CN112487128A - Intersection guide line generation method and system, electronic device and storage medium - Google Patents
Intersection guide line generation method and system, electronic device and storage medium Download PDFInfo
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- CN112487128A CN112487128A CN202011464064.9A CN202011464064A CN112487128A CN 112487128 A CN112487128 A CN 112487128A CN 202011464064 A CN202011464064 A CN 202011464064A CN 112487128 A CN112487128 A CN 112487128A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
- G09B29/003—Maps
Abstract
The embodiment of the invention provides a method and a system for generating an intersection guide line, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring track point data of the road surface information according to the road surface information of the high-precision map; acquiring track data in any intersection, and respectively extending towards two ends according to two end points of the track data to obtain an extending track curve entering any intersection and an extending track curve exiting any intersection; when the vehicle crosses the crossing, the distance between the first crossing and the second crossing is calculated, and the track data of partial extension length is taken from the extension track curves of the two crossings to be merged, so that the vehicle guide line crossing the crossing is obtained. The embodiment of the invention can generate the guide line when the vehicle crosses the intersection according to the driving track line of the vehicle at the intersection, and the vehicle can drive to cross the intersection according to the guide line when crossing the intersection, thereby solving the defect that the guide line is not marked at the current intersection.
Description
Technical Field
The invention relates to the field of high-precision maps, in particular to a method and a system for generating an intersection guide line, electronic equipment and a storage medium.
Background
In high-precision map production, a lane vector of a non-intersection (which may also be referred to as a guide line of a lane) is generated by printed lines on both sides, and a vehicle can travel with reference to the lane vector. However, without printing lines in the intersection, the lane vector can be generated by Sell algorithm, but the lane vector generated by the method is difficult to meet the dynamic requirement of the vehicle.
The current intersection guide line is usually drawn manually, and when a vehicle enters the intersection or exits the intersection, the vehicle runs according to the guide line, however, the way of manually making the guide line is time-consuming.
Disclosure of Invention
Embodiments of the present invention provide an intersection guide line generation method, system, electronic device, and storage medium that overcome the above-mentioned problems or at least partially solve the above-mentioned problems.
According to a first aspect of the embodiments of the present invention, there is provided an intersection guide line generation method, including:
acquiring track point data of the road surface information according to the road surface information of the high-precision map;
for any intersection, acquiring track data in any intersection, and extending towards two ends respectively according to two end points of the track data to obtain an extending track curve entering into any intersection and an extending track curve exiting from any intersection, wherein the two end points are respectively the end point entering into any intersection and the end point exiting from any intersection;
when the vehicle drives from the first intersection to the second intersection, calculating the distance between the first intersection and the second intersection, and when the distance is smaller than the threshold value of the continuous intersection, on an extending track curve exiting the first intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the first intersection, and on the extending track curve entering the second intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the second intersection;
merging the guide line on the first intersection side and the guide line on the second intersection side as a guide line for the first intersection to cross over to the second intersection.
On the basis of the above technical solutions, the embodiments of the present invention may be further improved as follows.
Further, before obtaining the trajectory point data of the road surface information according to the high-precision map road surface information, the method further includes:
loading all trace data, removing repeated trace points, and performing thinning treatment on the trace points;
and calculating the distance between two adjacent track points, and if the distance between two adjacent track points is greater than a preset threshold value, breaking the track line data from the two track points to obtain a plurality of broken track lines.
Further, for any intersection, the acquiring the track data in any intersection includes:
for any intersection, acquiring a plurality of track point data belonging to the any intersection;
if the plurality of track point data are all located on the same track line, reserving the plurality of track points of any intersection, and recording the index of each track point;
and if two track point data in the plurality of track point data are on two different track lines, discarding the data and ending the process.
Further, for any intersection, after acquiring the trajectory data in any intersection, the method further includes:
and grouping the track points according to the continuity of the track point indexes based on the indexes of each track point belonging to any intersection, wherein the track point data in each group comprises track point data from entering any intersection to exiting any intersection.
Further, the obtaining of the extended trajectory curve entering any one of the intersections and the extended trajectory curve exiting any one of the intersections according to the two endpoints of the trajectory data extending to the two ends respectively includes:
for a group of track point data of any intersection, finding an end point entering the intersection and an end point exiting the intersection according to the index;
and respectively extending along the directions of the two ends according to the end point entering any intersection and the end point exiting any intersection to obtain an extending track curve entering any intersection and an extending track curve exiting any intersection.
