CN113223113B

CN113223113B - Lane line processing method and device, electronic equipment and cloud control platform

Info

Publication number: CN113223113B
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: 2024-04-19
Anticipated expiration: 2041-04-30
Also published as: CN113223113A

Abstract

The disclosure discloses a lane line processing method, a lane line processing 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 coordinates of a first reference point of the lane line, wherein the first reference point is an 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 dividing the updated lane lines to obtain lane dotted lines corresponding to the lane lines, and rendering the lane dotted lines 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 for the segmentation processing of the lane lines, so that errors of the segmentation starting points of the lane lines which need to be aligned can be effectively eliminated, and the display order of the lane broken lines is effectively improved.

Description

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

Technical Field

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

Background

A Human-machine interface (Human MACHINE INTERFACE, HMI) is the medium of interaction between the system and the user, and the display of lane lines in the form of broken lines is often required in a vehicle-related HMI.

At present, when drawing a dashed line in the HMI in the related art, each lane line is usually cut based on collected lane line information, so as to obtain the dashed line corresponding to each lane line, but certain 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 lane lines rendered based on the prior art may present a problem of display confusion.

Disclosure of Invention

The disclosure provides a lane line processing method, a lane line processing 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 endpoint of the lane line;

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;

And dividing the updated lane lines to obtain lane dotted lines corresponding to the lane lines, and rendering the lane dotted lines 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 control module and a control module, wherein the acquisition module is used for acquiring coordinates of a first reference point of a lane line, wherein the first reference point is an endpoint 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 transverse coordinate or the longitudinal coordinate of the end point of the lane line after updating is an integer;

The segmentation module is used for carrying out segmentation processing on the updated lane lines to obtain lane broken lines corresponding to the lane lines, and rendering the lane broken lines 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 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 storing 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 it can be read by at least one processor of an electronic device, the at least one processor executing the computer program 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, including an electronic device as described in the third aspect above.

The technology solves the problem that the rendered lane lines are disordered in display.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

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

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

FIG. 2 is a schematic diagram showing a lane dashed line in an HMI according to an embodiment of the present disclosure

FIG. 3 is a schematic diagram III of a lane dashed display in an HMI provided by an embodiment of the present disclosure;

FIG. 4 is a schematic diagram showing a lane dashed line in an HMI provided by an embodiment of the present disclosure;

FIG. 5 is a flowchart of a lane line processing method according to an embodiment of the present disclosure;

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

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

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

Fig. 9 is a schematic diagram illustrating three angles of coordinate axes of lane lines according to an embodiment of the present disclosure

FIG. 10 is a schematic diagram of an endpoint of an updated lane line according to an embodiment of the present disclosure;

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

FIG. 12 is a schematic diagram of a result of dividing lane lines according to length provided by an embodiment of the present disclosure;

Fig. 13 is a schematic diagram of an implementation of dividing lane lines according to projection provided in an embodiment of the present disclosure;

FIG. 14 is a schematic diagram of the result according to the projected segmentation length provided by an embodiment of the present disclosure;

FIG. 15 is a schematic view showing a lane alignment effect according to an embodiment of the present disclosure;

FIG. 16 is a second schematic illustration of lane alignment effects provided by embodiments of the present disclosure;

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

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

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

fig. 20 is a third implementation schematic diagram of determining a first set according to a direction of a lane line according to an 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 used to implement the lane line processing method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one 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.

For a better understanding of the technical solutions 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 known as a human-machine interface. Is the medium of interaction and information exchange between the system and the user, which enables the conversion between the internal form of the information and the human acceptable form.

In the design of the HMI of a vehicle, mainly, a human-computer interaction interface between a user and the vehicle is studied, and the HMI may include, for example, a switch, a button, a large screen, voice, and the like, and is a carrier for bearing effective information interaction between the user and the vehicle, and emphasis is placed on the use feelings of the user and the interface, and the user and the vehicle systems.

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

However, when the rendering of the broken line is performed based on the originally collected lane lines in the high-definition map, it is difficult to optimize the rendering effect because the lane line information is completely independent from each other, and there is no description of the correlation.

