CN113094452A - Method and device for processing lane shape points and electronic equipment - Google Patents

Abstract

The embodiment of the invention provides a method and a device for processing lane shape points and electronic equipment. The method comprises the following steps: determining the standard driving speed of the lane according to the type of the lane; determining the intersection point distance of the lane shape point of the lane in the extending direction of the lane according to the standard driving speed of the lane; and performing interpolation processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the interpolation processing is within the range corresponding to the interpolation distance.

Description

Method and device for processing lane shape points and electronic equipment

Technical Field

The present disclosure relates to the field of electronic maps, and in particular, to a method and an apparatus for processing lane shape points, and an electronic device.

Background

At present, in advanced auxiliary or intelligent driving technologies, a high-precision electronic map, i.e. a high-precision map, is often used, the high-precision map data has high absolute coordinate precision, i.e. the matching precision of coordinates between a certain target on the map and a corresponding real external world object, and has accurate lane data, such as lane position, gradient, curvature, speed limit, and the like, so that an advanced auxiliary or intelligent driving system can reasonably plan and make decisions based on the high-precision map.

In the process of manufacturing the high-precision map, original data are collected on an actual road, lane shape points are generated for each lane based on the original data, and usable high-precision map data are obtained.

It should be noted that the above background description is only for the sake of clarity and complete description of the technical solutions of the present invention and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the invention.

Disclosure of Invention

The inventor finds that at present, there are no unified rules and requirements for the density of the lane shape points of each lane of the high-precision map, if the lane shape points are set to be too dense, the data volume of the lane data is too large, and if the lane shape points are set to be too sparse, the lane information cannot be accurately expressed.

In order to solve the above problems and the like, embodiments of the present invention provide a method, an apparatus, and an electronic device for processing lane shape points, which can be configured according to the respective situations of different lanes and with respect to the density of the lane shape points of the lanes, so as to achieve both the data amount and the accuracy of the lane data.

According to a first aspect of embodiments of the present invention, there is provided a method for processing a lane shape point, wherein the method includes: determining the standard driving speed of the lane according to the type of the lane; determining the intersection point distance of the lane shape point of the lane in the extending direction of the lane according to the standard driving speed of the lane; and performing interpolation processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the interpolation processing is within the range corresponding to the interpolation distance.

According to a second aspect of the embodiments of the present invention, there is provided a method for processing a lane shape point, wherein the method includes: responding to the operation that an operator marks a lane shape point of a lane in the road point cloud data, and determining the standard driving speed of the lane according to the type of the lane; determining the intersection point distance of the lane shape point of the lane in the extending direction of the lane according to the standard driving speed of the lane; and performing interpolation processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the interpolation processing is within the range corresponding to the interpolation distance.

According to a third aspect of embodiments of the present invention, there is provided a processing apparatus of a lane shape point, wherein the apparatus includes: a speed determination unit that determines a standard travel speed of a lane according to the type of the lane; an intersection distance determination unit that determines an intersection distance of a lane shape point of the lane in a lane extending direction according to a standard driving speed of the lane; and the intersection point processing unit is used for carrying out intersection point processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the intersection point processing is within the range corresponding to the intersection point distance.

According to a fourth aspect of the embodiments of the present invention, there is provided a processing apparatus of a lane shape point, wherein the apparatus includes: a determination unit that determines a standard travel speed of a lane according to a type of the lane in response to an operation of an operator having calibrated a lane shape point of the lane in the road point cloud data; a speed determination unit which determines an intersection point distance of a lane shape point of the lane in a lane extending direction according to a standard driving speed of the lane; and the intersection point processing unit is used for carrying out intersection point processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the intersection point processing is within the range corresponding to the intersection point distance.

According to a fifth aspect of embodiments of the present invention, there is provided an electronic device including the apparatus of the third and fourth aspects.

One advantage of the embodiments of the present invention is that the lane shape point density of the lane can be configured according to the respective conditions of different lanes, so that the data amount and accuracy of the lane data can be considered at the same time.

Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic view of a treating method in embodiment 1 of the present invention.

Fig. 2 is a schematic diagram of initial lane shape points generated in the production process of high-precision map data applied in embodiment 1 of the present invention.

Fig. 3 is a schematic diagram of a lane shape point generated after the processing method is finished in the production process of high-precision map data applied in embodiment 1 of the present invention.

FIG. 4 is another schematic view of the treating method of embodiment 1 of the present invention.

