CN112309232B - Method and device for determining lane line - Google Patents
Method and device for determining lane line Download PDFInfo
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- CN112309232B CN112309232B CN202011104582.XA CN202011104582A CN112309232B CN 112309232 B CN112309232 B CN 112309232B CN 202011104582 A CN202011104582 A CN 202011104582A CN 112309232 B CN112309232 B CN 112309232B
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- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
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Abstract
The specification discloses a method and a device for determining lane lines, which are used for determining end points of all actual lane lines of a road and determining a plurality of reference lines along the extending direction of the road; determining an area surrounded by each reference line and a road boundary as a target area; aiming at each reference line, determining a set of intersection points of each actual lane line and the reference line according to the information of each actual lane line and the information of the reference line; determining a designated intersection point in the intersection point sets corresponding to other reference lines aiming at each intersection point in the intersection point set corresponding to the reference line; and determining the virtual lane line according to the position of the intersection point and the position of the designated intersection point. By determining the target area and each intersection point set, the virtual lane line is determined in the target area according to the intersection points in the current intersection point set and the intersection points in other sets, so that the virtual lane line does not need to be determined manually, the time and the cost are saved, and the drawing efficiency of the virtual lane line is improved.
Description
Technical Field
The present disclosure relates to the field of electronic maps, and in particular, to a method and an apparatus for determining a lane line.
Background
At present, when an unmanned vehicle runs, a path planning needs to be carried out by depending on a pre-constructed electronic map. In the process of constructing the electronic map, the determination of the lane line is important.
In determining the lane lines, the actual lane lines may be detected using computer vision or the like with respect to the actual lane lines existing in the road, and due to the complexity of the road environment, there may be some road regions where the actual lane lines do not exist, for example, road regions where the number of lanes varies. Fig. 1 is a schematic diagram of a conventional road lane line distribution. In fig. 1, the lane driving direction is shown by an arrow, the solid black line is an actual lane line existing on the road, the lane a is divided into lanes B, C, D in the lane number change region, and a virtual lane line needs to be drawn in the lane number change region in order for the unmanned aerial vehicle to smoothly enter one lane of the lanes B, C, D from the lane a.
However, when determining the virtual lane line, the prior art needs to manually determine the starting position and the ending position according to the lane layout condition, so as to draw the virtual lane line according to the starting position and the ending position. However, determining the virtual lane lines manually requires a lot of time and labor cost, and is inefficient.
Disclosure of Invention
The embodiments of the present disclosure provide a method and an apparatus for determining a lane line, so as to partially solve the above problems in the prior art.
The embodiment of the specification adopts the following technical scheme:
a method for determining a lane line provided in this specification, the method including:
in an electronic map, determining end points of all actual lane lines of a road along the extending direction of the road, and determining a plurality of reference lines based on the positions of the end points of all the actual lane lines;
determining an area surrounded by each reference line and a road boundary as a target area;
aiming at each reference line, determining a set of intersection points of each actual lane line and the reference line according to the information of each actual lane line and the information of the reference line, and taking the set of intersection points as an intersection point set corresponding to the reference line;
aiming at each intersection point in the intersection point set corresponding to the reference line, determining a designated intersection point in the intersection point sets corresponding to other reference lines according to the position of the intersection point;
and determining a virtual lane line in the target area according to the position of the intersection point and the position of the specified intersection point.
Optionally, for each intersection in the intersection set corresponding to the reference line, determining a specified intersection in the intersection sets corresponding to the other reference lines according to the position of the intersection, specifically including:
taking the intersection point set corresponding to the reference line as a first intersection point set, and taking the intersection point sets corresponding to other reference lines as a second intersection point set;
sequencing all the intersection points in the first intersection point set according to the positions of all the intersection points to obtain a first sequencing result;
according to the first sequencing result, determining an adjacent intersection point of the intersection points in the first intersection point set;
and determining the designated intersection point in the second intersection point set according to the information of the adjacent intersection points.
Optionally, the type of intersection comprises a non-endpoint type;
determining an adjacent intersection of the intersections according to the first ordering result, specifically comprising:
according to the type of each intersection point in the first intersection point set, selecting the intersection point of the non-endpoint type in the first intersection point set;
and taking the intersection point of the non-endpoint type adjacent to the intersection point as the adjacent intersection point according to the first sequencing result.
Optionally, determining the designated intersection point in the second intersection point set according to the information of the adjacent intersection points specifically includes:
determining the sequence of the intersection point and the adjacent intersection point in the first sequencing result, and determining an intersection point which is positioned on the same actual lane line with the adjacent intersection point in the second intersection point set as an associated intersection point;
and determining the designated intersection point in the second intersection point set according to the sequence and the associated intersection points.
Optionally, determining the designated intersection point in the second intersection point set according to the sequence and the association intersection point specifically includes:
sequencing all the intersection points in the second intersection point set according to the positions of all the intersection points to obtain a second sequencing result;
and in the second sequencing result, determining the next intersection point of the associated intersection points according to the reverse sequence of the sequence, and taking the next intersection point as the designated intersection point.
