CN113223113A

CN113223113A - Lane line processing method and device, electronic equipment and cloud control platform

Info

Publication number: CN113223113A
Application number: CN202110484424.XA
Authority: CN
Inventors: 蔺甜甜
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2021-08-06
Anticipated expiration: 2041-04-30
Also published as: CN113223113B

Abstract

The disclosure discloses a lane line processing method and device, electronic equipment and a cloud control platform, and relates to computer vision in the fields of intelligent transportation and image processing. The specific implementation scheme is as follows: and acquiring the coordinates of a first reference point of the lane line, wherein the first reference point is the endpoint of the lane line. And updating the end point of the lane line according to the coordinate of the first reference point, wherein the transverse coordinate or the longitudinal coordinate of the end point of the updated lane line is an integer. And carrying out segmentation processing on the updated lane line to obtain a lane dotted line corresponding to the lane line, and rendering the lane dotted line in a graphical user interface. The end points of the lane lines are updated to ensure that the transverse coordinates or the longitudinal coordinates of the end points of the lane lines are integers, and then the updated end points are used as the segmentation starting points to perform the segmentation processing of the lane lines, so that the error of the segmentation starting points of the lane lines needing to be aligned can be effectively eliminated, and the display orderliness of the lane dotted lines is effectively improved.

Description

Lane line processing method and device, electronic equipment and cloud control platform

Technical Field

The present disclosure relates to computer vision in the field of intelligent transportation and image processing, and in particular, to a lane line processing method and apparatus, an electronic device, and a cloud control platform.

Background

The Human Machine Interface (HMI) is the medium of interaction between the system and the user, where the display of lane lines in the form of dashed lines is often required in vehicle-related HMIs.

At present, when drawing a dashed line in an HMI in the related art, each lane line is generally cut based on collected lane line information, so as to obtain a dashed line corresponding to each lane line, but some lane lines should have a certain alignment relationship.

However, since the collected lane line information is completely independent, there is no description of the correlation, and thus the rendered lane line based on the prior art may have a problem of display confusion.

Disclosure of Invention

The disclosure provides a lane line processing method and device, electronic equipment and a cloud control platform.

According to a first aspect of the present disclosure, there is provided a lane line processing method including:

acquiring coordinates of a first reference point of a lane line, wherein the first reference point is an end point of the lane line;

updating the end point of the lane line according to the coordinate of the first reference point, wherein the updated transverse coordinate or longitudinal coordinate of the end point of the lane line is an integer;

and carrying out segmentation processing on the updated lane line to obtain a lane dotted line corresponding to the lane line, and rendering the lane dotted line in a graphical user interface.

According to a second aspect of the present disclosure, there is provided a lane line processing apparatus including:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the coordinate of a first reference point of a lane line, and the first reference point is an end point of the lane line;

the updating module is used for updating the end point of the lane line according to the coordinate of the first reference point, and the updated transverse coordinate or longitudinal coordinate of the end point of the lane line is an integer;

and the segmentation module is used for carrying out segmentation processing on the updated lane line to obtain a lane dotted line corresponding to the lane line, and rendering the lane dotted line in a graphical user interface.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, execution of the computer program by the at least one processor causing the electronic device to perform the method of the first aspect.

According to a sixth aspect of the present disclosure, there is provided a cloud control platform comprising the electronic device according to the third aspect.

The technology according to the present disclosure solves the problem that the rendered lane line may show display confusion.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a first schematic diagram showing a dashed lane line in an HMI provided by an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a display of a lane dotted line in an HMI provided by an embodiment of the present disclosure

FIG. 3 is a third schematic diagram illustrating a display of a lane dotted line in an HMI provided by the present disclosure;

FIG. 4 is a fourth schematic illustration of a display of lane dashed lines in an HMI provided by an embodiment of the present disclosure;

fig. 5 is a flowchart of a lane line processing method provided in the embodiment of the present disclosure;

fig. 6 is a second flowchart of a lane line processing method according to an embodiment of the present disclosure;

fig. 7 is a first schematic diagram illustrating an included angle between a lane line and a coordinate axis according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of an included angle between coordinate axes of a lane line according to an embodiment of the present disclosure

FIG. 9 is a schematic diagram of an included angle between coordinate axes of a lane line provided by an embodiment of the present disclosure

Fig. 10 is a schematic end view of a lane line update provided in the embodiment of the present disclosure;

FIG. 11 is a schematic diagram illustrating an implementation of segmenting lane lines according to length according to an embodiment of the present disclosure;

FIG. 12 is a graph illustrating the results of segmenting lane lines according to length provided by an embodiment of the present disclosure;

FIG. 13 is a schematic diagram illustrating an implementation of segmenting lane lines according to projections provided by an embodiment of the present disclosure;

FIG. 14 is a graph illustrating the segmentation results according to projection length provided by the present disclosure;

fig. 15 is a first schematic view illustrating an effect of lane line alignment provided by the embodiment of the present disclosure;

fig. 16 is a second schematic view illustrating the alignment effect of lane lines according to the embodiment of the present disclosure;

fig. 17 is a third flowchart of a lane line processing method according to the embodiment of the present disclosure;

FIG. 18 is a first schematic diagram of an implementation of determining the first set according to the direction of the lane lines according to the present disclosure;

fig. 19 is a second schematic diagram of an implementation of determining the first set according to the direction of the lane line according to the embodiment of the present disclosure;

fig. 20 is a third implementation diagram of determining the first set according to the direction of the lane line provided by the embodiment of the present disclosure;

fig. 21 is a schematic structural view of a lane line processing apparatus according to an embodiment of the present disclosure;

fig. 22 is a block diagram of an electronic device for implementing the lane line processing method according to the embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In order to better understand the technical solution of the present disclosure, the related art related to the present disclosure is further described in detail below.

The HMI is a human machine interface, also called human machine interface. Is a medium for interaction and information exchange between the system and the user, which realizes the conversion between the internal form of the information and the human acceptable form.

In the design of the HMI of the vehicle, the human-computer interaction interface between the user and the automobile is mainly researched, for example, switches, buttons, large screens, voice and the like can be contained in the HMI, the HMI is a carrier for bearing effective information interaction between the user and the vehicle, and the use feeling of the user and the interface, the user and the vehicle systems is emphasized.

At present, for example, a road dotted line in a map may be rendered in an HMI, and when the dotted line is drawn in the HMI in the related art, each lane line is generally cut based on collected lane line information, so as to obtain a dotted line corresponding to each lane line, however, some lane lines should have a certain alignment relationship.

However, when performing rendering of a dotted line based on an originally acquired lane line in a high-precision map, it is difficult to optimize the rendering effect because the lane line information is completely independent and there is no description of a mutual relationship.

It can be understood that the double dotted lines to be rendered and optimized are information stored in the respective roads, and because there is no description of the relationship, it is not possible to identify whether the two dotted lines are left and right sides of the double dotted lines, and it is not possible to identify which two dotted lines need to be aligned or optimized in rendering.

For example, as can be understood with reference to fig. 1 to 4 below, fig. 1 is a first schematic diagram illustrating a dashed lane line in an HMI according to an embodiment of the present disclosure, fig. 2 is a second schematic diagram illustrating a dashed lane line in an HMI according to an embodiment of the present disclosure, fig. 3 is a third schematic diagram illustrating a dashed lane line in an HMI according to an embodiment of the present disclosure, and fig. 4 is a fourth schematic diagram illustrating a dashed lane line in an HMI according to an embodiment of the present disclosure.