FIG. 5 is a schematic view of a processing apparatus according to embodiment 2 of the present invention.

Fig. 6 is a schematic diagram of an insertion point processing unit 503 according to embodiment 2 of the present invention.

Fig. 7 is a schematic view of an electronic device according to embodiment 3 of the present invention.

Detailed Description

The foregoing and other features of the invention will become apparent from the following description taken in conjunction with the accompanying drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the embodiments in which the principles of the invention may be employed, it being understood that the invention is not limited to the embodiments described, but, on the contrary, is intended to cover all modifications, variations, and equivalents falling within the scope of the appended claims.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

In the embodiments of the present invention, the terms "first", "second", and the like are used for distinguishing different elements by name, but do not denote a spatial arrangement, a temporal order, or the like of the elements, and the elements should not be limited by the terms. The term "and/or" includes any and all combinations of one or more of the associated listed terms.

In embodiments of the invention, the singular forms "a", "an", and the like include the plural forms and are to be construed broadly as "a" or "an" and not limited to the meaning of "a" or "an"; furthermore, the term "comprising" should be understood to include both the singular and the plural, unless the context clearly dictates otherwise. Further, the term "according to" should be understood as "at least partially according to … …," and the term "based on" should be understood as "based at least partially on … …," unless the context clearly dictates otherwise.

It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements (e.g., "between" versus "directly between", "adjacent" versus "directly adjacent to", etc.) should be interpreted in a similar manner.

It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.

Various embodiments of the present invention will be described below with reference to the drawings. These embodiments are merely exemplary and are not intended to limit embodiments of the present invention.

Example 1

The present embodiment 1 provides a method for processing a lane shape point.

Fig. 1 is a schematic view of the processing method of the present embodiment. As shown in fig. 1, the method includes:

step 101, determining a standard driving speed of a lane according to the type of the lane;

103, determining the intersection point distance of the lane shape point of the lane in the extending direction of the lane according to the standard driving speed of the lane;

and 105, performing interpolation processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the interpolation processing is within the range corresponding to the interpolation distance.

In the present embodiment, the lane is a lane in which a vehicle actually passes, and in the high-precision map, lane data including lane shape points of the lane are arranged in correspondence with the lane in which the vehicle actually passes, a plurality of the lane shape points are arranged along the extending direction of the lane with a distance therebetween, and related attribute information and the like may be arranged for each of the lane shape points.

The method of the present embodiment can be used for the processing of the lane shape points in the production process of high-precision map data. In the production process, firstly, a set of initial lane shape points of each lane is generated in a point cloud identification mode or a manual calibration mode; then, based on the method of the present embodiment, the set of the lane shape points after the interpolation processing for each lane is generated by performing the interpolation processing on the basis of the initial lane shape points for each lane.

Fig. 2 and 3 show the above-described production process. Fig. 2 is a schematic view of initial lane shape points generated in the production process, and fig. 3 is a schematic view of lane shape points generated after the end of the processing method in the production process. As shown in fig. 2 and 3, in addition to the initial lane shape points in fig. 2, the set of lane shape points after the interpolation processing is generated by performing the interpolation processing in fig. 3, and the lane shape points after the interpolation processing are added by a plurality of shape points with respect to the initial lane shape points.

In the case of generating the lane shape points, the lane shape points may be generated along the lane line of the lane as shown in fig. 2 and 3, or the lane shape points may be generated along the center line of the lane. When generating a lane shape point along a lane line of a lane, it is necessary to determine which side (i.e., left or right side) of the lane line the lane shape point generated along the lane line corresponds to, i.e., which side of the lane line the lane shape point generated along the lane line belongs to. In china, since the driving seat is provided on the left side of the vehicle, it is generally considered that a lane shape point generated along a certain lane line corresponds to a lane on the right side of the lane line, but the present embodiment is not limited thereto. When a lane shape point is generated along the center line of a lane, the generated lane shape point corresponds to the lane in which the center line is located.

In the above method of the present embodiment, the standard travel speed of the lane is determined according to the type of the lane, the intersection distance of the lane shape point of the lane in the extending direction of the lane is determined according to the standard travel speed of the lane, and the intersection processing is performed on the lane shape point of the lane based on the intersection distance. In this way, the lane shape point density of the lane can be arranged in accordance with the situation of each lane, and the data amount and accuracy of the lane data can be compatible with each other.

