, determining the multi-entry virtual connection segment from the first number of virtual connection segments corresponding to each of the entry segments according to a preset rule may include: step 402, determining a virtual connection line segment having the intersection point with the optimal target virtual connection line from the first number of virtual connection line segments as a first redundant virtual connection line segment; step 403, determining virtual connection line segments intersecting each other through the intersection point from a plurality of virtual connection line segments except the optimal target virtual connection line segment and the first redundant virtual connection line segment in the first number of virtual connection line segments as second redundant virtual connection line segments; step 404, determining the remaining virtual connection line segments except the optimal target virtual connection line segment, the first redundant virtual connection line segment and the second redundant virtual connection line segment from the first number of virtual connection line segments as target virtual connection line segments. Thus, the first redundant virtual connection line segment and the second redundant virtual connection line segment can be eliminated, and the calculation amount of eliminating the crossed virtual connection line segments can be reduced.
According to some embodiments, the first redundant virtual connection segments determined in step 402 may all be culled. For example, the virtual connecting line segment intersecting any one of the best virtual connecting line segments 501 to 505 in fig. 5a is determined as the first redundant virtual connecting line segment and culled, as in virtual connecting line segments 506 to 512 in fig. 5 c.
In step 403, a virtual connecting line segment intersecting each other through the intersection point among the plurality of virtual connecting line segments except the optimal target virtual connecting line segment and the first redundant virtual connecting line segment among the first number of virtual connecting line segments is determined as a second redundant virtual connecting line segment. As shown in fig. 5d, the virtual connection line segments 513 to 517 are virtual connection line segments that self-intersect except for the optimal target virtual connection line segment and the first redundant virtual connection line segment, thereby being determined as the second redundant virtual connection line segment.
In step 404, the remaining virtual connection segments of the first number of virtual connection segments, excluding the optimal target virtual connection segment, the first redundant virtual connection segment, and the second redundant virtual connection segment, are also determined as target virtual connection segments. As shown in fig. 5e, the virtual connection segments 518 to 520 are the remaining virtual connection segments except the optimal target virtual connection segment, the first redundant virtual connection segment, and the second redundant virtual connection segment, and are also determined as target virtual connection segments.
According to some embodiments, as shown in fig. 4, based on the information of the plurality of intersections and the deflection angles corresponding to the first number of virtual connection segments, determining the multi-entry virtual connection segment from the first number of virtual connection segments corresponding to each of the entry segments according to a preset rule may further include: and step 405, determining a second redundant virtual connection line segment which is different from any one of the second redundant virtual connection line segments and corresponds to the optimal target virtual connection line segment in the entering lanes as the target virtual connection line segment. In this way, all the entering roads and all the exiting roads in the level crossing can be ensured to be hooked. For example, the virtual connection segments 513 to 517 (second redundant virtual connection segments) in fig. 5d are identical to the respective entrance lanes of the optimal target virtual connection segments 501 to 505, and can be directly rejected.
According to some embodiments, the at least one exit road segment corresponding to the entry road segment includes a straight exit road segment, and the exit lane corresponding to the optimal target virtual connection line segment is a straight exit lane; the generating method may further include: for each of the entry road segments, a first redundant virtual connection segment and a second redundant virtual connection segment connected to one of the exit lanes of the corresponding straight exit road segment are acquired and used as spare virtual connection segments, so that one of the spare virtual connection segments is selected to generate a spare virtual lane when the virtual lane corresponding to the optimal target virtual connection segment is unavailable. Therefore, the first redundant virtual connecting line segment and the second redundant virtual connecting line segment are stored to serve as standby virtual connecting line segments, and the standby virtual connecting line segments can be flexibly selected to generate virtual lanes for guiding vehicles to safely and rapidly pass through the level crossing according to the congestion conditions of different lanes in the crossing.