It will be understood that the double-dashed lines to be rendered and optimized are information stored in separate roads, and because there is no description of the correlation, it cannot be identified whether the two dashed lines are on the left and right sides of the double-dashed line, and thus cannot be identified which two dashed lines need to be aligned or optimized for rendering.

For example, it can be understood with reference to fig. 1 to 4, where fig. 1 is a schematic diagram showing a lane dashed line in the HMI provided by the embodiment of the present disclosure, fig. 2 is a schematic diagram showing a lane dashed line in the HMI provided by the embodiment of the present disclosure, fig. 3 is a schematic diagram showing a lane dashed line in the HMI provided by the embodiment of the present disclosure, and fig. 4 is a schematic diagram showing a lane dashed line in the HMI provided by the embodiment of the present disclosure.

Specifically, since the rendering data of the lane route is atomized in the map data, that is, the relationship between the two road lines cannot be determined, since the alignment and cutting of the double-dashed line cannot be performed from the angle of the road lines, resulting in that the rendering of the dashed line is dislocated, and the alignment of the dashed line cannot be ensured.

In the interfaces of several different HMIs shown in fig. 1 to 4, respectively, the implementation of the dashed line of the rendered lane line, for example, in fig. 1 to 4, the rendered dashed line of the different lane lines is shown, but no matter what drawing in fig. 1 to 4, the rendering of the dashed line is disordered, and based on the rendering effect of the dashed line of the lane line, the display of the lane line is disordered, and thus, wrong map information may be displayed.

Aiming at the problems in the prior art, the present disclosure proposes the following technical ideas: the endpoints of the lane lines are aligned in an integer mode, so that the lane lines can be ensured to be segmented based on the starting of the integer position and the broken line, or segmented based on the ending of the integer position, the adjacent lane lines are ensured to be aligned, and the ordered display of the lane lines in the HMI is effectively ensured.

The lane line processing method provided by the present disclosure is described below with reference to specific embodiments, and it should be noted that, an application scenario of the embodiments of the present disclosure is that a dotted line of a lane line is rendered in an HMI, where the HMI may be located in a vehicle, for example, for displaying the HMI on a central control display screen of the vehicle; alternatively, the HMI may be located on a display screen of the processing device, for example a terminal device, a computer; or the HMI may also be located in some large-screen display, and the specific display scene of the HMI is not limited in this embodiment, and any scene that can be displayed on the HMI may be used as the application scene in this embodiment.

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

The lane line processing method provided by the present disclosure will be first described 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, acquiring coordinates of a first reference point of a lane line, wherein the first reference point is an endpoint of the lane line.

In this embodiment, the lane line may include a plurality of two-dimensional points, and it may be understood that the line is formed by points, and of 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, for example, may be a storage start point of the lane line, or may also be a storage end point of the lane line, in this embodiment, the two-dimensional points of the lane line may be stored in the first set, and then the storage start point of the lane line may be, for example, a first two-dimensional point in the first set, and the storage end point of the lane line may be, for example, a last two-dimensional point in the first set.

The specific implementation of the first reference point is not limited in this embodiment, 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 obtained, and in one possible implementation manner, when each two-dimensional point on the lane line is collected, the coordinates of each two-dimensional point are collected, so that the coordinates of the first reference point may be directly obtained from the collected data.

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

The world coordinate system is adopted because the information of the roads is very complex, such as whether the angle of the roads has radian or not, and the problems of the road directions, the road distance and the like are very difficult to unify, and the problems of the road directions, the road distance and the like are stored by the points, so that the line segment data cannot be well identified, that is, the problems of the distance between the two roads, the road direction and the like cannot be identified.

Based on the above problems, since only the world coordinate system can be unified, only the coordinates of each point are determined based on the unified world coordinate system, and the alignment effect can be realized visually when the subsequent division processing is performed, so that all the acquired coordinate data in the present embodiment are based on the world coordinate system.

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 end point of the updated lane line is an integer.

In practical implementations, 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 include longitudinal coordinates, i.e., y-coordinates, i.e., x-and y-coordinates of the first reference point are (1.53,3.12), where the x-coordinates of the first reference point are not integers.

If the lane line division is started directly from the end point where the coordinates are not an integer, the final lane line division result may be very different due to the error of the end point between the lane lines, and the broken line display of the lane lines described above may be disordered.