Further, the extending along the directions of the two ends according to the end point entering the any intersection and the end point exiting the any intersection respectively comprises:
calculating the distance between the previous track point of the endpoint and each lane based on the index of the endpoint entering any intersection;
acquiring a minimum distance value of distances between a track point before the endpoint and all lanes;
if the minimum distance value is smaller than a preset distance threshold value, stopping the extension of the end point entering any intersection to obtain an extension track curve entering any intersection;
if the minimum distance is greater than a preset distance threshold, continuing to extend forwards until the minimum distance value between the track point and each lane is less than the preset distance threshold, and obtaining an extended track curve entering any intersection;
and obtaining the extending track curve exiting from any one intersection in the same way.
Further, the method also comprises the following steps:
and if the minimum distance values of all the track points in front of the end point and each lane are greater than a preset distance threshold, abandoning the acquisition of the extended track curve.
Further, the method also comprises the following steps:
and when the distance between the first intersection and the second intersection is greater than the threshold value of the continuous intersections, taking the extending track curve entering any one intersection or the extending track curve exiting any one intersection as a guide line of any one intersection.
According to a second aspect of embodiments of the present invention, there is provided an intersection guide line generating system including:
the acquisition module is used for acquiring track point data of the road surface information according to the high-precision map road surface information;
the extension processing module is used for acquiring the track data in any intersection, and extending towards two ends respectively according to two end points of the track data to obtain an extension track curve entering any intersection and an extension track curve exiting any intersection, wherein the two end points are respectively the end point entering any intersection and the end point exiting any intersection;
the calculation module is used for calculating the distance between the first intersection and the second intersection when the vehicle drives from the first intersection to the second intersection;
a determining module, configured to, when the distance is smaller than a threshold of the consecutive intersections, determine, on an extended trajectory curve exiting the first intersection, trajectory data having an extended length that is a half of a distance between the first intersection and the second intersection as a guide line on a side of the first intersection, and determine, on an extended trajectory curve entering the second intersection, trajectory data having an extended length that is a half of a distance between the first intersection and the second intersection as a guide line on a side of the second intersection;
and the merging module is used for merging the guide line on the side of the first intersection and the guide line on the side of the second intersection as the guide line for the first intersection to cross to the second intersection.
According to a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, and a processor, where the processor is configured to implement the steps of the intersection guide line generation method when executing a computer management class program stored in the memory.
According to a fourth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium on which a computer management-like program is stored, the computer management-like program, when executed by a processor, implementing the steps of the intersection guideline generation method.
According to the method, the system, the electronic device and the storage medium for generating the intersection guide line, provided by the embodiment of the invention, the track point data of the intersection surface information is obtained according to the intersection surface information of the high-precision map; acquiring track data in any intersection, and respectively extending towards two ends according to two end points of the track data to obtain an extending track curve entering any intersection and an extending track curve exiting any intersection; when the vehicle crosses the crossing, the distance between the first crossing and the second crossing is calculated, the track data of partial extension length is taken from the extension track curves of the two crossings to be combined, the vehicle guide line crossing the crossing is obtained, the guide line when the vehicle crosses the crossing can be generated according to the driving track line of the vehicle at the crossing, and the vehicle can drive to cross the crossing according to the guide line when crossing the crossing, so that the defect that the guide line is not marked at the current crossing is overcome.
Drawings
Fig. 1 is a flowchart of a crossing guide line generating method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a vehicle not crossing an intersection;
FIG. 3 is a schematic diagram of a vehicle crossing an intersection;
FIG. 4 is a block diagram of an intersection guideline generation system according to an embodiment of the invention;
fig. 5 is a schematic diagram of a hardware structure of a possible electronic device according to an embodiment of the present invention;
fig. 6 is a schematic hardware structure diagram of a possible computer-readable storage medium according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a crossing guide line generating method according to an embodiment of the present invention, and as shown in fig. 1, the method includes: 101. acquiring track point data of the road surface information according to the road surface information of the high-precision map; 102. for any intersection, acquiring track data in any intersection, and extending towards two ends respectively according to two end points of the track data to obtain an extending track curve entering into any intersection and an extending track curve exiting from any intersection, wherein the two end points are respectively the end point entering into any intersection and the end point exiting from any intersection; 103. when a vehicle drives from a first intersection to a second intersection, calculating the distance between the first intersection and the second intersection, when the distance between the first intersection and the second intersection is smaller than the threshold value of continuous intersections, on an extending track curve exiting the first intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the first intersection, and on the extending track curve entering the second intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the second intersection; 104. merging the guide line on the first intersection side and the guide line on the second intersection side as a guide line for the first intersection to cross over to the second intersection.