According to another aspect of the present disclosure, as shown in fig. 6, there is also provided a device for generating a virtual lane in a level crossing, including: an acquisition module 601 configured to acquire relevant road information of a target level crossing, the relevant road information including a corresponding relationship between a plurality of entry road segments and a plurality of exit road segments, and entry lane information of each of the entry road segments and exit lane information of each of the exit road segments, the entry lane information including position information of each of the entry lanes, the exit lane information including position information of each of the exit lanes; a first determination module 602 configured to determine, for each of the entry road segments of the plurality of entry road segments, a first number of virtual connection line segments based on the respective entry lane information and the exit lane information of the respective at least one exit road segment, wherein each of the virtual connection line segments is located within the target level crossing and connects a respective entry lane and exit lane; a second determining module 603, configured to determine a plurality of target virtual connection segments from a first number of virtual connection segments corresponding to each of the entering road segments according to a preset rule, where the plurality of target virtual connection segments corresponding to each of the entering road segments do not intersect each other within the target level crossing; and a generation module 604 configured to generate a virtual lane within the target level crossing based on the respective target virtual connection line segments.
Here, the operations of the above units 601 to 604 of the construction generating apparatus 6000 are similar to the operations of the steps 101 to 104 described above, respectively, and are not described here again.
According to another aspect of the present disclosure, there is also provided an electronic apparatus including: a processor; and a memory storing a program comprising instructions that when executed by the processor cause the processor to perform a method of generating a virtual lane within a level crossing according to the above.
According to another aspect of the present disclosure, there is also provided a computer-readable storage medium storing a program comprising instructions that, when executed by a processor of an electronic device, cause the electronic device to perform a method of generating a virtual lane within a level crossing according to the above.
With reference to fig. 7, a computing device 2000 will now be described, which is an example of a hardware device (electronic device) that may be applied to aspects of the present disclosure. The computing device 2000 may be any machine configured to perform processes and/or calculations and may be, but is not limited to, a workstation, a server, a desktop computer, a laptop computer, a tablet computer, a personal digital assistant, a robot, a smart phone, an on-board computer, or any combination thereof. The registration recommendation methods described above may be implemented, in whole or at least in part, by the computing device 2000 or a similar device or system.
The computing device 2000 may include elements that are connected to the bus 2002 (possibly via one or more interfaces) or that communicate with the bus 2002. For example, computing device 2000 may include a bus 2002, one or more processors 2004, one or more input devices 2006, and one or more output devices 2008. The one or more processors 2004 may be any type of processor and may include, but are not limited to, one or more general purpose processors and/or one or more special purpose processors (e.g., special processing chips). Input device 2006 may be any type of device capable of inputting information to computing device 2000 and may include, but is not limited to, a mouse, a keyboard, a touch screen, a microphone, and/or a remote control. The output device 2008 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Computing device 2000 may also include a non-transitory storage device 2010, or any storage device that is connected to non-transitory storage device 2010, which may be non-transitory and that may enable data storage, and may include, but is not limited to, a magnetic disk drive, an optical storage device, a solid state memory, a floppy disk, a flexible disk, a hard disk, a magnetic tape, or any other magnetic medium, an optical disk or any other optical medium, a ROM (read only memory), a RAM (random access memory), a cache memory, and/or any other memory chip or cartridge, and/or any other medium from which a computer may read data, instructions, and/or code. The non-transitory storage device 2010 may be detached from the interface. The non-transitory storage device 2010 may have data/program (including instructions)/code for implementing the methods and steps described above. Computing device 2000 may also include a communication device 2012. The communication device 2012 may be any type of device or system that enables communication with external devices and/or with a network, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication devices, and/or chipsets, such as bluetooth (TM) devices, 1302.11 devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.
Computing device 2000 may also include a working memory 2014, which may be any type of working memory that may store programs (including instructions) and/or data useful for the operation of processor 2004 and may include, but is not limited to, random access memory and/or read-only memory devices.