Specifically, because the rendering data of the lane route in the map data is atomized, that is, the relationship between two lane routes cannot be determined, the alignment and the cutting of the double dotted lines cannot be performed from the perspective of the road lines, so that the rendering of the dotted lines is misaligned, and the alignment of the dotted lines cannot be guaranteed.

In the interfaces of several different HMIs shown in fig. 1 to 4, the implementation of the dashed line of the rendering lane line is shown, for example, in fig. 1 to 4, the rendering dashed line of the different lane lines is shown, but no matter which of fig. 1 to 4, it can be seen that the rendering of the dashed line is messy, and based on the rendering effect of the dashed line of the lane line, the display of the lane line is disordered, and further, wrong map information may be displayed.

Aiming at the problems in the prior art, the technical concept is as follows: the end points of the lane lines are aligned in an integer mode, so that the fact that each lane line starts to be divided into dotted lines based on an integer position or ends to be divided based on the integer position can be guaranteed, adjacent lane lines are aligned, and orderly display of the lane lines in the HMI is effectively guaranteed.

The following describes the lane line processing method provided by the present disclosure with reference to a specific embodiment, and it should be noted that an application scenario of the embodiment of the present disclosure is a dashed line rendering a lane line in an HMI, where the HMI may be located in a vehicle, for example, displaying the HMI on a display screen of a central controller of the vehicle; or the HMI can also be located on a display screen of a processing device, such as a terminal device or a computer; or the HMI may also be located in some large screens for display, the specific display scene of the HMI is not limited in this embodiment, and any scene that can display the HMI may be used as the application scene in this embodiment.

And the execution subject of each embodiment in the present disclosure is, for example, a device with a data processing function, such as a server, a processor, a microprocessor, and the like, which is not particularly limited in this embodiment, and may be selected according to actual needs.

First, a lane line processing method provided by the present disclosure is described below with reference to fig. 5, and fig. 5 is a flowchart of the lane line processing method provided by the embodiment of the present disclosure.

As shown in fig. 5, the method includes:

s501, obtaining coordinates of a first reference point of the lane line, wherein the first reference point is an end point of the lane line.

In this embodiment, the lane line may include a plurality of two-dimensional points, it may be understood that the line is composed of points, and among the two-dimensional points included in the lane line, the lane line specifically includes a first reference point, where the first reference point is an end point of the lane line, and may be, for example, a storage start point of the lane line, or may also be a storage end point of the lane line.

The embodiment does not limit the specific implementation manner of the first reference point, as long as the first reference point is an end point of the lane line.

In this embodiment, the coordinates of the first reference point of the lane line may be acquired, and in a possible implementation manner, when each two-dimensional point on the lane line is acquired, the coordinates of each two-dimensional point are acquired, so that the coordinates of the first reference point may be directly acquired from the acquired data.

In one possible implementation, the coordinates of the first reference point in the present embodiment may be coordinates in a world coordinate system.

The world coordinate system is adopted because the information of the roads is very complex, and problems such as whether the angles of the roads have radians and the like exist and are very difficult to unify, and problems such as the directions of the roads, the distances of the roads and the like are all stored by the traces, so that the problems of good identification of line segment data, that is, the distances of two roads, the directions of the roads and the like cannot be identified.

Based on the above problems, since only the world coordinate system is unified, it can be ensured that the alignment effect can be achieved visually when the subsequent segmentation processing is performed only by determining the coordinates of each point based on the unified world coordinate system, and therefore all the collected coordinate data in the present embodiment are based on the world coordinate system.

And S502, updating the end point of the lane line according to the coordinate of the first reference point, wherein the transverse coordinate or the longitudinal coordinate of the updated end point of the lane line is an integer.

In practical implementation, the coordinates of the first reference point are most likely not integers, where the coordinates of the first reference point include lateral coordinates, i.e., x coordinates, and the coordinates of the first reference point also include longitudinal coordinates, i.e., y coordinates, such as the x and y coordinates of the first reference point are (1.53,3.12), and the x coordinate of the first reference point is not an integer.

If the lane line segmentation is started directly according to the end point whose coordinate is not an integer, the final lane line segmentation result may be very different due to the error of the end point between the lane lines, and the above-described case of the confusion of the display of the broken line of the lane line may occur.

In this embodiment, the end point of the lane line is updated according to the coordinates of the first reference point, where the horizontal coordinate of the end point of the lane line after the update is an integer, or the vertical coordinate of the end point of the lane line after the update is an integer, that is, it is ensured that the x coordinate or the y coordinate of the end point after the update is an integer.

It should be noted that, in this embodiment, the end point of the updated lane line is still a two-dimensional point on the lane line, so that when the end point of the lane line is updated according to the coordinates of the first reference point in this embodiment, it may be understood that the lane line is partially shortened to ensure that the x coordinate or the y coordinate of the end point of the updated lane line is an integer.

Meanwhile, it can be understood that the updated endpoint of the lane line may have the x coordinate aligned to an integer and the y coordinate not yet an integer; or the y coordinate is aligned to an integer, and the x coordinate is still not an integer, so in this embodiment, as long as any one of the horizontal coordinate and the vertical coordinate of the end point of the updated lane line is guaranteed to be an integer, specifically, it is guaranteed that the horizontal coordinate is an integer or the vertical coordinate is an integer, which may be selected according to actual requirements.

Meanwhile, in this embodiment, the first reference point is an end point of the lane line, and it can be understood that two end points exist for one lane line, in a possible implementation manner, one end point of the two end points may be updated, for example, the storage start point may be updated, or the storage end point may be updated, for example, if the two end points include the storage start point and the storage end point described above; in another possible implementation manner, both the two endpoints may be updated, for example, both the storage start point and the storage end point may be updated, and a specific implementation manner may be selected according to an actual requirement, which is not limited in this embodiment, and the same may be used as long as each lane line is processed in the same processing manner.

S503, the updated lane lines are segmented to obtain lane dotted lines corresponding to the lane lines, and the lane dotted lines are rendered in the graphical user interface.

In this embodiment, after the end point of the lane line is updated, the updated lane line may be obtained, where the end point of the updated lane line is the end point after the update described above, and then the updated lane line is divided, so that the lane dotted line corresponding to the lane line may be obtained.

Specifically, because the horizontal coordinates or the vertical coordinates of the end points of the updated lane lines are integers, errors of the division starting points between the lane lines to be aligned are eliminated, where the lane lines to be aligned are generally lane lines located at close parallel positions in a road, and the division of the lane lines is performed from the end points after the integer alignment, so that the division starting points of the lane lines to be aligned can be ensured to be the same.

And then, dividing the lane lines based on the same division starting point, thereby ensuring that each lane line needing to be aligned is divided, the obtained lane dotted lines are aligned, and further ensuring the orderly display of the lane dotted lines.

When the dividing process is performed, for example, the broken lines may be divided according to a fixed length, or the broken lines may also be divided according to a projection on the x axis or the y axis, and whichever method is used for the dividing, it is only necessary to ensure that the integer alignment operation is performed on the end points of the required lane lines, and then it is possible to ensure that the division starting points of the lane lines to be aligned are the same, and further it is ensured that the lane broken lines obtained by the dividing are aligned.

After the lane dashed lines are segmented, the lane dashed lines may be rendered in a graphical user interface to enable an ordered display of the lane dashed lines in the HMI.