In this embodiment, the end point of the lane line is updated according to the coordinates of the first reference point, where the transverse coordinates of the end point of the lane line after the update are integers, or the longitudinal coordinates of the end point of the lane line after the update are integers, that is, the x-coordinates or the y-coordinates of the end point after the update are guaranteed to be integers.

It should be noted that, in the 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, the lane line may be understood to be shortened by a portion, so as to ensure that the x coordinate or the y coordinate of the end point of the updated lane line is an integer.

It will also be appreciated that the updated lane line end points, possibly with the x-coordinates aligned to integers and the y-coordinates still not integers; or the y coordinate is aligned to an integer, and the x coordinate is still not an integer, so in this embodiment, only one of the transverse coordinate and the longitudinal coordinate of the end point of the updated lane line is guaranteed to be an integer, specifically, whether the transverse coordinate is an integer or the longitudinal coordinate is guaranteed to be an integer is guaranteed, and the method can be selected according to actual requirements, which is not limited, as long as each lane line is processed by adopting the same processing mode.

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

S503, dividing the updated lane lines to obtain lane dotted lines corresponding to the lane lines, and rendering the lane dotted lines in a graphical user interface.

In this embodiment, after updating the end point of the lane line, an updated lane line may be obtained, where the end point of the updated lane line is the end point after updating described above, and then the updated lane line is subjected to segmentation processing, so that the lane dotted line corresponding to the lane line may be obtained.

Specifically, since the transverse coordinates or the longitudinal coordinates of the end points of the lane lines after updating are integers, the error of the dividing start points between the lane lines to be aligned is eliminated, wherein the lane lines to be aligned are generally lane lines in the similar parallel position on the road, the lane lines are divided from the end points after the integral alignment, and the dividing start 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 dividing starting point, so that the lane lines to be aligned can be divided, the obtained lane broken lines are aligned, and further the orderly display of the lane broken lines can be ensured.

In the dividing process, for example, the dividing of the broken line may be performed according to a fixed length, or the dividing of the broken line may be performed according to a projection on the x-axis or the y-axis, and whichever method is adopted, it is only necessary to ensure that the end points of the lane lines are subjected to the above integer alignment operation, and further, it is ensured that the dividing start points of the lane lines to be aligned are the same, and further, it is ensured that the lane broken lines obtained by 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 comprises the following steps: and acquiring coordinates of a first reference point of the lane line, wherein the first reference point is an 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 dividing the updated lane lines to obtain lane dotted lines corresponding to the lane lines, and rendering the lane dotted lines in a graphical user interface. The method has the advantages that the endpoints of the lane lines are updated to ensure that the transverse coordinates of the endpoints of the lane lines are integers or the longitudinal coordinates of the endpoints of the lane lines are integers, and then the updated endpoints are used as the segmentation starting points for the segmentation processing of the lane lines, so that the errors of the segmentation starting points of the lane lines needing to be aligned can be effectively eliminated, the lane broken lines of the lane lines needing to be aligned are further ensured to be aligned, and then the lane broken lines are rendered in the graphical user interface, so that the display order of the lane broken lines can be effectively improved.

On the basis of the above embodiments, the lane line processing method provided by the present disclosure will be described in further detail with reference to fig. 6 to 16, fig. 6 is a flowchart two of the lane line processing method provided by the embodiment of the present disclosure, fig. 7 is a schematic diagram of an included angle between a lane line and a coordinate axis provided by the embodiment of the present disclosure, fig. 8 is a schematic diagram two of an included angle between coordinate axes of a lane line provided by the embodiment of the present disclosure, fig. 9 is a schematic diagram three of an included angle between coordinate axes of a lane line provided by the embodiment of the present disclosure, fig. 10 is an endpoint schematic diagram of an updated lane line provided by the embodiment of the present disclosure, fig. 11 is a schematic diagram of an implementation of dividing a lane line according to a length provided by the embodiment of the present disclosure, fig. 12 is a schematic diagram of an implementation of dividing a lane line according to a length provided by the embodiment of the present disclosure, fig. 13 is a schematic diagram of an implementation of dividing a lane line according to a projection provided by the embodiment of the present disclosure, fig. 14 is a schematic diagram of an implementation of a projection dividing a length provided by the present disclosure, fig. 15 is a schematic diagram of an effect of lane line alignment provided by the embodiment of the present disclosure, fig. 16 is a schematic diagram of lane line alignment effect provided by the embodiment of the present disclosure.