It can be understood that, in a high-precision map, guidance lines for guiding a vehicle to travel are not usually printed at each intersection, and based on this, the embodiment of the present invention proposes a method capable of generating guidance lines for intersections from data of a travel track of the vehicle at the intersections.
Acquiring track point data of the road surface information according to the road surface information of the high-precision map; acquiring track data in any intersection, and respectively extending towards two ends according to two end points of the track data to obtain an extending track curve entering any intersection and an extending track curve exiting any intersection; when the vehicle crosses the intersection and crosses from the first intersection to the second intersection, calculating the distance between the first intersection and the second intersection, taking track data of half the length of the distance between the first intersection and the second intersection on the extending track curves of the two intersections to obtain a guide line at the side of the first intersection and a guide line at the side of the second intersection, and merging the guide line at the side of the first intersection and the guide line at the side of the second intersection to obtain the vehicle crossing the intersection.
The embodiment of the invention can generate the guide line when the vehicle crosses the intersection according to the driving track line of the vehicle at the intersection, and the vehicle can drive to cross the intersection according to the guide line when crossing the intersection, thereby solving the defect that the guide line is not marked at the current intersection.
In a possible embodiment, before obtaining the trajectory point data of the road surface information according to the high-precision map road surface information, the method further includes: loading all trace data, removing repeated trace points, and performing thinning treatment on the trace points; and calculating the distance between two adjacent track points, and if the distance between two adjacent track points is greater than a preset threshold value, breaking the track line data from the two track points to obtain a plurality of broken track lines.
It will be appreciated that some processing of the trajectory data may be performed prior to acquiring the trajectory data for the road surface. Specifically, all the trace data are loaded, and redundant trace points are removed repeatedly, for example, when there are a plurality of trace points at the same position, one trace point can be selectively retained.
The track points on the track line are subjected to thinning processing, and the number of the track points on the track line is too large, so that the burden of subsequent data processing can be increased, and therefore the original track points are subjected to thinning processing.
And for the track point data after thinning processing, calculating the distance between every two adjacent track points, if the distance is greater than a preset threshold value, indicating that the track point data on the section of road is lost, breaking the whole track line at the two track points, and breaking the whole track line into a plurality of sections of track lines according to the mode.
In a possible embodiment, for any intersection, acquiring the trajectory data in any intersection includes: for any intersection, acquiring a plurality of track point data belonging to the any intersection; if the plurality of track point data are all located on the same track line, reserving the plurality of track points of any intersection, and recording the index of each track point; and if two track point data in the plurality of track point data are on two different track lines, discarding the data and ending the process.
It can be understood that, for any intersection, all the track point data in the intersection are acquired according to the position information of the intersection. And judging the track point data, and discarding the track point data as long as two track points exist in the track point data and are positioned on different track lines, so that the subsequent operation generated by the guide line is not performed.
And only when all track point data of the intersection are positioned on the same track line, the track point data of the intersection can be reserved to be used as basic data generated by a subsequent intersection guiding line.
In a possible embodiment, for any intersection, after acquiring the trajectory data in any intersection, the method further includes: and based on the index of each track point belonging to any intersection, grouping the track points according to the continuity of the track point indexes, wherein the track point data in each group comprises the track point data from entering any intersection to exiting any intersection.
It can be understood that, for the above-mentioned retained track point data of each intersection, all the track points of one intersection are grouped according to the continuity of the track point index based on the index of each track point. The reason for grouping is that the trace point data belonging to the same intersection may be data that a vehicle passes through for multiple times or data that the vehicle makes different directions back and forth, and therefore, the continuously indexed trace point data is extracted from many trace point data.
The track point data of each intersection comprises track point data from the intersection to the intersection, and the indexes of the track point data from the intersection to the intersection are recorded, wherein the indexes of the track point data are 50-90.