The lane line processing method provided by the embodiment of the disclosure includes: and acquiring the coordinates of a first reference point of the lane line, wherein the first reference point is the endpoint of the lane line. And updating the end point of the lane line according to the coordinate of the first reference point, wherein the transverse coordinate or the longitudinal coordinate of the end point of the updated lane line is an integer. And carrying out segmentation processing on the updated lane line to obtain a lane dotted line corresponding to the lane line, and rendering the lane dotted line in a graphical user interface. The end points of the lane lines are updated to ensure that the transverse coordinates or the longitudinal coordinates of the end points of the lane lines are integers, then the updated end points are used as the segmentation starting points to perform the segmentation processing of the lane lines, so that the error of the segmentation starting points of the lane lines needing to be aligned can be effectively eliminated, the lane dotted lines of the lane lines needing to be aligned are ensured to be aligned, then the lane dotted lines are rendered in a graphical user interface, and the display orderliness of the lane dotted lines can be effectively improved.

On the basis of the foregoing embodiments, the following describes in further detail the lane line processing method provided by the present disclosure with reference to fig. 6 to 16, fig. 6 is a second flowchart of the lane line processing method provided by the present disclosure, fig. 7 is a first schematic diagram of an included angle between a lane line and a coordinate axis provided by the present disclosure, fig. 8 is a second schematic diagram of an included angle between a coordinate axis of a lane line provided by the present disclosure, fig. 9 is a third schematic diagram of an included angle between a lane line provided by the present disclosure, fig. 10 is a schematic diagram of an endpoint of an updated lane line provided by the present disclosure, fig. 11 is a schematic diagram of an implementation of dividing a lane line according to length provided by the present disclosure, fig. 12 is a schematic diagram of a result of dividing a lane line according to length provided by the present disclosure, fig. 13 is a schematic diagram of an implementation of dividing a lane line according to projection provided by the present disclosure, fig. 14 is a schematic diagram of a result according to a projection division length provided in the embodiment of the present disclosure, fig. 15 is a schematic diagram of a first effect of lane line alignment provided in the embodiment of the present disclosure, and fig. 16 is a schematic diagram of a second effect of lane line alignment provided in the embodiment of the present disclosure.

As shown in fig. 6, the method includes:

s601, obtaining the coordinates of a first reference point of the lane line, wherein the first reference point is an end point of the lane line.

The implementation manner of S601 is similar to that of S501, and is not described herein again.

S602, judging whether a first included angle between the lane line and the horizontal axis is smaller than a second included angle between the lane line and the vertical axis, if so, executing S603, and if not, executing S605.

In this embodiment, the end point of the lane line needs to be updated, the horizontal coordinate or the vertical coordinate of the end point of the updated lane line is an integer, and since the updated end point is also a point on the lane line, generally, only one of the horizontal coordinate and the vertical coordinate is guaranteed to be an integer, and therefore, it needs to be specifically determined which of the horizontal coordinate and the vertical coordinate is aligned to be an integer.

Therefore, in this embodiment, the projection direction of the current lane line needs to be determined first, and in this embodiment, the projection direction may be determined according to a first angle between the lane line and the horizontal axis and a second angle between the lane line and the vertical axis.

In one possible implementation, for example, it may be determined whether a first angle between the lane line and the horizontal axis is smaller than a second angle between the lane line and the vertical axis, so as to determine the projection direction of the lane line.

And S603, determining the projection direction of the lane line as the projection to the horizontal axis.

In one possible implementation, if it is determined that a first angle between the lane line and the horizontal axis is smaller than a second angle between the lane line and the vertical axis, the projection direction of the lane line is determined to be a projection toward the horizontal axis.

For example, as can be understood in conjunction with fig. 7, the coordinate system shown in fig. 7 may be understood as a world coordinate system, and assuming that the current lane line 701 is a line segment shown in the first quadrant in fig. 7, in order to better understand the angle between the lane line and the coordinate axis, an extension line of the lane line is identified in the form of a dotted line in fig. 7, as shown in fig. 7, the first angle between the lane line 701 and the horizontal axis (x axis) is an angle a shown in fig. 7, and the angle between the lane line 701 and the vertical axis (y axis) is an angle b shown in fig. 7.

As can be seen from fig. 7, the angle a is smaller than the angle b, so that it can be determined that a first included angle between the lane line and the horizontal axis is smaller than a second included angle between the lane line and the vertical axis, and further, the projection direction of the lane line is determined as being projected to the horizontal axis.

Fig. 7 illustrates a case where the lane line is located in the first quadrant, and in an actual implementation, the lane line may be located in any one of the quadrants in the coordinate system, and for more complete description, the case where the lane line is located in the second quadrant is also exemplarily described below with reference to fig. 8.

Assuming that the current lane line 801 is a line segment shown in the second quadrant of fig. 8 as shown in fig. 8, and similarly, an extension line of the lane line is indicated in the form of a dotted line in fig. 8, as shown in fig. 8, a first angle between the lane line 801 and the horizontal axis (x axis) is an angle c shown in fig. 8, and an angle between the lane line 801 and the vertical axis (y axis) is an angle d shown in fig. 8.

As can be seen from fig. 8, the angle c is smaller than the angle d, so that it can be determined that a first included angle between the lane line and the horizontal axis is smaller than a second included angle between the lane line and the vertical axis, and further, the projection direction of the lane line is determined as being projected to the horizontal axis.

The implementation of each quadrant is similar, and the implementation of the third quadrant and the fourth quadrant is not described herein again.

S604, determining a two-dimensional point of which the transverse coordinate is an integer and is closest to the transverse coordinate of the first reference point from at least one two-dimensional point of the lane line as a target point.

After the projection direction is determined, whether the coordinates to be integer-aligned are the lateral coordinates or the longitudinal coordinates can be determined according to the projection direction.

In a possible implementation manner, if it is determined that the projection direction of the lane line is the projection toward the horizontal axis, in this embodiment, the horizontal coordinates of the first reference point may be aligned in an integer, so as to obtain a target point corresponding to the first reference point, and then the target point may be used as the updated endpoint.

The lane line may include a plurality of two-dimensional points, because the present embodiment may determine the target point in at least one two-dimensional point of the lane line, the requirement that the target point needs to meet in the present embodiment is as follows: the two-dimensional point with the horizontal coordinate being an integer closest to the horizontal coordinate of the first reference point may be determined as the target point in the embodiment when determining the target point, in order to reduce the degree of change to the end point as much as possible.

For example, the first reference point in this embodiment is an end point, for example, the end point of the current first reference point includes a storage start point and a storage end point, for example, the coordinates of the storage start point of the lane line are (1.53,3), the coordinates of the storage end point are (4,5), and it is determined that integer alignment needs to be performed on the lateral coordinates of the storage start point according to the projection direction at present.

It is understood that the two-dimensional points whose lateral coordinates are integers on the lane line may include three two-dimensional points of x-2, x-3, and x-4, and then the two-dimensional point whose lateral coordinate is an integer closest to the lateral coordinate (x-1.53) of the storage start point is determined as the target point, that is, the two-dimensional point corresponding to the position of x-2, and thus the two-dimensional point corresponding to x-2 on the lane line may be determined as the target point.

For example, as can be understood in conjunction with fig. 10, for example, in fig. 10, the lane line 1002 is included, it can be seen that the included angle between the current lane line 1002 and the horizontal axis is smaller, so that it can be currently determined that the projection direction of the lane line is projected toward the horizontal axis, and therefore, the horizontal coordinates of the end points of the lane line can be aligned in integer.