Optionally, determining a virtual lane line in the target area according to the position of the intersection and the position of the designated intersection, specifically including:
determining a first position difference according to the position of the intersection point and the positions of the adjacent intersection points, and determining a second position difference according to the position of the specified intersection point and the position of the associated intersection point;
determining a virtual lane line to be optimized according to the information of the actual lane line where the adjacent intersection points are located and the first position difference;
and optimizing the virtual lane line to be optimized according to the position of the designated intersection point to obtain the virtual lane line.
Optionally, determining a virtual lane line to be optimized according to the information of the actual lane line where the adjacent intersection points are located and the first position difference, specifically including:
sampling the actual lane line where the adjacent intersection points are located to obtain a plurality of first sampling points;
aiming at each first sampling point, determining the position of a second sampling point corresponding to the first sampling point according to the position of the first sampling point and the difference of the first positions;
and fitting each second sampling point according to the position of each second sampling point to obtain the virtual lane line to be optimized.
Optionally, optimizing the virtual lane line to be optimized according to the position of the designated intersection point to obtain the virtual lane line, specifically including:
determining an end point of the virtual lane line to be optimized as a designated end point, determining a second position difference according to the position of the designated intersection point and the position of the designated end point, and sampling the virtual lane line to be optimized to obtain a plurality of third sampling points;
aiming at each third sampling point, determining the distance between the third sampling point and the intersection point according to the position of the third sampling point and the position of the intersection point;
determining the weight of the third sampling point according to the distance between the points, wherein the weight of the third sampling point is positively correlated with the distance between the points;
determining the position of a fourth sampling point corresponding to the third sampling point according to the weight of the third sampling point and the second position difference;
and fitting the fourth sampling points according to the positions of the fourth sampling points to obtain the virtual lane line.
The present specification provides an apparatus for determining a lane line, the apparatus comprising:
the system comprises a reference line determining module, a judging module and a judging module, wherein the reference line determining module is used for determining end points of all actual lane lines of a road along the extending direction of the road in an electronic map, and determining a plurality of reference lines based on the positions of the end points of all the actual lane lines;
a target area determining module, configured to determine an area surrounded by the reference lines and the road boundary as a target area;
the intersection point set determining module is used for determining a set of intersection points of each actual lane line and the reference line according to the information of each actual lane line and the information of the reference line aiming at each reference line, and the set is used as an intersection point set corresponding to the reference line;
the specified intersection point determining module is used for determining specified intersection points in the intersection point sets corresponding to the other reference lines according to the positions of the intersection points aiming at each intersection point in the intersection point sets corresponding to the reference lines;
and the virtual lane line determining module is used for determining a virtual lane line in the target area according to the position of the intersection point and the position of the specified intersection point.
The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described method of determining a lane line.
The present specification provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the above method for determining lane lines.
The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:
determining end points of all actual lane lines of a road along the extending direction of the road in an electronic map, and determining a plurality of reference lines based on the positions of the end points of all the actual lane lines; determining an area surrounded by each reference line and a road boundary as a target area; aiming at each reference line, determining a set of intersection points of each actual lane line and the reference line according to the information of each actual lane line and the information of the reference line, and taking the set of intersection points as an intersection point set corresponding to the reference line; aiming at each intersection point in the intersection point set corresponding to the reference line, determining a designated intersection point in the intersection point sets corresponding to other reference lines according to the position of the intersection point; and determining a virtual lane line in the target area according to the position of the intersection and the position of the designated intersection.
According to the method, the target area and each intersection point set are determined, and the virtual lane line is determined in the target area according to the intersection points in the current intersection point set and the intersection points in other sets, so that the virtual lane line does not need to be determined manually, the time and the cost are saved, and the drawing efficiency of the virtual lane line is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:
FIG. 1 is a schematic view of a conventional road lane distribution;
fig. 2 is a flowchart of a method for determining a lane line according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of determining a target area according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of determining a virtual lane line according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an apparatus for determining a virtual lane line according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an electronic device corresponding to fig. 2 provided in an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present specification clearer and more complete, the technical solutions of the present specification will be described in detail and completely with reference to the specific embodiments of the present specification and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without making any creative effort belong to the protection scope of the present specification.
When the unmanned vehicle runs, the unmanned vehicle needs to run according to a lane formed by two lane lines. If no lane line exists on the road in the electronic map, the unmanned vehicle cannot perform path planning because the unmanned vehicle cannot determine lane information, and thus cannot normally run.
Due to the complexity of the actual road environment, there may be no actual lane lines in some road areas, and thus, the lane lines in these road areas cannot be determined when the electronic map is constructed. For example, a road region where the number of lanes varies, as shown in fig. 1. The lanes a are divided into the lanes B, C, D, and when a normal vehicle travels, the normal vehicle can smoothly enter one of the lanes B, C, D from the lane a through an area in which no lane line is drawn in the middle due to the driving experience of a driver. In this case, however, since there is an area where no lane line is drawn in the middle during the entry from lane a to one of lanes B, C, D, the driverless vehicle cannot determine the lane in the area where no lane line is drawn, and cannot enter one of lanes B, C, D from lane a.