In the present embodiment, the type of lane may be a classification of lanes obtained based on a conventional classification criterion. For example, the type of lane may be a traffic lane, an acceleration/deceleration lane, a ramp, etc.; in addition, the lane classification may also consider the grade of the road where the lane is located, for example, the lane classification may be a traffic lane, an acceleration/deceleration lane, a ramp, and the like under a certain grade of road.

In the present embodiment, the standard travel speed of a lane is a measure for reflecting the regular travel speed of the vehicle carried by the lane. The type of lane may be obtained from the raw data collected.

In one embodiment, in the above step 101, the standard driving speed of the lane may be determined according to only the type of the lane. For example, the standard driving speed of the lane can be determined according to the lane speed limit corresponding to the type of the lane; for another example, the standard driving speed of the lane may be determined according to the historical driving speed corresponding to the type of the lane. But the embodiment is not limited thereto.

The lane speed limit is the highest speed that a vehicle can travel on a lane, and the speed limit of one lane can reflect the conventional traveling speed of the vehicle carried by the lane. Also, the type of lane is closely related to the lane speed limit. Therefore, the speed limit corresponding to the type of the lane may be directly used as the standard traveling speed of the lane, or a value obtained by multiplying the speed limit by a predetermined coefficient may be used as the standard traveling speed of the lane. If one lane type may correspond to multiple speed limits, the average value or the highest value of the multiple speed limits, etc. may be used as the speed limit corresponding to the lane type.

In the present embodiment, the historical travel speed corresponding to the type of lane may be obtained as follows:

obtaining statistical data of the running speed of the vehicle on the lane corresponding to the type in the latest specified time period; statistics such as the last month;

averaging the statistical data, and taking the calculated average value as a standard running speed, or multiplying the calculated average value by a predetermined coefficient to take the calculated average value as the standard running speed; the average here may be an arithmetic average, a weighted average, an exponential average, or the like.

In another embodiment, in step 101 above, the standard travel speed of a lane may be determined according to both the type and curvature of the lane. The curvature of the lane may be calculated based on shape data of the lane, which may be obtained from the collected raw data.

The above determining the standard traveling speed of the lane according to both the type and the curvature of the lane may further include:

determining the preliminary driving speed of the lane according to the type of the lane; the determining method may be, for example, determining a standard driving speed of the lane according to the lane speed limit corresponding to the type of the lane, or determining the standard driving speed of the lane according to a historical driving speed corresponding to the type of the lane;

adjusting the initial driving speed of the lane according to the curvature of the lane to obtain the standard driving speed of the lane; the adjustment can follow the principle of inversely correlating the standard driving speed with the curvature, i.e. the larger the curvature, the smaller the standard driving speed.

When the curvature of the road is large, the direction change of the road is large, and at the moment, aiming at the road, the extending direction and the attribute of the road can be accurately reflected by restricting the distance of the shape points by a small insertion point distance; and vice versa.

The present embodiment is not limited to the above-described embodiment, and the standard traveling speed of the lane may be determined in other suitable manners.

In this embodiment, the step 103 may include: and adjusting the preset intersection point distance standard value according to the standard driving speed of the lane to obtain the intersection point distance of the lane shape point of the lane in the extending direction of the lane, wherein the intersection point distance is positively correlated with the standard driving speed.

The interpolation point distance criterion value may be set in advance empirically. After the standard driving speed of the lane is obtained, the intersection distance standard value can be adjusted according to the standard driving speed, so as to obtain the intersection distance of the lane. During adjustment, adjustment is performed according to the principle that the intersection point distance is positively correlated with the standard driving speed, namely, the larger the standard driving speed is, the larger the intersection point distance is, the smaller the standard driving speed is, and the smaller the intersection point distance is. When the standard driving speed of the vehicle on the lane is high, the change on the lane is small, so that the extending direction, the attribute and the like of the road can be reflected more accurately even if the distance between the adjacent lane shape points is restricted by the large intersection point distance.

In this embodiment, in step 105, the range corresponding to the interpolation point distance is within a predetermined range around the interpolation point distance.

As described above, the method of the present embodiment can be used to perform the interpolation processing on the basis of the initial lane shape point of the lane. The insertion point processing may be performed automatically by a machine.