Referring to fig. 10, two end points of the lane line 1002 are a storage start point 1008 and a storage end point 1009 shown in fig. 10, respectively, for example, the coordinates of the storage start point 1008 are (3.45,3.31), and the coordinates of the storage end point 1009 are (8.71, 6.23).

For example, when the storage start point 1008 is integer-aligned to determine the target point, a point whose lateral coordinate is an integer closest to the lateral coordinate of the storage start point 1008, for example, a two-dimensional point 1010 illustrated in fig. 10, may be determined on the lane line, and the two-dimensional point 1010 may be determined as the target point corresponding to the storage start point 1008, where the coordinate of the target point 1010 may be (4,3.78), and it can be seen that the lateral coordinate of the target point is an integer.

For another example, when integer matching is performed on the storage end point 1009 to determine the target point, a point whose lateral coordinate is an integer and which is closest to the lateral coordinate of the storage end point 1009 may be determined on the lane line, for example, a two-dimensional point 1011 described in fig. 10, and the two-dimensional point 1011 is determined as the target point corresponding to the storage end point 1009, where the coordinate of the target point 1011 may be (7,5.89), and it can be seen that the lateral coordinate of the target point is an integer.

In the example of the lane line 1002 of fig. 10, the original storage starting point of the lane line 1002 is 1008, the original storage ending point is 1009, the updated storage starting point is 1010, and the updated storage ending point is 1011, so that the updating of the end point of the lane line is realized, the updated end point is a point on the lane line, and the lateral coordinate of the updated end point is an integer.

And in the example of fig. 10, the updating of the end point of the lane line 1003 is also shown, and as can be seen from fig. 10, the included angle between the lane line 1003 and the horizontal axis is smaller than the included angle between the lane line 1003 and the vertical axis, so that the projection direction of the lane line 1003 can be determined to be projection to the x-axis, and therefore the horizontal coordinates of the end point of the lane line 1003 can be aligned in integer, for example, in the lane line 1003, the end point is stored as 1012, and the start point is stored as 1013.

In the example of the lane line 1003 in fig. 10, the original storage starting point of the lane line 1003 is 1013, the original storage ending point is 1012, the updated storage starting point is 1015, and the updated storage ending point is 1014.

Based on the above description, it can be determined that, in the present embodiment, for a lane line whose projection direction is a direction projected to a horizontal axis, integer alignment may be performed on the horizontal coordinates of the end points, so as to obtain updated end points.

Meanwhile, it is worth to be noted that, for the end points of the lane lines, both the storage starting point and the storage ending point are included, and in the actual implementation process, for example, only the storage starting point may be updated, or only the storage ending point may be updated, or both the storage starting point and the storage ending point may be updated.

And S605, determining the projection direction of the lane line as the projection towards the vertical axis.

In another possible implementation manner, if it is determined that a first included angle between the lane line and the horizontal axis is greater than or equal to a second included angle between the lane line and the longitudinal axis, it is determined that the projection direction of the lane line is a projection toward the longitudinal axis.

For example, as can be understood in conjunction with fig. 9, the coordinate system shown in fig. 9 may be understood as a world coordinate system, and assuming that the current lane line 901 is a line segment shown in the first quadrant in fig. 9, and likewise, an extension line of the lane line is identified in the form of a dotted line in fig. 9, as shown in fig. 9, a first included angle between the lane line 901 and the horizontal axis (x axis) is an angle e shown in fig. 9, and an included angle between the lane line 901 and the vertical axis (y axis) is an angle f shown in fig. 9.

As can be seen from fig. 9, the angle e is greater than the angle f, so that it can be determined that a first included angle between the lane line and the horizontal axis is greater than a second included angle between the lane line and the longitudinal axis, and further, the projection direction of the lane line is determined as being projected toward the longitudinal axis.

The above-mentioned case of fig. 9 is a case where the lane line is located in the first quadrant, and the implementation manner of the remaining quadrants is similar, and will not be described again here.

Based on the contents of determining the projection direction described in the above S602 to S604, it can be determined that the essence of determining the projection direction in the present embodiment is to determine a coordinate axis having a smaller angle with the lane line as an axis corresponding to the projection direction. When the included angle between the lane line and the transverse axis is smaller, determining the projection direction as the projection towards the transverse axis; and when the included angle between the lane line and the longitudinal axis is smaller, determining the projection direction as the projection towards the longitudinal axis.

Based on this, in addition to determining the projection direction by determining the magnitude relationship between the first angle between the lane line and the horizontal axis and the second angle between the lane line and the vertical axis as described above, in another possible implementation manner, for example, the projection direction of the lane line may be determined by comparing the first angle between the lane line and the horizontal axis with the first angle range, or comparing the second angle between the lane line and the vertical axis with the second angle.

For example, if the first included angle between the lane line and the transverse axis is in the range of 0-45 degrees, determining the projection direction of the lane line as the projection towards the transverse axis; and if the first included angle between the lane line and the horizontal axis is in the range of 45-90 degrees, determining the projection direction of the lane line as the projection towards the vertical axis.

Or if the second included angle between the lane line and the longitudinal axis is in the range of 0-45 degrees, determining the projection direction of the lane line as the projection towards the longitudinal axis; and if the first included angle between the lane line and the transverse axis is in the range of 45-90 degrees, determining the projection direction of the lane line as the projection to the transverse axis.

In an actual implementation process, an implementation manner for determining the projection direction may be selected according to actual requirements, which is not limited in this embodiment, as long as a principle that a coordinate axis with a smaller lane line included angle is determined as a coordinate axis of the projection direction is followed.

And S606, determining a two-dimensional point with the longitudinal coordinate as an integer and the longitudinal coordinate closest to the longitudinal coordinate of the first reference point as a target point in at least one two-dimensional point of the lane line.

If it is determined that the projection direction of the lane line is the projection toward the longitudinal axis, in this embodiment, integer alignment may be performed on the longitudinal coordinate of the first reference point, so as to obtain a target point corresponding to the first reference point, and then the target point may be used as an updated endpoint.

The lane line may include a plurality of two-dimensional points, because the present embodiment may determine the target point in at least one two-dimensional point of the lane line, the requirement that the target point needs to meet in the present embodiment is as follows: the point is a point on the lane line, and the longitudinal coordinate of the target point is an integer, and in order to reduce the change degree of the end point as much as possible, in this embodiment, when determining the target point, a two-dimensional point whose longitudinal coordinate is an integer and which is closest to the longitudinal coordinate of the first reference point may be determined as the target point.

It can also be understood in conjunction with fig. 10, for example, fig. 10 includes the lane line 1001, and it can be seen that the included angle between the current lane line 1001 and the longitudinal axis is smaller, so that it can be currently determined that the projection direction of the lane line is projected toward the longitudinal axis, and therefore, the longitudinal coordinates of the end points of the lane line can be aligned in integer.

Referring to fig. 10, two end points of a lane line 1001 are a storage start point 1004 and a storage end point 1005 shown in fig. 10, respectively, for example, coordinates of the storage start point 1004 are (0.78,1.77), and coordinates of the storage end point 1005 are (4.53, 10).

For example, when integer matching is performed on the storage starting point 1004 to determine the target point, a point whose longitudinal coordinate is an integer and which is closest to the longitudinal coordinate of the storage starting point 1004, for example, a two-dimensional point 1006 shown in fig. 10, may be determined on the lane line, and the two-dimensional point 1006 is determined as the target point corresponding to the storage starting point 1004, where the coordinate of the target point 1006 may be (0.95,2), and it can be seen that the longitudinal coordinate of the target point is an integer.