Therefore, the present specification provides a method of determining a lane line, in which a plurality of reference lines are determined along a direction in which a road extends in an electronic map; determining an area surrounded by each reference line and a road boundary as a target area (i.e., a road area where no lane line is drawn); aiming at each reference line, determining a set of intersection points of each actual lane line and the reference line according to the information of each actual lane line and the information of the reference line, and taking the set of intersection points as an intersection point set corresponding to the reference line; aiming at each intersection point in the intersection point set corresponding to the reference line, determining a designated intersection point in the intersection point sets corresponding to other reference lines according to the position of the intersection point; and determining a virtual lane line in the target area according to the position of the intersection point and the position of the designated intersection point.
The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.
Fig. 2 is a flowchart of a method for determining a lane line according to an embodiment of the present disclosure, which may specifically include the following steps:
s100: in the electronic map, the end points of the actual lane lines of the road are determined along the extending direction of the road, and a plurality of reference lines are determined based on the positions of the end points of the actual lane lines.
S102: and determining an area surrounded by each reference line and the road boundary as a target area.
In this specification, the unmanned vehicle needs to travel according to a lane formed by two lane lines in an electronic map, which may be a map determined based on point cloud data or image data, in which there are road boundaries and lane lines on a road, and in this specification, the electronic map may include a high-precision map, a three-dimensional map, or the like, and in a preferred embodiment, the electronic map may be a high-precision map.
The unmanned vehicle mainly comprises an unmanned vehicle, an unmanned aerial vehicle and other intelligent unmanned equipment, and is mainly used for replacing manual goods delivery, such as transporting sorted goods in a large goods storage center or transporting the goods from one place to another place. The electronic map may be a map predetermined by the unmanned vehicle or the server, or may be an electronic map to be drawn in which a road boundary and an actual lane line have been determined. The actual lane line refers to a lane line drawn by a government department on the actual road, and in the electronic map, the actual lane line refers to a lane line determined by computer vision and other methods according to the lane line drawn by the government department on the actual road. On the actual road, the virtual lane line refers to a lane line which is not drawn by the government department and actually exists, for example, in fig. 1, the lane a enters the lane C, and in the middle blank area, two virtual lane lines actually exist to connect the lane a with the lane C.
It should be noted that the method for determining lane lines provided in this specification may be executed by an electronic device such as a server for constructing an electronic map or an unmanned vehicle, and the server may be a single server or a system composed of multiple servers, for example: distributed servers, etc., which are not limited in this specification and can be set as desired.
The present specification may first determine a target area where a virtual lane line needs to be drawn.
Specifically, in the electronic map, an end point of an actual lane line is determined along a direction in which a road extends, the number of lanes and a first reference line are determined based on the position of the end point of the actual lane line, the position at which the number of lanes changes is determined continuously along the direction of the road boundary, and a second reference line is determined according to the position at which the number of lanes changes.
Fig. 3 is a schematic diagram of determining a target area according to an embodiment of the present disclosure. In fig. 3, in the road extending direction, that is, in the direction in which the road boundary extends, the end points m2, m3 of each actual lane line of the road may be determined, the intersections of the reference lines L1, L1 and the lanes B, C, D may be respectively represented as intersection points m1, m2, m3, m4, from the positions of the end points m2, m3, the number of lanes at the reference line L1 is three lanes, and then, in the road extending direction, the reference line L2 may be determined at the position where the number of lanes changes (that is, the number of lanes changes from three to one), and the intersections of the reference line L2 and the lane a may be respectively represented as intersection points n1, n 2.
In addition, in actual conditions, the lane lines are divided into solid lines and broken lines. In this specification, the end points of the actual lane lines are the line segment end points of the actual lane lines. For the dashed line lane line, since the dashed line lane line is composed of a plurality of line segments, and a whole lane line connected by all the line segments is the dashed line lane line, the end point of the actual lane line in this specification is the end point of the line segment of the whole dashed line lane line, not the end point of the line segment of the content portion of the dashed line lane line.
The reference line shown in fig. 3 is a reference line perpendicular to the lane line, and in this specification, the reference line may be a curve forming an angle with the lane line. In addition to the embodiment shown in fig. 3, the present description is also applicable to other road situations, such as a road junction. At a road junction, the reference line L2 may be two. The embodiment shown in fig. 3 may be referred to for virtual lane lines determined for other road conditions.
In this specification, after each reference line is determined, an area surrounded by the reference line and a road boundary may be determined as a target area.
In fig. 3, a closed area surrounded by the reference line L1, the reference line L2 and the road boundary is a target area. In addition, an open area defined by the reference line L1 and the reference line L2 may be set as the target area. In other words, the target area is an area where a lane line not drawn by a government department actually exists in an actual road.