In a possible embodiment, the obtaining an extended trajectory curve entering any one intersection and an extended trajectory curve exiting any one intersection according to the two endpoints of the trajectory data extending to the two ends respectively includes: for a group of track point data of any intersection, finding an end point entering the intersection and an end point exiting the intersection according to the index; and respectively extending along the directions of the two ends according to the end point entering any intersection and the end point exiting any intersection to obtain an extending track curve entering any intersection and an extending track curve exiting any intersection.
It can be understood that, for the track point data with continuous indexes of the intersection obtained in the foregoing, the end point entering the intersection and the end point exiting the intersection are found according to the indexes. For example, a track point with an index of 50 is an end point entering the intersection, and a track point with an index of 90 is an end point exiting the intersection. Extending in two directions based on the two endpoints, i.e. extending in the direction of entering the intersection based on the endpoint of entering the intersection, e.g. extending in the direction of index 49, 48 for the endpoint of index 50; based on the end point of the exit intersection, extending along the direction of the exit intersection, for example, for the end point with index 90, extending along the directions with indices 91 and 92, and obtaining an extended track curve entering the intersection and an extended track curve exiting the intersection after extending, respectively.
In a possible embodiment, the extending along the two end directions according to the end point entering any intersection and the end point exiting any intersection respectively comprises: calculating the distance between the previous track point of the end point and each lane based on the index of the end point entering any intersection; acquiring a minimum distance value of distances between a track point before the endpoint and all lanes; if the minimum distance value is smaller than a preset distance threshold value, stopping the extension of the end point entering any intersection to obtain an extension track curve entering any intersection; if the minimum distance is greater than a preset distance threshold, continuing to extend forwards until the minimum distance value between the track point and each lane is less than the preset distance threshold, and obtaining an extended track curve entering any intersection; and obtaining the extended track curve exiting any intersection in the same way.
It can be understood that, when the track point data is extended, for example, taking the end point of the intersection (the end point with the index of 50) as an example of extension, first, the distance between the track point with the index of 49 and each lane is calculated to obtain a plurality of distance values, the minimum distance value in the plurality of distance values is taken, and when the minimum distance value is smaller than the preset distance threshold, the extension is ended, that is, the extended track curve of the intersection only has the track points with the index of 50 and the index of 49. If the minimum distance value is larger than the preset distance threshold value, then calculating the distance between the track point with the index of 48 and each lane until the minimum distance value in the distance between the current track point and each lane is smaller than the preset distance threshold value, and obtaining an extended track curve entering the intersection.
And for the end point of the exit intersection, obtaining the extension track curve of the exit intersection by adopting the same method.
If the minimum distance values of all the track points in front of the end point and each lane are greater than the preset distance threshold, the end of the extension track curve cannot be found, so that the acquisition of the extension track curve is abandoned, and a guide line of the intersection is not generated.
In a possible implementation manner, the method further includes: and when the distance between the first intersection and the second intersection is greater than the threshold value of the continuous intersections, taking the extending track curve entering any one intersection and the extending track curve exiting any one intersection as guide lines of any one intersection.
It can be understood that the extended track curve of the entrance intersection and the extended track curve of the exit intersection of each intersection are obtained in the above manner. When the vehicle does not cross the intersection, as the scenario shown in fig. 2, for example, the extended trajectory curve entering the intersection and the extended trajectory curve exiting the intersection can be used as the guide lines of the intersection.
When a vehicle is driven from inside a first intersection to inside a second intersection, as in the scenario shown in fig. 3, calculating the distance between the first intersection and the second intersection, when the distance between the first intersection and the second intersection is smaller than the threshold value of the continuous intersection, that is, when the vehicle is crossing the intersection, on the extended trajectory curve exiting the first intersection, taking trajectory data with the extended length being half the distance between the first intersection and the second intersection as a guide line on the side of the first intersection, and on the extended trajectory curve entering the second intersection, taking trajectory data with the extended length being half the distance between the first intersection and the second intersection as a guide line on the side of the second intersection; merging the guide line on the first intersection side and the guide line on the second intersection side as a guide line for the first intersection to cross over to the second intersection.
And after the guide lines of each intersection are obtained, searching whether the guide lines exist in the original high-precision map data or not, and if not, adding the generated guide lines of each intersection into the high-precision map data.