For example, when integer matching is performed on the storage end point 1005, it can be determined from the coordinates of the storage end point 1005 that the vertical coordinates of the storage end point 1005 are originally integers, and therefore the storage end point 1005 can be directly determined as the target point.

In the example of the lane line 1001 of fig. 10, the original storage start point of the lane line 1001 is 1004, the original storage end point is 1005, the updated storage start point is 1006, and the updated storage end point is 1005, thereby achieving the update of the end point of the lane line, the updated end point is a point on the lane line, and the vertical coordinate of the updated end point is an integer.

Based on the above description, it can be determined that, in the present embodiment, for a lane line whose projection direction is toward the longitudinal axis, integer alignment may be performed on the longitudinal coordinates of the end points, so as to obtain updated end points.

Similarly, in the actual implementation process, for example, only the storage starting point may be updated, or only the storage ending point may be updated, or both the storage starting point and the storage ending point may be updated, which is not limited in this embodiment, and may be selected according to actual requirements as long as the processing modes of the lane lines are the same.

After the end points of the lane lines are aligned to integers, errors between the lane lines needing to be aligned can be effectively eliminated, the fact that the segmentation starting points of the lane lines needing to be aligned are the same is guaranteed, and further the fact that subsequent dotted line segmentation effects are aligned can be guaranteed.

It should be noted that, in the present embodiment, when determining the projection direction, the coordinate axis having a smaller angle with the lane line is determined as the coordinate axis of the projection direction, in part, because the coordinate value range corresponding to the coordinate axis having a smaller angle with the lane line is larger, and the variation degree of the end point can be reduced as much as possible in the process of performing integer alignment of the end point.

For example, it can be understood by combining the example in fig. 7, as shown in fig. 7, for example, if the included angle between the current lane line and the x-axis is smaller, for example, if the current two endpoints are (2.13,2.67) and (6.10,4.04), respectively, the coordinate range of the current two endpoints on the x-axis is 2.13 to 6.10, and the coordinate range on the y-axis is only 2.67 to 4.04.

If the projection direction is determined to be projection towards the horizontal axis, performing integer alignment on the horizontal coordinates of the end points, wherein the range of the horizontal coordinates of the corresponding end points after the integer alignment is possibly 3-6;

however, if the projection direction is determined as being projected toward the vertical axis, the vertical coordinates of the end points are integer-aligned, and the range of the vertical coordinates of the corresponding end points after integer-alignment may be 3 to 4.

It can be seen that, in this case, if it is determined that the projection direction is the projection direction to the vertical axis, and then the vertical coordinates are subjected to integer alignment, the end point changes greatly, and further the length of the updated lane line changes greatly, so in this embodiment, the coordinate axis having a smaller included angle with the lane line is determined as the coordinate axis of the projection direction.

And S607, determining the target point as the end point of the updated lane line.

After the determination of the target point described above, the target point may be determined as an end point of the updated lane line.

S608, acquiring a plurality of two-dimensional points of the lane line according to the first set, wherein each two-dimensional point of the lane line is stored in the first set, and the two-dimensional points comprise updated end points.

In this embodiment, the lane line includes at least one two-dimensional point, and in a possible implementation, the two-dimensional points may be stored in a first set, the updated end points are included in the two-dimensional points, and the coordinates of each two-dimensional point may be included in the first set, for example.

It is thus possible to obtain the respective two-dimensional points of the lane lines by obtaining the first set.

And S609, starting from the updated endpoint, dividing the updated lane line into at least one rendering section and at least one blank section, wherein the rendering section and the blank section respectively comprise at least one two-dimensional point.

After determining each two-dimensional point of the lane line, the lane line may be segmented according to each two-dimensional point of the lane line.

In a possible implementation manner, what needs to be determined in this embodiment is a lane dotted line corresponding to a lane line, and it can be understood that the dotted line includes some portions that need to be drawn and some blank portions, so that in this embodiment, the updated lane line may be divided into at least one rendering segment and at least one blank segment from an updated endpoint, where the rendering segment and the blank segment respectively include at least one two-dimensional point.

It should be noted that, because only the updated end points are integer aligned, the segmentation of the lane line in this embodiment starts from the updated end points, for example, if the current updated end point is the storage start point of the lane line, the segmentation starts from the updated storage start point; for another example, if the updated end point is the storage end point of the lane line, the segmentation is started from the updated storage end point; for another example, if the updated end point includes both the storage start point and the storage end point, the division may be performed from either the storage start point or the storage end point.

Possible implementations of lane line segmentation are described below:

in a possible implementation manner, the updated lane line may be alternately segmented from the updated endpoint according to a first preset length and a second preset length to obtain at least one rendering section and at least one blank section, where the length of the rendering section is the first preset length, and the length of the blank section is the second preset length.

That is, the lane line is divided into the rendering segment and the blank segment according to a fixed length, which can be understood, for example, with reference to fig. 11.

As shown in fig. 11, it is assumed that a lane line shown in 1101 in fig. 11 currently exists, where an updated storage start point of the lane line may be, for example, a point a, and an updated storage end point may be, for example, a point B, and the segmentation is performed, for example, from the updated storage start point a.

For example, if the first preset length is set to be 5 and the second preset length is 3, starting from the storage of the starting point a, determining and storing a two-dimensional point with a distance of 5 from the starting point a, for example, the two-dimensional point B in fig. 10, determining the length between the point a and the point B to be 5, and determining the rendering segment between the point a and the point B to include a plurality of two-dimensional points.

Next, continuing from the two-dimensional point B, a two-dimensional point having a distance of 3 from the two-dimensional point B is determined, for example, the two-dimensional point C in fig. 10, and then the length between the points B to C is determined to be 3, and a blank segment including a plurality of two-dimensional points is determined between the points B to C.

Then, rendering sections and blank sections are sequentially and alternately determined according to the length 5 and the length 3, so that the lane line is divided into 3 rendering sections shown in fig. 10: point a to point B, point C to point D, point E to point F, and 3 blank segments: based on the three rendered segments and the three blank segments, the dashed lane line in 1102 can be determined, point B to point C, point D to point E, and point F to point G.

It can be understood that the lengths of the rendering sections obtained by dividing according to the preset length are the same, and the lengths of the blank sections are also the same, so that the orderly display of the lane dotted lines can be effectively ensured.

For example, for the 3 lane lines in fig. 10, if the division result is the result shown in fig. 12 according to the division manner with the fixed length, as can be seen from fig. 12, the updated storage start points of the respective lane lines are all integer aligned, so that the lane lines can be divided from the updated storage start points, and the lengths of the respective blank segments and the respective rendering segments are the same.

In another possible implementation manner, at least one first line segment and at least one second line segment may be determined in a projection axis, and the projection axis is a horizontal axis or a vertical axis; determining a line segment corresponding to at least one first line segment in the updated lane line as at least one rendering segment; and determining the line segment corresponding to the at least one second line segment in the updated lane line as at least one blank segment.

That is, the lane line is divided into a blank segment and a virtual edge by projecting the lane line on the projection axis.

The projection axis is a coordinate axis corresponding to the above-described projection direction, for example, if the projection direction is a projection toward a horizontal axis, the projection axis is a horizontal axis, and if the projection direction is a projection toward a vertical axis, the projection axis is a vertical axis.