S104: and aiming at each reference line, determining a set of intersection points of each actual lane line and the reference line according to the information of each actual lane line and the information of the reference line, and taking the set of intersection points as an intersection point set corresponding to the reference line.
After the target area is determined, information of each actual lane line, for example, a curve equation expression of the actual lane line, may be acquired in the electronic map. When determining the reference lines, the curve equation expressions of the reference lines can also be determined at the same time. In addition, the information of the actual lane line and the reference line may further include position information and the like.
Therefore, for each reference line, the intersection point of each actual lane line and the reference line can be determined based on the information of the actual lane line and the information of the reference line, and the set of the intersection points of each actual lane line and the reference line is taken as the set of the intersection points corresponding to the reference line. That is, a set of intersections of the actual lane lines and the first reference line is determined as a first intersection set from the information of the actual lane lines and the first reference line, and a set of intersections of the actual lane lines and the second reference line is determined as a second intersection set from the information of the actual lane lines and the second reference line.
S106: and aiming at each intersection point in the intersection point set corresponding to the reference line, determining a specified intersection point in the intersection point sets corresponding to other reference lines according to the position of the intersection point.
After the intersection point sets are determined and the reference line is the first reference line, the intersection point set corresponding to the reference line can be used as the first intersection point set, and the intersection point sets corresponding to other reference lines can be used as the second intersection point set.
For each intersection point in the first intersection point set, the intersection point can be connected with any intersection point in the second set to determine a virtual lane line, that is, one intersection point is respectively selected from the two intersection point sets, and the two selected intersection points are connected to determine the virtual lane line of the target area.
However, in this case, there may be a case where some of the determined virtual lane lines are not reasonable, and therefore, the present specification provides a preferred embodiment, in which each intersection in the first intersection set may be first sorted according to the position of each intersection to obtain a first sorting result, and then, according to the first sorting result, in the first intersection set, an adjacent intersection of the intersection is determined; and finally, determining the specified intersection point in the second intersection point set according to the information of the adjacent intersection points.
In particular, the types of intersections may include intersections of endpoint types as well as intersections of non-endpoint types. And for each intersection point, if the intersection point is a line segment end point of the actual lane line, determining the type of the intersection point as an end point type, and if the intersection point is a point on the line segment of the actual lane line but not a line segment end point, determining the type of the intersection point as a non-end point type. In ranking the intersections in the first set of intersections, a first ranking result may be determined based on the positions of the intersections in a direction from one road boundary of the road to another road boundary of the road. Therefore, in the first intersection set, a plurality of intersections of the non-endpoint types may be selected according to the types of the respective intersections in the first intersection set, and the intersections of the non-endpoint types adjacent to the intersection may be set as adjacent intersections according to the first ordering result and the position information of the respective intersections of the non-endpoint types. Therefore, the adjacent intersection is the intersection of the non-end point type closest to the intersection in the first sort result.
In other words, when determining adjacent intersection points, according to the first ordering result, in each intersection point before the intersection point, the type of each intersection point can be sequentially determined from back to front according to the first ordering result until the type of the intersection point is a non-end point type, and the intersection point is taken as the adjacent intersection point; and/or determining the type of each intersection point in each intersection point after the intersection point from front to back according to the first sequencing result until the type of the intersection point is a non-endpoint type, and taking the intersection point as an adjacent intersection point.
By the above example, in fig. 3, for the intersection point m2 of the endpoint type, since m1 and m4 are intersection points of the non-endpoint type and m3 is an intersection point of the endpoint type, adjacent intersection points of m2 are m1 and m 4.
After the adjacent intersection points are determined, the sequence of the intersection points and the adjacent intersection points in the first sequencing result can be determined, and in the second intersection point set, the intersection points which are located on the same actual lane line with the adjacent intersection points are determined as the associated intersection points.
Since the adjacent intersection points are intersection points of a non-end point type, that is, the lane line where the adjacent intersection point is located is an actual lane line passing through the target region, in the second intersection point set, there is an intersection point located on the same actual lane line as the adjacent intersection point, and an intersection point located on the same actual lane line as the adjacent intersection point may be used as the associated intersection point.
Along the above example, in fig. 3, if it is determined that the adjacent intersection point is m1, in the second intersection point set, it is determined that the associated intersection point located on the same actual lane line as the adjacent intersection point m1 is the intersection point n 1. In addition, if the first ordering result in fig. 3 is m1, m2, m3, m4, since the intersection point m2 is located after the adjacent intersection point m1, the order of the intersection point m2 and the adjacent intersection point m1 can be determined as from back to front.
And after the association intersection points are determined, determining the designated intersection points in the second intersection point set according to the sequence and the association intersection points.
And referring to the content of sequencing each intersection in the first intersection set, sequencing each intersection in the second intersection set according to the position of each intersection to obtain a second sequencing result. And in the second sequencing result, determining the next intersection point of the associated intersection points according to the reverse sequence of the sequence, and taking the next intersection point as the designated intersection point.