Software elements (programs) may reside in the working memory 2014 including, but not limited to, an operating system 2016, one or more application programs 2018, drivers, and/or other data and code. Instructions for performing the above-described methods and steps may be included in one or more applications 2018, and the above-described methods of generation may be implemented by instructions of the one or more applications 2018 being read and executed by the processor 2004. More specifically, the above-described method for generating a virtual lane in a level crossing, steps 101 to 104, may be implemented, for example, by the processor 2004 executing the application 2018 having the instructions of steps 101 to 104. Executable code or source code of instructions of software elements (programs) may be stored in a non-transitory computer readable storage medium (such as storage device 2010 described above) and, when executed, may be stored (possibly compiled and/or installed) in working memory 2014. Executable code or source code for instructions of software elements (programs) may also be downloaded from a remote location.
It should also be understood that various modifications may be made according to specific requirements. For example, custom hardware may also be used, and/or particular elements may be implemented in hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. For example, some or all of the disclosed methods and apparatus may be implemented by programming hardware (e.g., programmable logic circuits including Field Programmable Gate Arrays (FPGAs) and/or Programmable Logic Arrays (PLAs)) in an assembly language or hardware programming language such as VERILOG, VHDL, c++ using logic and algorithms according to the present disclosure.
It should also be appreciated that the foregoing method may be implemented by a server-client mode. For example, a client may receive data entered by a user and send the data to a server. The client may also receive data input by the user, perform a part of the foregoing processes, and send the processed data to the server. The server may receive data from the client and perform the aforementioned method or another part of the aforementioned method and return the execution result to the client. The client may receive the result of the execution of the method from the server and may present it to the user, for example, via an output device.
It should also be appreciated that the components of computing device 2000 may be distributed over a network. For example, some processes may be performed using one processor while other processes may be performed by another processor remote from the one processor. Other components of computing system 2000 may also be similarly distributed. As such, computing device 2000 may be construed as a distributed computing system that performs processing in multiple locations.
Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the foregoing methods, systems, and apparatus are merely exemplary embodiments or examples, and that the scope of the present invention is not limited by these embodiments or examples but only by the claims following the grant and their equivalents. Various elements of the embodiments or examples may be omitted or replaced with equivalent elements thereof. Furthermore, the steps may be performed in a different order than described in the present disclosure. Further, various elements of the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced by equivalent elements that appear after the disclosure.
Claims (17)
1. A method for generating a virtual lane in a level crossing comprises the following steps:
Acquiring relevant road information of a target level crossing, wherein the relevant road information comprises a corresponding relation between a plurality of entering road sections and a plurality of exiting road sections, entering lane information of each entering road section and exiting lane information of each exiting road section, the entering lane information comprises position information of each entering lane, and the exiting lane information comprises position information of each exiting lane;
Determining, for each of the entry road segments of the plurality of entry road segments, a first number of virtual connection line segments based on the respective entry lane information and the exit lane information of the respective at least one exit road segment, wherein each of the virtual connection line segments is located within the target level crossing and connects a respective entry lane and exit lane;
According to a preset rule, determining multiple target virtual connection line segments from a first number of virtual connection line segments corresponding to each entering road segment, wherein the multiple target virtual connection line segments corresponding to each entering road segment are not intersected in the target level crossing; and
Generating a virtual lane within the target level crossing based on the corresponding target virtual connecting line segment,
Wherein determining the first number of virtual connection line segments comprises:
Determining, for each of the entry road segments, all exit lanes corresponding to each entry lane of the entry road segment based on the respective entry lane information and the exit lane information of the respective at least one exit road segment;
Based on the corresponding position information, a virtual connection line segment is established between each entering lane of the entering road section and all exiting lanes corresponding to the entering lane,
Wherein, according to a preset rule, determining a multi-label virtual connection segment from the corresponding first number of virtual connection segments of each entering road segment includes:
Determining information of a plurality of crossing points between the first number of virtual connecting line segments, and the plurality of crossing points being located between two end points of the corresponding virtual connecting line segments;
And determining the multi-item target virtual connection line segment from the corresponding first number of virtual connection line segments of each entering road segment according to a preset rule based on the information of the plurality of crossing points.