Specifically, after the interpolation point distance is calculated in step 103, the distance between all adjacent initial lane shape points of the lane (hereinafter referred to as "initial distance") may be determined, and when the initial distance is smaller than or equal to the interpolation point distance, it is not necessary to interpolate a pair of adjacent initial lane shape points corresponding to the initial distance, that is, it is not necessary to interpolate between a pair of adjacent initial lane shape points corresponding to the initial distance; when the initial distance is greater than the interpolation point distance, a pair of adjacent initial lane shape points corresponding to the initial distance may be interpolated.

The initial distance between a pair of adjacent initial lane shape points for which an intersection is desired may be any value greater than the intersection distance. Therefore, if the distance between the adjacent lane shape points after the interpolation processing is required to be strictly the interpolation distance, the above-mentioned requirement cannot be satisfied in the case where the distance between the two adjacent initial lane shape points is not an integral multiple of the interpolation distance, and therefore, in this case, the distance between the adjacent lane shape points after the interpolation processing can be finely adjusted within a predetermined range in the vicinity of the interpolation distance. The prescribed range may be set based on experience or demand.

For example, assuming that the interpolation distance calculated in step 103 is 2 meters, and assuming that the initial distance between a pair of adjacent initial lane shape points for which interpolation is required is 3.6 meters, in step 105, 1 lane shape point may be inserted between the pair of adjacent initial lane shape points, such that the distance between the adjacent lane shape points is 1.8 meters after the interpolation process is performed between the pair of adjacent initial lane shape points; assuming again that the initial distance between another pair of adjacent initial lane shape points is 8.4 meters, then in step 105, 3 lane shape points may be inserted between the another pair of adjacent initial lane shape points, such that the distance between adjacent lane shape points is 2.1 meters after the interpolation process between the another pair of adjacent initial lane shape points. Similarly, such an interpolation process is performed between each pair of adjacent initial lane shape points for which interpolation is required.

In this embodiment, when the initial distance between the adjacent initial lane shape points of the lane is smaller than the inter-point distance, it may be further determined whether the initial distance is smaller than a predetermined threshold (the predetermined threshold is smaller than the inter-point distance), and when the initial distance is smaller than the predetermined threshold, a pair of adjacent initial lane shape points corresponding to the initial distance is determined as a pair of points too close to each other (hereinafter referred to as "too close point pair"), and at this time, too close point removal processing may be performed, that is, any one of the too close point pair may be removed. After the passing point removing process, the passing point removing process may be repeated until the distance between any two of the remaining initial lane shape points of the lane is not less than the predetermined threshold. One special case in the passing point removal process is that the first lane shape point and the last lane shape point of the lane cannot be removed, and if the first lane shape point or the last lane shape point of the lane is included in the pair of passing points, the other lane shape point of the pair of passing points other than the first lane shape point or the last lane shape point of the lane is removed. The near point removal process may be performed before or after step 105.

In this embodiment, the method may further include:

and determining an attribute change point of the lane, and keeping the attribute change point in the lane shape point after the interpolation processing, wherein the attribute change point is the shape point of which the attribute of the lane is changed.

In the present embodiment, the attribute changing point may be a shape point at an arbitrary position where the attribute of the lane is changed. The property change here may be, for example, a lane type change, a curvature change, a sign change, an appearance or disappearance of an overpass, an appearance or disappearance of a tunnel, or the like.

As described above, in the present embodiment, the passing point removal processing and the interpolation processing may be performed, so that the attribute change point may be included in the removed lane shape point in the passing point removal processing, and the attribute change point may be skipped in the interpolation processing due to the setting of the interpolation distance and the corresponding range thereof. Since the attribute change point is generally associated with important information of the lane, by retaining the attribute change point in the lane shape point, it is possible to avoid the attribute change point from being lost due to the passing point removal processing, the interpolation processing, or the like, thereby avoiding the important information of the lane from being lost.

In the present embodiment, after the intersection processing, the lane shape points of each lane may be classified into two types, one being initial lane shape points that remain, and the other being lane shape points that are automatically inserted through the above-described intersection processing. Since the initial lane shape points are generated by point cloud recognition or manual calibration, the reliability thereof is high, and the reliability of the automatically inserted lane shape points is relatively low. Thus, a shape point type marker may be configured for each lane shape point of the lane for identifying whether the lane shape point is an initial lane shape point generated by point cloud recognition or manual calibration, or an automatically inserted lane shape point. Therefore, in the subsequent use of the lane shape point, the reliability of the lane shape point can be known by using the shape point type mark, so that the lane shape points with different reliabilities can be used in a distinguishing way.