In this embodiment, at least one first line segment may be determined in the projection axis, for example, at least one first line segment and at least one second line segment may be determined in the projection axis according to a fixed length according to a storage start point after integer alignment and/or a storage end point after integer alignment, for example, line segments are alternately determined in the projection axis according to a third preset length and a fourth preset length from a coordinate corresponding to an updated end point in a coordinate axis, so as to obtain at least one first line segment and at least one second line segment.

For example, as can be understood in conjunction with fig. 13, for example, there is currently a lane line shown in fig. 13, where the updated storage start point of the lane line may be, for example, a point L, and the updated storage end point may be, for example, a point Q, and the segmentation is performed, for example, from the updated storage start point L.

Currently, for the lane line shown in fig. 13, the projection axis corresponding to the lane line is an x axis, for example, the first line segment and the second line segment may be sequentially determined in the x axis from an x coordinate (x ═ 2) corresponding to L, according to a third preset length of 2 and a fourth preset length of 1, where the first line segment includes: segment 1301, corresponding to x being 2-4, and segment 1303, corresponding to x being 5-7; the second segment includes: line segment 1302 corresponds to x being 4-5, and line segment 1303 corresponds to x being 7-8.

Then, a line segment corresponding to at least one first line segment in the updated lane line is determined as at least one rendering segment, referring to fig. 13, a line segment from a midpoint L to a point M in the lane line is a line segment corresponding to the first line segment 1301, and thus the line segment from the point L to the point M can be determined as the rendering segment; and, the line segment from the point N to the point P in the lane line is the line segment corresponding to the first line segment 1303, so the line segment from the point N to the point P may be determined as the rendering segment.

And, a line segment corresponding to at least one second line segment in the updated lane line may be determined as at least one blank segment, see fig. 13, a line segment from a midpoint M to a point N of the lane line is a line segment corresponding to the first line segment 1302, and thus a line segment from a point M to a point N may be determined as a blank segment; and, the line segment from the point P to the point Q in the lane line is the line segment corresponding to the first line segment 1304, so the line segment from the point N to the point P can be determined as a blank segment.

For example, for the 3 lane lines in fig. 10, if the segmentation result may be the result shown in fig. 14 according to the projected segmentation manner, as can be seen from fig. 14, the updated storage start points of the respective lane lines are all integer-aligned, and the determined respective segmentation points are also integer-aligned on the projection axis.

In an actual implementation process, a fixed-length mode or a projection mode is specifically selected for segmentation, which may be selected according to actual requirements, and this embodiment is not limited to this.

It should be noted here that, in the present embodiment, when determining the projection direction, the coordinate axis having a smaller angle with the lane line is determined as the coordinate axis of the projection direction, and besides the reason described above that the degree of the variation of the end point can be reduced as much as possible, another reason is to ensure the presentation effect of the lane thin lines obtained by the division when dividing the lane line by projection.

For example, in an extreme case, the lane line is along the y-axis direction, the storage start point of the lane line is (0,0), the storage end point is (0, 100), and if the projection direction of the lane line is the desired x-axis projection, the lane line finally becomes a point, so the lane line must be projected to the y-axis and cut according to the change of the y-axis value, and if the projection cutting of the x-axis direction is performed on the lane line, the cutting cannot be successful. Therefore, in the present embodiment, a coordinate axis having a smaller angle with the lane line is determined as a coordinate axis of the projection direction.

S610, determining at least one rendering section and at least one blank section as lane dotted lines corresponding to the updated lane lines, and rendering the lane dotted lines in a graphical user interface.

After at least one rendering section and at least one blank section are determined, lane dotted lines corresponding to lane lines can be determined according to the rendering section and the blank section, wherein the rendering section comprises a plurality of two-dimensional points which need to be drawn, and the blank section also comprises a plurality of two-dimensional points which do not need to be drawn, so that the lane dotted lines can be rendered in a graphical user interface according to the plurality of two-dimensional points in the rendering section.

In a possible implementation manner, after being processed by the lane line processing method in the present disclosure, the lane dotted lines displayed in the HMI may be, for example, as shown in fig. 15 and 16, see fig. 15 and 16, where the lane dotted lines are displayed in a very ordered manner, and the double-sided double dotted lines that need to be aligned achieve alignment, thereby ensuring the order of displaying the lane lines.

According to the lane line processing method provided by the embodiment of the disclosure, the projection direction is determined according to the first included angle between the lane line and the transverse axis and the second included angle between the lane line and the longitudinal axis, so that the coordinate axis with a smaller included angle can be determined as the coordinate axis of the projection direction, the determination of the projection direction is simply and effectively realized, the determination of the projection direction is performed based on the principle, the change of the update of the endpoint of the lane line can be effectively ensured to be as small as possible, and the segmentation effect of the lane line can be ensured when the lane line is subsequently segmented according to the projection mode. The horizontal coordinates or the longitudinal coordinates of the end points of the lane lines are aligned according to the projection direction, so that the segmentation starting points of the lane lines to be aligned can be guaranteed to be the same, the orderly display of the lane lines can be effectively guaranteed, the lane lines are divided into rendering sections and blank sections from the updated end points, and the segmentation modes of all the lane lines are the same, so that the embodiment not only guarantees that the starting points of the divided lane dotted lines are aligned, but also guarantees that the segmentation of the lane dotted lines is also aligned, the alignment effect of the lane lines is further guaranteed, and the orderliness of the display of the lane lines is improved.

On the basis of the foregoing embodiment, in the lane line processing method provided in this disclosure, each two-dimensional point of the lane line may be included in the first set, and the first set includes the storage start point and the storage end point, so that the storage order of each two-dimensional point in the first set is also the same, and in one possible implementation manner, before the two-dimensional point of the lane line is obtained according to the first set, each two-dimensional point of each lane line may be sequentially stored in the first set, for example, the two-dimensional points may be divided according to the direction of the lane line, and the following describes an implementation manner of determining the direction of the lane line and determining the first set.

Fig. 17 is a third flowchart of the lane line processing method provided by the embodiment of the present disclosure, fig. 18 is a first implementation schematic diagram of determining the first set according to the direction of the lane line provided by the embodiment of the present disclosure, fig. 19 is a second implementation schematic diagram of determining the first set according to the direction of the lane line provided by the embodiment of the present disclosure, and fig. 20 is a third implementation schematic diagram of determining the first set according to the direction of the lane line provided by the embodiment of the present disclosure.

As shown in fig. 17, the method includes:

s1701, a first vector is determined from the start point of the lane line and the end point of the lane line.

It is understood that the lane line itself includes a start point and an end point, and the start point and the end point may be determined according to an actual lane line direction in the lane line, or may also be determined according to a two-dimensional point acquisition sequence in the lane line, which is not limited in this embodiment.

In this embodiment, the first vector may be determined according to a starting point of the lane line and an end point of the lane line, where a direction of the first vector is from the starting point of the lane line to the end point of the lane line.

For example, as can be understood in conjunction with fig. 18, as shown in fig. 18, a lane line currently exists, wherein a starting point of the lane line is, for example, R shown in fig. 18, and an ending point of the lane line is, for example, T shown in fig. 18, and according to the starting point R and the ending point T, the first vector S in fig. 17 can be determined, and the direction of the first vector S is also marked in fig. 18.

S1702, determining whether the direction of the first vector is towards a first quadrant or a second quadrant of the preset coordinate axis, if so, performing S1703, and if not, performing S1704.