As shown in fig. 6, the method includes:

s601, acquiring coordinates of a first reference point of a lane line, wherein the first reference point is an endpoint of the lane line.

The implementation of S601 is similar to that of S501, and will not be described herein.

S602, judging whether the first included angle between the lane line and the horizontal axis is smaller than the 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, and the transverse coordinate or the longitudinal coordinate of the end point of the lane line after updating is an integer, and since the end point after updating is also a point on the lane line, in general, only one of the transverse coordinate and the longitudinal coordinate needs to be ensured to be an integer, and thus it needs to be specifically determined which of the transverse coordinate and the longitudinal coordinate is aligned to be an integer, in one possible implementation, for example, whether to update the transverse coordinate of the end point to be an integer or to update the longitudinal coordinate of the end point to be an integer may be determined according to the projection direction.

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

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

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

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

For example, as can be understood from 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, for better understanding of the angle between the lane line and the coordinate axis, the extension line of the lane line is marked 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 the first angle between the lane line and the transverse axis is smaller than the second angle between the lane line and the longitudinal axis, and the projection direction of the lane line is determined to be projected towards the transverse axis.

The situation described above in fig. 7 is a situation in which the lane line is located in the first quadrant, and in a practical implementation, the lane line may be located in any quadrant in the coordinate system, and for a more complete description, the situation in which the lane line is located in the second quadrant is also described in the following exemplary manner in connection with fig. 8.

As shown in fig. 8, assuming that the current lane line 801 is a line segment shown in the second quadrant in fig. 8, and likewise, an extension line of the lane line is marked in the form of a dotted line in fig. 8, as shown in fig. 8, a first angle of the lane line 801 and a horizontal axis (x-axis) is an angle c shown in fig. 8, and an angle of the lane line 801 and a 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 the first angle between the lane line and the transverse axis is smaller than the second angle between the lane line and the longitudinal axis, and further, the projection direction of the lane line is projected toward the transverse axis.

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

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

After determining the projection direction, it is possible to determine whether the coordinates for which integer alignment is required are the lateral coordinates or the longitudinal coordinates according to the projection direction.

In one possible implementation manner, if it is determined that the projection direction of the lane line is projected toward the horizontal axis, in this embodiment, the horizontal coordinates of the first reference point may be aligned in an integer manner, so as to obtain the 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 target point in the present embodiment needs to satisfy the following requirements: is a point on the lane line, and the lateral coordinate of the target point is an integer, while in order to reduce the degree of change to the end point as much as possible, in this embodiment, a two-dimensional point whose lateral coordinate is an integer closest to the lateral coordinate of the first reference point may be determined as the target point at the time of determining the target point.

For example, the first reference point in this embodiment is an endpoint, for example, the endpoint 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 is (1.53,3), the coordinates of the storage end point is (4, 5), and it is currently determined that the transverse coordinates of the storage start point need to be aligned in an integer according to the projection direction.

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 one lateral coordinate closest to the lateral coordinate (x=1.53) of the storage origin is an integer 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 the position of 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, fig. 10 includes a lane line 1002, it can be seen that the angle between the current lane line 1002 and the transverse axis is smaller, so that the projection direction of the lane line can be determined to be projected toward the transverse axis, and therefore, the transverse coordinates of the endpoints of the lane line can be aligned in an 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 aligned in an integer, and the target point is determined, a point with the nearest lateral coordinate to the storage start point 1008 and the lateral coordinate being an integer may be determined on the lane line, for example, the two-dimensional point 1010 illustrated in fig. 10, and the two-dimensional point 1010 is 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 example, when the storage destination 1009 is aligned in an integer, a point having an integer transverse coordinate closest to the transverse coordinate of the storage destination 1009 may be determined on the lane line, for example, the two-dimensional point 1011 illustrated in fig. 10, and the two-dimensional point 1011 is determined as the target point corresponding to the storage destination 1009, where the coordinate of the target point 1011 may be (7,5.89), and it can be seen that the transverse coordinate of the target point is an integer.