Following the above example, in fig. 3, the intersection points in the second intersection point set are n1 and n2, and if the second ordering result is n1 and n2, since the precedence order is from back to front, and the reverse order of the precedence order is from front to back, the next intersection point of the associated intersection point n1 is the intersection point n2, and the intersection point n2 is the designated intersection point. Of course, in fig. 3, if the intersection point is m2 and the adjacent intersection point is m4, the associated intersection point is n2, and the order of the intersection points is from front to back, then when the designated intersection point is determined, the next intersection point from back to front of the adjacent intersection point n2 in the second ranking result is the intersection point n1, that is, the designated intersection point is the intersection point n 1. That is, different adjacent intersections in the first ordering result correspond to different associated intersections and different precedence orders, and thus, the obtained designated intersections are also different according to information of different adjacent intersections. Of course, the above-mentioned manner of sorting the respective intersections in the first intersection set and the second intersection set is only one of examples, and the designated intersections corresponding to different sorting manners are also different.
S108: and determining a virtual lane line in the target area according to the position of the intersection point and the position of the specified intersection point.
After the designated intersection is determined, a virtual lane line connecting the designated intersection and the intersection can be determined in the target area based on the position of the designated intersection and the position of the designated intersection.
Therefore, by determining the position of the intersection and the position of the designated intersection, the intersection and the designated intersection can be connected to obtain a virtual lane line. Since the center line of the lane needs to be considered when the unmanned vehicle travels, and the center line of the lane is determined by the virtual lane line, the center line of the lane can be made as smooth as possible to ensure that the unmanned vehicle can run more stably when traveling, and thus the two virtual lane lines need to be made as parallel as possible. The present description therefore provides a preferred embodiment in which the first positional difference is determined from the position of the intersection and the positions of adjacent intersections, and the second positional difference is determined from the position of the specified intersection and the position of the associated intersection. And determining a virtual lane line to be optimized according to the information of the actual lane line where the adjacent intersection points are located and the first position difference, and optimizing the virtual lane line to be optimized according to the position of the specified intersection point to obtain the virtual lane line.
Specifically, the position information of the intersection may be represented by coordinate information, and a coordinate difference between the position of the intersection and the position of the adjacent intersection may be determined as the first position difference.
First, a virtual lane line to be optimized is determined. The method comprises the steps of sampling an actual lane line where adjacent intersection points are located to obtain a plurality of first sampling points, determining the positions of second sampling points corresponding to the first sampling points according to the positions of the first sampling points and the first position difference aiming at the first sampling points, and fitting the second sampling points according to the positions of the second sampling points to obtain a virtual lane line to be optimized.
When the actual lane line where the adjacent intersection points are located is sampled, the actual lane line where the adjacent intersection points are located can be sampled in the target area, and a plurality of first sampling points are obtained. For each first sampling point, the sum of the position of the first sampling point and the difference between the first positions can be used as the position of the second sampling point corresponding to the first sampling point. And then, fitting each second sampling point according to the position of each second sampling point to obtain a curve determined by each second sampling point as a virtual lane line to be optimized. It should be noted here that, because each second sampling point is obtained by performing first position difference compensation on the first sampling point, the virtual lane line to be optimized is parallel to the actual lane line where the adjacent intersection point is located.
And then optimizing the virtual lane line to be optimized to obtain the virtual lane line. Determining an end point of the virtual lane line to be optimized as a designated end point, determining a second position difference according to the position of the designated intersection point and the position of the designated end point, and sampling the virtual lane line to be optimized to obtain a plurality of third sampling points; for each third sampling point, determining the distance between the third sampling point and the intersection point according to the position of the third sampling point and the position of the intersection point; determining the weight of the third sampling point according to the distance between the points, wherein the weight of the third sampling point is positively correlated with the distance between the points; determining the position of a fourth sampling point corresponding to the third sampling point according to the weight of the third sampling point and the second position difference; and fitting the fourth sampling points according to the positions of the fourth sampling points to obtain the virtual lane lines.
As can be seen from the above, if one of the two end points of the virtual lane line to be optimized is the intersection, the other end point of the virtual lane line to be optimized can be used as the designated end point. With reference to the determination content of the first positional difference, the distance between the specified intersection and the specified endpoint may be determined as the second positional difference, based on the position of the specified intersection and the position of the specified endpoint. In this specification, the virtual lane line to be optimized may be sampled to obtain a plurality of third sampling points, or the foregoing may be followed, and the second sampling points may be directly used as the third sampling points. The length of the line segment of the virtual lane line to be optimized in the target area can be determined as the length of the virtual lane line to be optimized, for each third sampling point, the inter-point distance between the third sampling point and the intersection point can be determined according to the position of the third sampling point and the position of the intersection point, the weight of the third sampling point can be determined according to the inter-point distance and the length of the virtual lane line to be optimized, for example, the ratio of the inter-point distance to the length of the virtual lane line to be optimized can be used as the weight of the third sampling point. The weight of the third sampling point is positively correlated with the distance between the points, that is, the larger the distance between the points is, the farther the third sampling point is from the intersection point is, the larger the weight of the third sampling point is. If the value interval of the weight of the third sample point is [0,1], the weight of the third sample point is 0 if the intersection point is the third sample point, and the weight of the third sample point is 1 if the designated end point is the third sample point. Then, the product of the weight of the third sampling point and the second position difference can be determined as a compensation value, and the sum of the position of the third sampling point and the compensation value can be determined as the position of a fourth sampling point corresponding to the third sampling point.