Fig. 4 is a structural diagram of an intersection guide line generating system according to an embodiment of the present invention, and as shown in fig. 4, the intersection guide line generating system includes: an obtaining module 401, an extension processing module 402, a calculating module 403, a determining module 404, and a combining module 405, wherein:
the obtaining module 401 is configured to obtain track point data of the road surface information according to the high-precision map road surface information;
an extension processing module 402, configured to acquire, for any intersection, trajectory data in any intersection, and extend to two ends according to two end points of the trajectory data, respectively, to obtain an extension trajectory curve entering the any intersection and an extension trajectory curve exiting the any intersection, where the two end points are the end point entering the any intersection and the end point exiting the any intersection, respectively;
a calculating module 403, configured to calculate a distance between a first intersection and a second intersection when a vehicle drives from the first intersection to the second intersection;
a determining module 404, configured to, when a distance between the first intersection and the second intersection is greater than a threshold of the consecutive intersections, determine, on an extended trajectory curve exiting the first intersection, trajectory data having an extended length that is a half of the distance between the first intersection and the second intersection as a guide line on a side of the first intersection, and determine, on an extended trajectory curve entering the second intersection, trajectory data having an extended length that is a half of the distance between the first intersection and the second intersection as a guide line on a side of the second intersection;
a merging module 405, configured to merge the guide line on the first intersection side and the guide line on the second intersection side as a guide line for the first intersection to cross over to the second intersection.
The crossing guide line generating system provided by the embodiment of the present invention corresponds to the crossing guide line generating method provided by each of the foregoing embodiments, and the relevant technical features of the crossing guide line generating system can refer to the relevant technical features of the crossing guide line generating method, and will not be described again here.
Referring to fig. 5, fig. 5 is a schematic view of an embodiment of an electronic device according to an embodiment of the present disclosure. As shown in fig. 5, an electronic device according to an embodiment of the present application includes a memory 510, a processor 520, and a computer program 511 stored in the memory 520 and executable on the processor 520, where the processor 520 executes the computer program 511 to implement the following steps: acquiring track point data of the road surface information according to the road surface information of the high-precision map; for any intersection, acquiring track data in any intersection, and extending towards two ends respectively according to two end points of the track data to obtain an extending track curve entering into any intersection and an extending track curve exiting from any intersection, wherein the two end points are respectively the end point entering into any intersection and the end point exiting from any intersection; when the vehicle drives from the first intersection to the second intersection, calculating the distance between the first intersection and the second intersection, and when the distance is smaller than the threshold value of the continuous intersection, on an extending track curve exiting the first intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the first intersection, and on the extending track curve entering the second intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the second intersection; merging the guide line on the first intersection side and the guide line on the second intersection side as a guide line for the first intersection to cross over to the second intersection.
Referring to fig. 6, fig. 6 is a schematic diagram illustrating an embodiment of a computer-readable storage medium according to the present application. As shown in fig. 6, the present embodiment provides a computer-readable storage medium 600 on which a computer program 611 is stored, the computer program 511 implementing the following steps when executed by a processor: acquiring track point data of the road surface information according to the road surface information of the high-precision map; for any intersection, acquiring track data in any intersection, and extending towards two ends respectively according to two end points of the track data to obtain an extending track curve entering into any intersection and an extending track curve exiting from any intersection, wherein the two end points are respectively the end point entering into any intersection and the end point exiting from any intersection; when the vehicle drives from the first intersection to the second intersection, calculating the distance between the first intersection and the second intersection, and when the distance is smaller than the threshold value of the continuous intersection, on an extending track curve exiting the first intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the first intersection, and on the extending track curve entering the second intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the second intersection; merging the guide line on the first intersection side and the guide line on the second intersection side as a guide line for the first intersection to cross over to the second intersection.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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 the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. 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 computer, 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.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include such modifications and variations.
Claims (10)
1. An intersection guideline generation method, comprising:
acquiring track point data of the road surface information according to the road surface information of the high-precision map;
for any intersection, acquiring track data in any intersection, and extending towards two ends respectively according to two end points of the track data to obtain an extending track curve entering into any intersection and an extending track curve exiting from any intersection, wherein the two end points are respectively the end point entering into any intersection and the end point exiting from any intersection;
when the vehicle drives from the first intersection to the second intersection, calculating the distance between the first intersection and the second intersection, and when the distance is smaller than the threshold value of the continuous intersection, on an extending track curve exiting the first intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the first intersection, and on the extending track curve entering the second intersection, taking track data with the extending length being half the distance between the first intersection and the second intersection as a guide line on the side of the second intersection;
merging the guide line on the first intersection side and the guide line on the second intersection side as a guide line for the first intersection to cross over to the second intersection.