2. The generating method according to claim 1, wherein the correspondence relationship includes a steering relationship between the plurality of entry road segments and a plurality of exit road segments.
3. The generation method according to claim 2, wherein the entering lane information further includes traffic direction information of each entering lane.
4. The generating method as claimed in claim 3, wherein the traffic direction information includes at least one of: straight, left turn, right turn, and turn around.
5. The generating method of claim 4, wherein the determining all exit lanes corresponding to each entry lane of the entry road segment comprises:
for each of the plurality of entry road segments, determining one or more exit road segments corresponding to the entry lane from at least one exit road segment corresponding to the entry road segment based on the corresponding traffic direction information and a steering relationship between the plurality of entry road segments and a plurality of exit road segments;
All exit lanes of the one or more exit road segments corresponding to the entry lane are determined as exit lanes corresponding to the entry lane.
6. The generating method according to any one of claims 1 to 5, wherein, for each of the plurality of entry road segments, all entry lanes are connected with the exit lane of the corresponding at least one exit road segment by a target virtual connection line segment, and all exit lanes of the at least one exit road segment are also connected with the entry lane of the entry road segment by a target virtual connection line segment.
7. The generating method according to any one of claims 1 to 5, wherein, for each of the plurality of entry road segments, a number of target virtual connection segments connected to the entry road segment corresponding to each exit lane of the at least one exit road segment is smaller than a set value.
8. The generating method of claim 1, wherein determining the multi-label virtual connection line segment from the corresponding first number of virtual connection line segments of each of the entry road segments according to a preset rule based on the information of the plurality of intersections comprises:
Determining a deflection angle of each virtual connecting line segment relative to the vehicle running direction of the entering road segment for the first number of virtual connecting line segments;
and determining the multi-item target virtual connection line segment from the first number of virtual connection line segments corresponding to each entering road segment according to a preset rule based on the information of the plurality of crossing points and the deflection angles corresponding to the first number of virtual connection line segments.
9. The generating method of claim 8, wherein determining the multi-label virtual connection line segment from the corresponding first number of virtual connection line segments for each of the entry road segments according to a preset rule based on the information of the plurality of intersections and the corresponding deflection angles of the first number of virtual connection line segments comprises:
And determining the virtual connecting line segment with the corresponding deflection angle smaller than the set angle as the optimal target virtual connecting line segment.
10. The generating method of claim 9, wherein determining the multi-label virtual connection line segment from the corresponding first number of virtual connection line segments for each of the entry road segments according to a preset rule based on the information of the plurality of intersections and the corresponding deflection angles of the first number of virtual connection line segments further comprises:
determining a virtual connecting line segment with the cross point between the virtual connecting line segment in the first number and the optimal target virtual connecting line as a first redundant virtual connecting line segment;
Determining virtual connecting line segments which are intersected with each other through the intersection point from a plurality of virtual connecting line segments except the optimal target virtual connecting line segment and the first redundant virtual connecting line segment in the first number of virtual connecting line segments as second redundant virtual connecting line segments;
and determining the remaining virtual connecting line segments except the optimal target virtual connecting line segment, the first redundant virtual connecting line segment and the second redundant virtual connecting line segment in the first number of virtual connecting line segments as target virtual connecting line segments.
11. The generating method of claim 10, wherein determining the multi-label virtual connection segment from the corresponding first number of virtual connection segments for each of the entry segments according to a preset rule based on the information of the plurality of intersections and the corresponding deflection angles of the first number of virtual connection segments further comprises:
And determining a second redundant virtual connecting line segment which is different from any one of the second redundant virtual connecting line segments and corresponds to the optimal target virtual connecting line segment and enters the lane as the target virtual connecting line segment.