In the present embodiment, as described above, the above-described step 101-105 may be performed in a case where the initial lane shape points of the respective lanes have been generated. The present embodiment is not limited to this embodiment.

In another embodiment, the above steps 101-105 may also be performed after the operator completes the manual calibration of all the initial lane shape points in one lane each time. Fig. 4 is a schematic diagram of a processing method of the lane shape point in this embodiment. As shown in fig. 4, the method may include:

step 401, in response to an operation that an operator marks a lane shape point of a lane in the road point cloud data, determining a standard driving speed of the lane according to the type of the lane;

step 403, determining the intersection point distance of the lane shape point of the lane in the extending direction of the lane according to the standard driving speed of the lane;

and step 405, performing interpolation processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the interpolation processing is within the interpolation distance.

In this embodiment, the step 401 may include:

and determining whether the operator marks the lane shape point of a lane in the road point cloud data or not, and determining the standard driving speed of the lane according to the type of the lane when determining that the operator marks the lane shape point of the lane in the road point cloud data.

The above-mentioned determination of whether the operator has calibrated the lane shape point of one lane in the road point cloud data may be implemented, for example, by determining a flag bit which is manually configured by the operator and indicates whether the manual calibration of each lane is completed. However, the present embodiment is not limited to the above-described specific embodiments.

The specific implementation manner for determining the standard driving speed of the lane according to the type of the lane may refer to the implementation manner of step 101, and is not described herein again.

The specific implementation manners of the steps 403 and 405 may refer to the implementation manners of the steps 103 and 105, and are not described herein again.

By the method, after the operator finishes manually calibrating the lane shape point of one lane each time, the operator immediately performs the interpolation processing aiming at the lane shape point of the lane, so that after the interpolation processing is finished, the operator can manually confirm the lane shape point of the lane after the interpolation processing. If the lane shape points of the lane after the interpolation processing are confirmed to have an inconvenience by manual confirmation, the operator can correct the lane shape points.

By the method of the embodiment, the lane shape point density of the lane can be configured according to the situation of each different lane, so that the data amount and the accuracy of the lane data can be considered at the same time.

Example 2

The present embodiment 2 provides a processing apparatus of a lane shape point. The same contents of this embodiment as those of embodiment 1 are not repeated, and the following description explains the differences of this embodiment from embodiment 1.

Fig. 5 is a schematic view of the processing apparatus of the present embodiment. As shown in fig. 5, the processing apparatus 500 includes a speed determination unit 501, an interpolation point distance determination unit 502, and an interpolation point processing unit 503. The speed determination unit 501 determines a standard driving speed of a lane according to the type of the lane; the intersection point distance determination unit 502 determines the intersection point distance of the lane shape point of the lane in the lane extending direction according to the standard driving speed of the lane; the intersection processing unit 503 performs intersection processing on the lane shape points of the lane so that the distance between adjacent lane shape points of the lane after the intersection processing is within the range corresponding to the intersection distance.

In the present embodiment, the speed determination unit 501 may determine the standard traveling speed of the lane according to only the type of the lane. The standard driving speed of the lane can be determined according to the lane speed limit corresponding to the type of the lane, and the standard driving speed of the lane can also be determined according to the historical driving speed corresponding to the type of the lane. The present embodiment is not limited thereto.

The speed determination unit 501 may also determine the standard travel speed of a lane according to both the type and curvature of the lane.

In this embodiment, the intersection distance determining unit 502 may adjust the preset intersection distance standard value according to the standard driving speed of the lane to obtain an intersection distance of the lane-shaped point of the lane in the extending direction of the lane, where the intersection distance is positively correlated to the standard driving speed.

Fig. 6 is a schematic diagram of the insertion point processing unit 503 of the present embodiment. As shown in fig. 6, the insertion point processing unit 503 may include a change point holding unit 601. The change point retaining unit 601 identifies an attribute change point of the lane, which is a position point where the attribute of the lane has changed, and retains the attribute change point in the lane shape point after the interpolation processing. The change point holding unit 601 is an optional component.

In this embodiment, in a case where an initial distance between adjacent initial lane shape points of the lane is smaller than the inter-point distance, the processing device 500 may further include a near point pair determination unit that determines a pair of adjacent initial lane shape points corresponding to the initial distance as a near point pair in a case where the initial distance is smaller than a prescribed threshold (the prescribed threshold is smaller than the inter-point distance), and a near point removal unit (not shown); the passing point removing unit removes any one of the lane shape points in the pair of passing points.