Fig. 4 is a schematic diagram of determining a virtual lane line according to an embodiment of the present disclosure. In fig. 4, a white square is a sampling point, following the above example, the sampling point on the actual lane line is a first sampling point, a white triangle is a designated end point, a line segment fitted by the designated end point and the intersection point is a virtual lane line to be optimized, each sampling point on the virtual lane line to be optimized is a second sampling point, and in the upper half of the content of fig. 4, the virtual lane line to be optimized, which is parallel to the actual lane line, is determined according to the information of the actual lane line and the first position difference. In the lower part of fig. 4, according to the second position difference between the designated end point and the designated intersection point, the third sampling point on the virtual lane line to be optimized is compensated to obtain a fourth sampling point, and the virtual lane line is obtained by fitting the fourth sampling point, that is, the virtual lane line to be optimized is optimized to obtain the virtual lane line.
In this specification, a third position difference between the associated intersection point and the designated intersection point may be determined according to the position of the associated intersection point and the position of the designated intersection point, and the virtual lane line and the actual lane line are sampled to obtain a first sampling point located on the actual lane line and a fourth sampling point located on the virtual lane line. And respectively sequencing the first sampling point and the fourth sampling point, wherein for the first sampling point and the fourth sampling point with the same position in the sequencing result, the distance between the first sampling point and the fourth sampling point is related to the first position difference and the third position difference. Specifically, the farther the distance between the first sampling point and the associated intersection point is (that is, the closer the distance between the first sampling point and the adjacent intersection point is, or the farther the distance between the fourth sampling point and the designated intersection point is), the closer the distance between the first sampling point and the fourth sampling point is to the first positional difference, and the closer the distance between the first sampling point and the associated intersection point is, the closer the distance between the first sampling point and the fourth sampling point is to the third positional difference.
The method for determining the lane line provided by the specification can be particularly applied to the field of distribution by using unmanned equipment, for example, a scene of distribution such as express delivery, takeaway and the like by using the unmanned equipment. Specifically, in the above-described scenario, delivery may be performed using an unmanned vehicle fleet configured with a plurality of unmanned devices.
Based on the method for determining a lane line described above, an embodiment of the present specification further provides a schematic structural diagram of an apparatus for determining a lane line, as shown in fig. 5.
Fig. 5 is a schematic structural diagram of an apparatus for determining a lane line provided in an embodiment of the present disclosure, where the apparatus includes:
a reference line determining module 401, configured to determine, in an electronic map, end points of actual lane lines of a road along a direction in which the road extends, and determine a plurality of reference lines based on positions of the end points of the actual lane lines;
a target area determining module 402, configured to determine an area surrounded by the reference lines and the road boundary as a target area;
an intersection point set determining module 403, configured to determine, for each reference line, a set of intersection points between each actual lane line and the reference line according to information of each actual lane line and information of the reference line, where the set is used as an intersection point set corresponding to the reference line;
a designated intersection point determining module 404, configured to determine, for each intersection point in the intersection point set corresponding to the reference line, a designated intersection point in the intersection point sets corresponding to the other reference lines according to a position of the intersection point;
a virtual lane line determining module 405, configured to determine a virtual lane line in the target area according to the position of the intersection and the position of the designated intersection.
Optionally, the module for determining a designated intersection point 404 is specifically configured to use an intersection point set corresponding to the reference line as a first intersection point set, and use intersection point sets corresponding to other reference lines as a second intersection point set; sequencing all the intersection points in the first intersection point set according to the positions of all the intersection points to obtain a first sequencing result; according to the first sequencing result, determining an adjacent intersection point of the intersection points in the first intersection point set; and determining the designated intersection point in the second intersection point set according to the information of the adjacent intersection points.
Optionally, the type of intersection comprises a non-endpoint type;
the determine-and-designate intersection module 404 is specifically configured to select an intersection of the non-endpoint type in the first intersection set according to the type of each intersection in the first intersection set; and taking the intersection point of the non-endpoint type adjacent to the intersection point as the adjacent intersection point according to the first sequencing result.
Optionally, the module for determining a designated intersection point 404 is specifically configured to determine a precedence order of the intersection point and the adjacent intersection point in the first ordering result, and determine, in the second intersection point set, an intersection point located on the same actual lane line as the adjacent intersection point as an associated intersection point; and determining the designated intersection point in the second intersection point set according to the sequence and the associated intersection points.