2. The crossing guide line generating method according to claim 1, wherein before obtaining the trajectory point data of the crossing surface information based on the high-precision map crossing surface information, the method further comprises:
loading all trace data, removing repeated trace points, and performing thinning treatment on the trace points;
and calculating the distance between two adjacent track points, and if the distance between two adjacent track points is greater than a preset threshold value, breaking the track line data from the two track points to obtain a plurality of broken track lines.
3. The crossing guideline generation method of claim 2 wherein said obtaining, for any one crossing, trajectory data within said any one crossing comprises:
for any intersection, acquiring a plurality of track point data belonging to the any intersection;
if the plurality of track point data are all located on the same track line, reserving the plurality of track points of any intersection, and recording the index of each track point;
and if two track point data in the plurality of track point data are on two different track lines, discarding the data and ending the process.
4. The crossing guideline generation method of claim 3, wherein said for any crossing, after acquiring the trajectory data within said any crossing, further comprises:
and grouping the track points according to the continuity of the track point indexes based on the indexes of each track point belonging to any intersection, wherein the track point data in each group comprises track point data from entering any intersection to exiting any intersection.
5. The crossing guide line generating method according to claim 4, wherein the obtaining of the extended locus curve entering the any one of the crossings and the extended locus curve exiting the any one of the crossings by extending the two end points of the trajectory data to the two ends, respectively, comprises:
for a group of track point data of any intersection, finding an end point entering the intersection and an end point exiting the intersection according to the index;
and respectively extending along the directions of the two ends according to the end point entering any intersection and the end point exiting any intersection to obtain an extending track curve entering any intersection and an extending track curve exiting any intersection.
6. The crossing guide line generating method according to claim 5, wherein the extending in both end directions according to the end point entering the any one of the crossings and the end point exiting the any one of the crossings, respectively, includes:
calculating the distance between the previous track point of the endpoint and each lane based on the index of the endpoint entering any intersection;
acquiring a minimum distance value of distances between a track point before the endpoint and all lanes;
if the minimum distance value is smaller than a preset distance threshold value, stopping the extension of the end point entering any intersection to obtain an extension track curve entering any intersection;
if the minimum distance is greater than a preset distance threshold, continuing to extend forwards until the minimum distance value between the track point and each lane is less than the preset distance threshold, and obtaining an extended track curve entering any intersection;
and obtaining the extending track curve exiting from any one intersection in the same way.
7. The crossing guide line generating method according to claim 6, further comprising:
and if the minimum distance values of all the track points in front of the end point and each lane are greater than a preset distance threshold, abandoning the acquisition of the extended track curve.
8. The crossing guide line generating method according to any one of claims 1 to 7, further comprising:
and when the distance between the first intersection and the second intersection is greater than the threshold value of the continuous intersections, taking the extending track curve entering any one intersection and the extending track curve exiting any one intersection as guide lines of any one intersection.
9. An intersection guideline generation system, comprising:
the acquisition module is used for acquiring track point data of the road surface information according to the high-precision map road surface information;
the extension processing module is used for acquiring the track data in any intersection, and extending towards two ends respectively according to two end points of the track data to obtain an extension track curve entering any intersection and an extension track curve exiting any intersection, wherein the two end points are respectively the end point entering any intersection and the end point exiting any intersection;
the calculation module is used for calculating the distance between the first intersection and the second intersection when the vehicle drives from the first intersection to the second intersection;
a determining module, configured to, when the distance is smaller than a threshold of the consecutive intersections, determine, on an extended trajectory curve exiting the first intersection, trajectory data having an extended length that is a half of a distance between the first intersection and the second intersection as a guide line on a side of the first intersection, and determine, on an extended trajectory curve entering the second intersection, trajectory data having an extended length that is a half of a distance between the first intersection and the second intersection as a guide line on a side of the second intersection;
and the merging module is used for merging the guide line on the side of the first intersection and the guide line on the side of the second intersection as the guide line for the first intersection to cross to the second intersection.
10. An electronic device comprising a memory, a processor for implementing the steps of the intersection guide line generating method according to any one of claims 1-8 when executing a computer management-like program stored in the memory.
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