In this embodiment, the speed determination unit 501 may further include a determination unit that determines whether the operator has calibrated a lane shape point of one lane in the road point cloud data, and a determination unit (not shown) that determines the standard travel speed of the lane according to the type of the lane when it is determined that the operator has calibrated a lane shape point of one lane in the road point cloud data. With the device of the present embodiment, the density of the lane shape points of the lane can be configured in accordance with the situation of each of the different lanes, and the data amount and the accuracy of the lane data can be both considered.

Example 3

Embodiment 3 provides an electronic apparatus. The same contents of this embodiment as those of embodiments 1 and 2 are not repeated, and the following description explains the differences of this embodiment from embodiments 1 and 2.

Fig. 7 is a schematic diagram of the electronic device of the present embodiment. As shown in fig. 7, the electronic device 700 may include: a processor 701 and a memory 702, the memory 702 being coupled to the processor 701.

Among them, the memory 702 may store a program for realizing a certain function, for example, a program for realizing the processing method of the lane shape point of embodiment 1, and the program is executed under the control of the processor 701; in addition, the memory 702 may also store various data, such as lane data, inter-point distances, and the like.

In one implementation, the functions in the apparatus of embodiment 2 may be integrated into the processor 701 for execution.

In this embodiment, the processor 701 may be configured to:

determining a standard driving speed of a lane according to the type of the lane;

determining the intersection point distance of the lane shape point of the lane in the extending direction of the lane according to the standard driving speed of the lane;

and performing interpolation point processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the interpolation point processing is within the range corresponding to the interpolation point distance.

In this embodiment, the processor 701 may be configured to:

and determining the standard driving speed of the lane according to the lane speed limit corresponding to the type of the lane.

In this embodiment, the processor 701 may be configured to:

and determining the standard running speed of the lane according to the historical running speed corresponding to the type of the lane.

In this embodiment, the processor 701 may be configured to:

and determining the standard driving speed of the lane according to the type and the curvature of the lane.

In this embodiment, the processor 701 may be configured to:

adjusting a preset intersection point distance standard value according to the standard running speed of the lane to obtain an intersection point distance of a lane shape point of the lane in the extending direction of the lane, wherein the intersection point distance is positively correlated with the standard running speed.

In this embodiment, the processor 701 may be configured to:

and determining an attribute change point of the lane, and reserving the attribute change point in the lane shape point after the interpolation processing, wherein the attribute change point is a position point where the attribute of the lane is changed.

In this embodiment, the electronic device 700 may be a user device, such as a personal computer.

Furthermore, the electronic device 700 may also be a network device, such as a single network server, a server group consisting of a plurality of network servers, or a Cloud Computing (Cloud Computing) based Cloud consisting of a large number of computers or network servers, wherein Cloud Computing is one type of distributed Computing, one super virtual computer consisting of a collection of loosely coupled computers. The computer equipment can run independently to realize the application, and can also be accessed to the network to realize the application through the interactive operation with other computer equipment in the network. The network where the computer is located includes the internet, a wide area network, a metropolitan area network, a local area network, a VPN network, and the like.

It should be noted that the user equipment, the network device, the network and the like are only examples, and other existing or future computer devices or networks may also be included in the scope of the present application if applicable.

With the electronic device of the present embodiment, the density of the lane shape points of the lane can be configured in accordance with the respective situations of different lanes, and the data amount and accuracy of the lane data can be considered at the same time.

The embodiment of the invention also provides a program readable by a processor, and the program enables the processor to execute the method described in the embodiment 1.

An embodiment of the present invention further provides a storage medium storing a program readable by a processor, where the program enables the processor to execute the method described in embodiment 1.

The above methods/apparatuses of the present invention may be implemented by hardware, or may be implemented by hardware in combination with software. The present invention relates to a computer-readable program which, when executed by a logic section, enables the logic section to realize the above-described apparatus or constituent section, or to realize the above-described various methods or steps. Logic components such as field programmable logic components, microprocessors, processors used in computers, and the like. The present invention also relates to a storage medium such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, or the like, for storing the above program.