12. The generating method as claimed in claim 10, wherein at least one exit section corresponding to the entry section includes a straight exit section, and the exit lane corresponding to the optimal target virtual connection line segment is a straight exit lane;
The generating method further comprises the following steps:
for each of the entry road segments, a first redundant virtual connection segment and a second redundant virtual connection segment connected to one of the exit lanes of the corresponding straight exit road segment are acquired and used as spare virtual connection segments, so that one of the spare virtual connection segments is selected to generate a spare virtual lane when the virtual lane corresponding to the optimal target virtual connection segment is unavailable.
13. The generating method according to claim 1, wherein the position information of each of the entering lanes is coordinates of any point on a first side of the entering lane, the position of each of the exiting lanes is coordinates of any point on a second side of the exiting lane, and both the first side and the second side are close to the target level crossing.
14. A virtual lane generation device in a level crossing, comprising:
An acquisition module configured to acquire relevant road information of a target level crossing, the relevant road information including a corresponding relationship between a plurality of entry road segments and a plurality of exit road segments, and entry lane information of each of the entry road segments and exit lane information of each of the exit road segments, the entry lane information including position information of each of the entry lanes, the exit lane information including position information of each of the exit lanes;
A first determination module configured to determine, for each of the entry road segments of the plurality of entry road segments, a first number of virtual connection line segments based on the respective entry lane information and the exit lane information of the respective at least one exit road segment, wherein each of the virtual connection line segments is located within the target level crossing and connects a respective entry lane and exit lane;
The second determining module is configured to determine a plurality of target virtual connection line segments from a first number of virtual connection line segments corresponding to each entering road segment according to a preset rule, wherein the plurality of target virtual connection line segments corresponding to each entering road segment are not intersected with each other in the target level crossing; and
A generation module configured to generate a virtual lane within the target level crossing based on the respective target virtual connection line segments,
Wherein the first determination module is configured to:
Determining, for each of the entry road segments, all exit lanes corresponding to each entry lane of the entry road segment based on the respective entry lane information and the exit lane information of the respective at least one exit road segment;
Based on the corresponding position information, a virtual connection line segment is established between each entering lane of the entering road section and all exiting lanes corresponding to the entering lane,
Wherein the second determination module is configured to:
Determining information of a plurality of crossing points between the first number of virtual connecting line segments, and the plurality of crossing points being located between two end points of the corresponding virtual connecting line segments;
And determining the multi-item target virtual connection line segment from the corresponding first number of virtual connection line segments of each entering road segment according to a preset rule based on the information of the plurality of crossing points.
15. An electronic device, the electronic device comprising:
A processor; and
A memory storing a program comprising instructions that when executed by the processor cause the processor to perform the method of any one of claims 1-13.
16. A computer readable storage medium storing a program, the program comprising instructions which, when executed by a processor of an electronic device, cause the electronic device to perform the method of any one of claims 1-13.
17. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method of any of claims 1-13.
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| CN113074744A (en) * | 2021-03-18 | 2021-07-06 | 重庆数字城市科技有限公司 | Method for generating topological connection line of map for intelligent network vehicle connection |
| CN113743386B (en) * | 2021-11-05 | 2022-02-25 | 腾讯科技（深圳）有限公司 | Lane line generation method, apparatus, device, and storage medium |
| CN114495554A (en) * | 2021-12-31 | 2022-05-13 | 武汉中海庭数据技术有限公司 | Intersection guide information construction method and system for intelligent driving |
| CN115166774A (en) * | 2022-06-20 | 2022-10-11 | 高德软件有限公司 | Method and device for generating virtual lane line, electronic equipment and program product |
| US11961403B2 (en) * | 2022-07-20 | 2024-04-16 | Denso Corporation | Lane monitoring during turns in an intersection |
| CN115937812B (en) * | 2023-01-06 | 2023-05-16 | 河北博士林科技开发有限公司 | Method and system for generating virtual lane line of traffic intersection |
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