After determining S of the first vector according to the starting point and the ending point, the direction of the lane line may be determined according to an angle between the direction of the first vector and a forward direction of the horizontal axis, where the direction of the lane line may be a forward direction or a reverse direction.

Specifically, it may be determined whether the direction of the first vector is toward a first quadrant or a second quadrant of the preset coordinate axis.

And S1703, determining the direction of the lane line as the forward direction.

In a possible implementation manner, if it is determined that the direction of the first vector is towards the first quadrant or the second quadrant of the preset coordinate axis, that is, the direction of the first vector is towards the positive direction of the y-axis, it may be determined that the direction of the lane line is the positive direction.

For example, the direction of the first vector S in fig. 18 is the first quadrant toward the world coordinate axis, it can be determined that the direction of the lane line is the forward direction.

S1704, determining the direction of the lane line to be reverse.

In another possible implementation manner, if the direction of the first vector is determined to be toward the third quadrant or the fourth quadrant of the preset coordinate axis, that is, the direction of the first vector is toward the negative direction of the y-axis, the direction of the lane line may be determined to be the reverse direction.

For example, if the direction of the first vector K in fig. 19 is the fourth quadrant toward the world coordinate axis, it can be determined that the direction of the lane line is the forward direction.

And S1705, sequentially storing the two-dimensional points of the lane line into a first set according to the direction of the lane line.

After determining the direction of the lane line, the two-dimensional points of the lane line may be sequentially stored into the first set according to the direction of the lane line.

In a possible implementation manner, if the direction of the lane line is the forward direction, the forward sequence of each two-dimensional point of the lane line is sequentially stored in the first set.

For example, as can be understood in conjunction with fig. 18, the direction of the lane line is determined to be the forward direction based on the first vector S in fig. 18, and therefore, each two-dimensional point of the lane line may be stored in a forward sequence, where the forward sequence in this embodiment refers to the sequence from the start point to the end point of the lane line.

As shown in fig. 18, for example, if the starting point to the ending point of the current lane line are two-dimensional point 1, two-dimensional point 2, two-dimensional point 3, …, and two-dimensional point n in this order, each two-dimensional point may be sequentially stored in the first set in the order of 1-n, and in the first set, the storage starting point is two-dimensional point 1, and the storage ending point is two-dimensional point n.

In another possible implementation manner, if the direction of the lane line is reverse, the two-dimensional points of the lane line are sequentially stored in the first set in a reverse order.

For example, as can be understood in conjunction with fig. 19, the direction of the lane line is determined to be reverse based on the first vector K in fig. 19, and therefore, each two-dimensional point of the lane line may be stored in reverse order, where the reverse order in this embodiment refers to the order from the end point to the start point of the lane line.

As shown in fig. 19, for example, if the starting point to the ending point of the current lane line are two-dimensional point 1, two-dimensional point 2, two-dimensional point 3, …, and two-dimensional point n in this order, each two-dimensional point may be sequentially stored in the first set in the order of n-1, and in the first set, the storage starting point is two-dimensional point n, and the storage ending point is two-dimensional point 1.

Based on the above introduction, when the direction of the lane line is forward, the two-dimensional points are stored in forward order, and when the direction of the lane line is reverse, the two-dimensional points are stored in reverse order, so that the storage order of the two-dimensional points of each lane line can be ensured to be consistent.

For example, the storage order may be consistent with an extreme example, for example, in fig. 12, a lane line 2001 is included, where the direction of the lane line 2001 is a forward direction, the two-dimensional points of the lane line 2001 may be stored in a forward order, that is, in a direction indicated by 2002; and a lane line 2003 is also included in fig. 12, where the direction of the lane line 2003 is reversed, the two-dimensional points of the lane line 2003 may be stored in reverse order, i.e., in the direction indicated by 2004 therein.

It can be understood from this that, originally, the directions of the lane line 2001 and the lane line 2003 are completely opposite, and if the processing is not performed here, all the two-dimensional points of the lane line in the opposite direction are stored in the positive sequence, which results in that the storage sequence of the two-dimensional points of the lane line in the opposite direction is also opposite, however, through the processing, the storage sequence of the two-dimensional points of the lane line 2001 and the lane line 2003 in the opposite direction is the same, so that the integer alignment of the storage starting point or the integer alignment of the storage ending point can be ensured, and when the division is performed, the operation can be performed based on the same direction, and the order of the lane broken lines obtained by dividing the lane line is further ensured.

According to the lane line processing method provided by the embodiment of the disclosure, the two-dimensional points of the lane line are subjected to forward order storage or reverse order storage according to the direction of the lane line, so that the storage directions of the two-dimensional points of each lane line can be effectively ensured to be consistent, and the orderliness of lane dotted lines obtained after the lane line is divided is effectively ensured.

Based on the above description, it can be understood that the lane line processing method provided by the embodiment of the present disclosure may perform the above processing on any lane line, and for example, the lane line may be preprocessed before the lane line is processed.

For example, in each two-dimensional point of one lane line, when it is determined that the distance between the two points is smaller than a preset distance, the two points may be merged.

And when the included angle of two adjacent lane lines is smaller than the preset included angle, the two adjacent lane lines can be combined.

Through the preprocessing operation, the number of data to be processed can be effectively reduced, and the integrity of the lane line data can be effectively ensured, so that the optimization of the segmentation effect of the lane line is realized.

Fig. 21 is a schematic structural diagram of a lane line processing apparatus according to an embodiment of the present disclosure. As shown in fig. 21, the lane line processing apparatus 2100 of the present embodiment may include: an acquisition module 2101, an update module 2102, a segmentation module 2103, a processing module 2104.

An obtaining module 2101, configured to obtain coordinates of a first reference point of a lane line, where the first reference point is an end point of the lane line;

an updating module 2102, configured to update an endpoint of the lane line according to the coordinate of the first reference point, where a horizontal coordinate or a vertical coordinate of the updated endpoint of the lane line is an integer;

a dividing module 2103, configured to perform dividing processing on the updated lane line to obtain a lane dotted line corresponding to the lane line, and render the lane dotted line in a graphical user interface.

In one possible implementation, the update module 2102 comprises:

the first determining unit is used for determining the projection direction of the lane line, wherein the projection direction of the lane line is projected towards a transverse axis or a longitudinal axis;

a second determining unit, configured to determine a target point corresponding to the first reference point according to a projection direction of the lane line and a coordinate of the first reference point, where a horizontal coordinate or a longitudinal coordinate of the target point is an integer, and the target point is located on the lane line;

a third determining unit, configured to determine the target point as an end point of the updated lane line.

In a possible implementation manner, the second determining unit is specifically configured to:

if the projection direction of the lane line is the projection towards the horizontal axis, determining a two-dimensional point of which the horizontal coordinate is an integer and is closest to the horizontal coordinate of the first reference point in at least one two-dimensional point of the lane line as the target point;

if the projection direction of the lane line is the projection towards the longitudinal axis, determining a two-dimensional point, of which the longitudinal coordinate is an integer and is closest to the longitudinal coordinate of the first reference point, as the target point from at least one two-dimensional point of the lane line.

In a possible implementation manner, the first determining unit is specifically configured to:

if the first included angle between the lane line and the transverse axis is smaller than the second included angle between the lane line and the longitudinal axis, determining the projection direction of the lane line as the projection towards the transverse axis; alternatively, the first and second electrodes may be,

and if the first included angle is larger than or equal to the second included angle, determining the projection direction of the lane line as the projection towards the longitudinal axis.