Optionally, the module for determining a designated intersection point 404 is specifically configured to sort, according to the position of each intersection point, each intersection point in the second intersection point set to obtain a second sorting result; and in the second sequencing result, determining the next intersection point of the associated intersection points according to the reverse sequence of the sequence, and taking the next intersection point as the designated intersection point.
Optionally, the module for determining a virtual lane line 405 is specifically configured to determine a first position difference according to the position of the intersection and the positions of the adjacent intersections, and determine a second position difference according to the position of the specified intersection and the position of the associated intersection; determining a virtual lane line to be optimized according to the information of the actual lane line where the adjacent intersection points are located and the first position difference; and optimizing the virtual lane line to be optimized according to the position of the designated intersection point to obtain the virtual lane line.
Optionally, the module 405 for determining a virtual lane line is specifically configured to sample an actual lane line where the adjacent intersection points are located, so as to obtain a plurality of first sampling points; aiming at each first sampling point, determining the position of a second sampling point corresponding to the first sampling point according to the position of the first sampling point and the difference of the first positions; and fitting each second sampling point according to the position of each second sampling point to obtain the virtual lane line to be optimized.
Optionally, the module 405 for determining a virtual lane line is specifically configured to determine an end point of the virtual lane line to be optimized, as a designated end point, determine a second position difference according to the position of the designated intersection point and the position of the designated end point, and sample the virtual lane line to be optimized to obtain a plurality of third sampling points; for each third sampling point, determining the distance between the third sampling point and the intersection point according to the position of the third sampling point and the position of the intersection point; determining the weight of the third sampling point according to the distance between the points, wherein the weight of the third sampling point is positively correlated with the distance between the points; determining the position of a fourth sampling point corresponding to the third sampling point according to the weight of the third sampling point and the second position difference; and fitting the fourth sampling points according to the positions of the fourth sampling points to obtain the virtual lane line.
The present specification further provides a computer-readable storage medium, which stores a computer program, where the computer program is used to execute the method for determining lane lines described above.
Based on the above method for determining lane lines, the embodiment of the present specification further provides a schematic structural diagram of the electronic device shown in fig. 6. As shown in fig. 6, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to implement the method for determining the lane line described above.
Of course, besides the software implementation, this specification does not exclude other implementations, such as logic devices or combination of software and hardware, and so on, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.
In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain a corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD) (e.g., a Field Programmable Gate Array (FPGA)) is an integrated circuit whose Logic functions are determined by a user programming the Device. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium that stores computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in purely computer readable program code means, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be regarded as a hardware component and the means for performing the various functions included therein may also be regarded as structures within the hardware component. Or even means for performing the functions may be conceived to be both a software module implementing the method and a structure within a hardware component.
The systems, apparatuses, modules or units described in the above embodiments may be specifically implemented by a computer chip or an entity, or implemented by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the various elements may be implemented in the same one or more pieces of software and/or hardware in the practice of this description.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The description has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the system embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
The above description is only an example of the present disclosure, and is not intended to limit the present disclosure. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (10)
1. A method of determining a lane line, the method comprising:
in an electronic map, determining end points of all actual lane lines of a road along the extending direction of the road, and determining a plurality of reference lines based on the positions of the end points of all the actual lane lines;
determining an area surrounded by each reference line and a road boundary as a target area;
for each reference line, determining a set of intersection points of each actual lane line and the reference line according to the information of each actual lane line and the information of the reference line, and taking the set of intersection points as an intersection point set corresponding to the reference line;
taking the intersection set corresponding to the reference line as a first intersection set, taking the intersection sets corresponding to other reference lines as a second intersection set, sequencing all intersections in the first intersection set according to the positions of all intersections to obtain a first sequencing result, determining adjacent intersections of the intersection in the first intersection set according to the first sequencing result for each intersection in the first intersection set, and determining a specified intersection in the second intersection set according to the information of the adjacent intersections;
and determining a virtual lane line in the target area according to the position of the intersection point and the position of the specified intersection point.
2. The method of claim 1, wherein the type of intersection comprises a non-endpoint type;
for each intersection in the first intersection set, determining an adjacent intersection of the intersections according to the first ordering result, specifically including:
according to the type of each intersection point in the first intersection point set, selecting the intersection point of the non-endpoint type in the first intersection point set;
and taking the intersection point of the non-endpoint type adjacent to the intersection point as the adjacent intersection point according to the first sequencing result.
3. The method according to claim 2, wherein determining the designated intersection point in the second intersection point set according to the information of the adjacent intersection points specifically includes:
determining the sequence of the intersection point and the adjacent intersection point in the first sequencing result, and determining an intersection point which is positioned on the same actual lane line with the adjacent intersection point in the second intersection point set as an associated intersection point;
and determining the designated intersection point in the second intersection point set according to the sequence and the associated intersection points.