The methods/apparatus described in connection with the embodiments of the invention may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. For example, one or more of the functional block diagrams and/or one or more combinations of the functional block diagrams illustrated in fig. 5 may correspond to individual software modules of a computer program flow or may correspond to individual hardware modules. These software modules may correspond to the various steps shown in fig. 1, respectively. These hardware modules may be implemented, for example, by solidifying these software modules using a Field Programmable Gate Array (FPGA).

A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium; or the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The software module may be stored in the memory of the device or in a memory card that is insertable into the device. For example, if the apparatus employs a relatively large capacity MEGA-SIM card or a large capacity flash memory device, the software module may be stored in the MEGA-SIM card or the large capacity flash memory device.

One or more of the functional blocks and/or one or more combinations of the functional blocks described in the figures can be implemented as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof designed to perform the functions described herein. One or more of the functional blocks and/or one or more combinations of the functional blocks described in connection with the figures may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.

The present application has been described in conjunction with specific embodiments, but it should be understood by those skilled in the art that these descriptions are intended to be illustrative, and not limiting. Various modifications and adaptations of the present application may occur to those skilled in the art based on the teachings herein and are within the scope of the present application.

Claims (13)

1. A method of processing lane shape points, wherein the method comprises:

determining a standard driving speed of a lane according to the type of the lane;

determining the intersection point distance of the lane shape point of the lane in the extending direction of the lane according to the standard driving speed of the lane;

and performing interpolation point processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the interpolation point processing is within the range corresponding to the interpolation point distance.

2. The method of claim 1, wherein the determining a standard driving speed of the lane according to a type of the lane comprises:

and determining the standard driving speed of the lane according to the lane speed limit corresponding to the type of the lane.

3. The method of claim 1, wherein the determining a standard driving speed of the lane according to a type of the lane comprises:

and determining the standard running speed of the lane according to the historical running speed corresponding to the type of the lane.

4. The method of claim 1, wherein the determining a standard driving speed of the lane according to a type of the lane comprises:

and determining the standard driving speed of the lane according to the type and the curvature of the lane.

5. The method of claim 1, wherein the determining an intersection distance of a lane shape point of the lane in a lane extension direction according to a standard driving speed of the lane comprises:

adjusting a preset intersection point distance standard value according to the standard running speed of the lane to obtain an intersection point distance of a lane shape point of the lane in the extending direction of the lane, wherein the intersection point distance is positively correlated with the standard running speed.

6. The method of any of claims 1-5, wherein the method further comprises:

and determining an attribute change point of the lane, and reserving the attribute change point in the lane shape point after the interpolation processing, wherein the attribute change point is a position point where the attribute of the lane is changed.

7. A method of processing lane shape points, wherein the method comprises:

responding to the operation that an operator marks a lane shape point of a lane in the road point cloud data, and determining the standard driving speed of the lane according to the type of the lane;

determining the intersection point distance of the lane shape point of the lane in the extending direction of the lane according to the standard driving speed of the lane;

and performing interpolation point processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the interpolation point processing is within the range corresponding to the interpolation point distance.

8. A processing apparatus of a lane shape point, wherein the apparatus comprises:

a speed determination unit that determines a standard travel speed of a lane according to a type of the lane;

an intersection distance determination unit that determines an intersection distance of a lane shape point of the lane in a lane extension direction according to a standard driving speed of the lane;

and the intersection point processing unit is used for carrying out intersection point processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the intersection point processing is within the range corresponding to the intersection point distance.

9. The apparatus of claim 7, wherein the speed determination unit determines a standard driving speed of the lane according to a lane speed limit corresponding to the type of the lane.

10. The apparatus according to claim 7, wherein the speed determination unit determines the standard travel speed of the lane according to a history travel speed corresponding to the type of the lane.

11. The apparatus according to claim 7, wherein the speed determination unit determines a standard traveling speed of the lane according to a type and a curvature of the lane.

12. A processing apparatus of a lane shape point, wherein the apparatus comprises:

the determining unit is used for responding to the operation that an operator marks a lane shape point of a lane in the road point cloud data, and determining the standard driving speed of the lane according to the type of the lane;

a speed determination unit that determines an intersection distance of a lane shape point of the lane in a lane extension direction according to a standard travel speed of the lane;

and the intersection point processing unit is used for carrying out intersection point processing on the lane shape points of the lane, so that the distance between the adjacent lane shape points of the lane after the intersection point processing is within the range corresponding to the intersection point distance.

13. An electronic device, wherein the electronic device comprises the apparatus of any of claims 7-12.

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