In a possible implementation manner, the segmentation unit includes:

an obtaining unit, configured to obtain a plurality of two-dimensional points of a lane line according to a first set, where each two-dimensional point of the lane line is stored in the first set, and the two-dimensional points include the updated end point;

a dividing unit, configured to divide the updated lane line into at least one rendering segment and at least one blank segment from the updated endpoint, where the rendering segment and the blank segment respectively include at least one of the two-dimensional points;

a fourth determining unit, configured to determine the at least one rendering segment and the at least one blank segment as a lane dotted line corresponding to the updated lane line.

In a possible implementation manner, the segmentation unit is specifically configured to:

and from the updated end point, alternately segmenting the updated lane line according to a first preset length and a second preset length to obtain at least one rendering section and at least one blank section, wherein the length of the rendering section is the first preset length, and the length of the blank section is the second preset length.

determining at least one first line segment and at least one second line segment in a projection axis, wherein the projection axis is a horizontal axis or a vertical axis;

determining a line segment corresponding to the at least one first line segment in the updated lane line as the at least one rendering segment;

and determining the line segment corresponding to the at least one second line segment in the updated lane line as the at least one blank segment.

In a possible implementation manner, the apparatus further includes: a processing module 2104;

the processing module 2104:

a fifth determining unit, configured to determine a direction of a lane line before the obtaining of the plurality of two-dimensional points of the lane line according to the first set, where the direction of the lane line is forward or reverse;

and the storage unit is used for sequentially storing each two-dimensional point of the lane line into the first set according to the direction of the lane line.

In a possible implementation manner, the storage unit is specifically configured to:

if the direction of the lane line is positive, sequentially storing each two-dimensional point positive sequence of the lane line into the first set; alternatively, the first and second electrodes may be,

and if the direction of the lane line is reverse, sequentially storing each two-dimensional point of the lane line into the first set in a reverse order.

In a possible implementation manner, the fifth determining unit is specifically configured to:

determining a first vector according to the starting point of the lane line and the end point of the lane line;

if the direction of the first vector faces a first quadrant or a second quadrant of a preset coordinate axis, determining that the direction of the lane line is a forward direction; alternatively, the first and second electrodes may be,

and if the direction of the first vector faces to a third quadrant or a fourth quadrant of the preset coordinate axis, determining that the direction of the lane line is reverse.

The disclosure provides a lane line processing method and device, electronic equipment and a cloud control platform, which are applied to computer vision in the fields of intelligent transportation and image processing to achieve the purpose of improving the display order of lane dotted lines.

The present disclosure also provides an electronic device and a readable storage medium according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the present disclosure further provides a cloud control platform, including the electronic device as described above, optionally, the cloud control platform performs processing at a cloud end, and the electronic device included in the cloud control platform may acquire data of a sensing device (such as a roadside camera), such as pictures and videos, so as to perform image and video processing and data calculation; the cloud control platform can also be called a vehicle-road cooperative management platform, an edge computing platform, a cloud computing platform, a central system, a cloud server and the like

According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.

Fig. 22 illustrates a schematic block diagram of an example electronic device 2200 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 22, the electronic device 2200 includes a computing unit 2201, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)2202 or a computer program loaded from a storage unit 2208 into a Random Access Memory (RAM) 2203. In the RAM 2203, various programs and data required for the operation of the device 2200 may also be stored. The computing unit 2201, ROM 2202, and RAM 2203 are connected to each other via a bus 2204. An input/output (I/O) interface 2205 is also connected to bus 2204.

A number of components in the device 2200 are connected to the I/O interface 2205, including: an input unit 2206 such as a keyboard, a mouse, or the like; an output unit 2207 such as various types of displays, speakers, and the like; a storage unit 2208 such as a magnetic disk, an optical disk, or the like; and a communication unit 2209 such as a network card, modem, wireless communication transceiver, etc. The communication unit 2209 allows the device 2200 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The computing unit 2201 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 2201 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 2201 executes the respective methods and processes described above, such as the lane line processing method. For example, in some embodiments, the lane line processing method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 2208. In some embodiments, some or all of the computer programs may be loaded and/or installed onto device 2200 via ROM 2202 and/or communications unit 2209. When the computer program is loaded into the RAM 2203 and executed by the computing unit 2201, one or more steps of the lane line processing method described above may be performed. Alternatively, in other embodiments, the computing unit 2201 may be configured to perform the lane line processing method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A lane line processing method, comprising:

2. The method of claim 1, wherein said updating the endpoint of the lane line according to the coordinates of the first reference point comprises:

determining the projection direction of the lane line, wherein the projection direction of the lane line is the projection towards a horizontal axis or the projection towards a longitudinal axis;

determining a target point corresponding to the first reference point according to the projection direction of the lane line and the coordinate of the first reference point, wherein the horizontal coordinate or the longitudinal coordinate of the target point is an integer, and the target point is located on the lane line;

and determining the target point as the end point of the updated lane line.

3. The method of claim 2, wherein the determining a target point corresponding to the first reference point according to the projection direction of the lane line and the coordinates of the first reference point comprises:

4. The method of any of claims 2-3, wherein the determining the projected direction of the lane line comprises:

5. The method according to any one of claims 1 to 4, wherein the segmenting the updated lane line to obtain a lane dotted line corresponding to the lane line includes:

acquiring a plurality of two-dimensional points of a lane line according to a first set, wherein each two-dimensional point of the lane line is stored in the first set, and the two-dimensional points comprise the updated end points;

dividing the updated lane line into at least one rendering section and at least one blank section from the updated endpoint, wherein the rendering section and the blank section respectively comprise at least one two-dimensional point;

and determining the at least one rendering section and the at least one blank section as a lane dotted line corresponding to the updated lane line.

6. The method of claim 5, wherein said segmenting the updated lane line into at least one rendered segment and at least one blank segment starting from the updated endpoint comprises:

7. The method of claim 6, wherein said segmenting the updated lane line into at least one rendered segment and at least one blank segment starting from the updated endpoint comprises:

8. The method of claim 6, before said obtaining, from the first set, a plurality of two-dimensional points of a lane line, the method further comprising:

determining the direction of the lane line, wherein the direction of the lane line is forward or reverse;

and sequentially storing each two-dimensional point of the lane line into the first set according to the direction of the lane line.

9. The method of claim 8, wherein the sequentially storing the two-dimensional points of the lane line into the first set according to the direction of the lane line comprises:

10. The method of claim 9, wherein the determining the direction of the lane line comprises:

11. A lane line processing apparatus comprising:

12. The apparatus of claim 11, wherein the update module comprises:

13. The apparatus according to claim 12, wherein the second determining unit is specifically configured to:

14. The apparatus according to any one of claims 12-13, wherein the first determining unit is specifically configured to:

15. The apparatus according to any one of claims 11-14, wherein the segmentation unit comprises:

16. The apparatus according to claim 15, wherein the segmentation unit is specifically configured to:

17. The apparatus according to claim 16, wherein the segmentation unit is specifically configured to:

18. The apparatus of claim 16, the apparatus further comprising: a processing module;

the processing module is used for:

19. The apparatus of claim 18, wherein the storage unit is specifically configured to:

20. The apparatus according to claim 19, wherein the fifth determining unit is specifically configured to:

21. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-10.

22. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-10.

23. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-10.

24. A cloud controlled platform comprising the electronic device of claim 21.