4. The method according to claim 3, wherein determining the designated intersection point in the second intersection point set according to the precedence order and the associated intersection point specifically includes:
sequencing all the intersection points in the second intersection point set according to the positions of all the intersection points to obtain a second sequencing result;
and in the second sequencing result, determining the next intersection point of the associated intersection points according to the reverse sequence of the sequence, and taking the next intersection point as the designated intersection point.
5. The method according to claim 3, wherein determining a virtual lane line in the target area according to the position of the intersection and the position of the designated intersection includes:
determining a first position difference according to the position of the intersection point and the positions of the adjacent intersection points;
determining a virtual lane line to be optimized according to the information of the actual lane line where the adjacent intersection points are located and the first position difference;
and optimizing the virtual lane line to be optimized according to the position of the designated intersection point to obtain the virtual lane line.
6. The method according to claim 5, wherein determining the virtual lane line to be optimized according to the information of the actual lane line where the adjacent intersection points are located and the first position difference specifically includes:
sampling the actual lane line where the adjacent intersection points are located to obtain a plurality of first sampling points;
aiming at each first sampling point, determining the position of a second sampling point corresponding to the first sampling point according to the position of the first sampling point and the difference of the first positions;
and fitting each second sampling point according to the position of each second sampling point to obtain the virtual lane line to be optimized.
7. The method according to claim 5, wherein optimizing the virtual lane line to be optimized according to the position of the designated intersection point to obtain the virtual lane line specifically comprises:
determining an end point of the virtual lane line to be optimized as a designated end point, determining a second position difference according to the position of the designated intersection point and the position of the designated end point, and sampling the virtual lane line to be optimized to obtain a plurality of third sampling points;
aiming at each third sampling point, determining the distance between the third sampling point and the intersection point according to the position of the third sampling point and the position of the intersection point;
determining the weight of the third sampling point according to the distance between the points, wherein the weight of the third sampling point is positively correlated with the distance between the points;
determining the position of a fourth sampling point corresponding to the third sampling point according to the weight of the third sampling point and the second position difference;
and fitting the fourth sampling points according to the positions of the fourth sampling points to obtain the virtual lane line.
8. An apparatus for determining a lane line, the apparatus comprising:
the system comprises a reference line determining module, a judging module and a judging module, wherein the reference line determining module is used for determining end points of all actual lane lines of a road along the extending direction of the road in an electronic map, and determining a plurality of reference lines based on the positions of the end points of all the actual lane lines;
a target area determining module, configured to determine an area surrounded by the reference lines and the road boundary as a target area;
an intersection point set determining module, configured to determine, for each reference line, a set of intersection points between each actual lane line and the reference line according to information of each actual lane line and information of the reference line, as an intersection point set corresponding to the reference line;
the specified intersection point determining module is used for taking the intersection point set corresponding to the reference line as a first intersection point set, taking the intersection point sets corresponding to other reference lines as a second intersection point set, sequencing all intersection points in the first intersection point set according to the positions of all intersection points to obtain a first sequencing result, determining adjacent intersection points of the intersection points in the first intersection point set according to the first sequencing result aiming at each intersection point in the first intersection point set, and determining the specified intersection points in the second intersection point set according to the information of the adjacent intersection points;
and the virtual lane line determining module is used for determining a virtual lane line in the target area according to the position of the intersection point and the position of the specified intersection point.
9. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when being executed by a processor, carries out the method of any one of the preceding claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the program.
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| JP6832164B2 (en) * | 2017-01-13 | 2021-02-24 | 本田技研工業株式会社 | Driving assistance device and driving assistance method |
| CN108801273B (en) * | 2017-04-28 | 2021-07-30 | 阿里巴巴（中国）有限公司 | Method and device for generating road reference line |
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| CN110967026B (en) * | 2018-09-30 | 2022-02-22 | 毫末智行科技有限公司 | Lane line fitting method and system |
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| CN109871017B (en) * | 2019-02-20 | 2022-09-13 | 阿波罗智能技术(北京)有限公司 | Automatic driving reference line calling method and device and terminal |
| CN110415314B (en) * | 2019-04-29 | 2020-04-03 | 当家移动绿色互联网技术集团有限公司 | Method and device for constructing road network at road intersection, storage medium and electronic equipment |
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| CN110954128B (en) * | 2019-12-03 | 2021-11-16 | 阿波罗智能技术(北京)有限公司 | Method, device, electronic equipment and storage medium for detecting lane line position change |
| CN110909711B (en) * | 2019-12-03 | 2022-08-02 | 阿波罗智能技术(北京)有限公司 | Method, device, electronic equipment and storage medium for detecting lane line position change |
| CN111190427B (en) * | 2020-04-10 | 2020-10-02 | 北京三快在线科技有限公司 | Method and device for planning track |
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| CN111696170B (en) * | 2020-06-05 | 2023-07-04 | 百度在线网络技术（北京）有限公司 | Map drawing method, device, equipment and medium |
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