In the example of the lane line 1002 of fig. 10, the original storage start point of the lane line 1002 is 1008, the original storage end point is 1009, the updated storage start point is 1010, and the updated storage end point is 1011, thereby realizing updating of the end point of the lane line, the updated end point is the point on the lane line, and the lateral coordinates of the updated end point are integers.

And in the example of fig. 10, updating of the end point of the lane line 1003 is also shown, and as can be seen from fig. 10, the angle between the lane line 1003 and the horizontal axis is smaller than the 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 projected toward the x axis, and thus the transverse coordinates of the end point of the lane line 1003 can be aligned in an integer, for example, in the lane line 1003, the storage end point is 1012, and the storage start point is 1013.

In the example of the lane line 1003 in fig. 10, the original storage start point of the lane line 1003 is 1013, the original storage end point is 1012, the updated storage start point is 1015, and the updated storage end point is 1014, and the specific implementation is similar to that described above, and will not be repeated here.

Based on the above description, it may be determined that, in this embodiment, for a lane line whose projection direction is projected toward the horizontal axis, the horizontal coordinates of the endpoint may be aligned in an integer, so as to obtain an updated endpoint.

Meanwhile, it should be noted that, for the end point of the lane line, the end point of the lane line includes both the storage start point and the storage end point, and in the actual implementation process, for example, only the storage start point may be updated, or only the storage end point may be updated, or both the storage start point and the storage end point may be updated.

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

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

For example, as can be understood from fig. 9, the coordinate system shown in fig. 9 may be understood as a world coordinate system, and it is assumed 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 marked in the form of a dotted line in fig. 9, as shown in fig. 9, a first angle between the lane line 901 and the transverse axis (x-axis) is an angle e shown in fig. 9, and an angle between the lane line 901 and the longitudinal axis (y-axis) is an angle f shown in fig. 9.

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

The situation described in fig. 9 is the situation that the lane line is located in the first quadrant, and the implementation manners of the remaining quadrants are similar, which will not be described herein.

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

Based on this, in this embodiment, in addition to determining the magnitude relation between the first angle between the lane line and the transverse axis and the second angle between the lane line and the longitudinal axis, so as to determine the projection direction of the lane line, in another possible implementation manner, for example, the projection direction of the lane line may be determined according to comparing the first angle between the lane line and the transverse axis with the first angle range or comparing the second angle between the lane line and the longitudinal 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 projection to the transverse axis; if the first included angle between the lane line and the transverse axis is in the range of 45-90 degrees, the projection direction of the lane line is determined to be projected towards the longitudinal 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 projection to the longitudinal axis; if the first included angle between the lane line and the transverse axis is in the range of 45-90 degrees, the projection direction of the lane line is determined to be projected to the transverse axis.

In the actual implementation process, the implementation manner of determining the projection direction can be selected according to actual requirements, and the embodiment is not limited to this, so long as the principle of determining the coordinate axis with the smaller included angle of the lane line as the coordinate axis of the projection direction is followed.

S606, determining a two-dimensional point with the longitudinal coordinate being an integer and the longitudinal coordinate nearest 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 projected toward the longitudinal axis, in this embodiment, the longitudinal coordinates of the first reference point may be aligned in an integer manner, 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 target point in the present embodiment needs to satisfy the following requirements: is a point on the lane line, and the longitudinal coordinates of the target point are integers, while in order to reduce the degree of change to the end point as much as possible, in this embodiment, a two-dimensional point whose longitudinal coordinates are integers closest to the longitudinal coordinates of the first reference point may be determined as the target point at the time of determining the target point.

It will also be appreciated in connection with fig. 10, for example, that fig. 10 includes a lane line 1001, and it can be seen that the angle between the lane line 1001 and the longitudinal axis is smaller, so that it can be determined that the projection direction of the lane line is projected toward the longitudinal axis, and thus the longitudinal 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 1001 are a storage start point 1004 and a storage end point 1005 shown in fig. 10, respectively, for example, the coordinate of the storage start point 1004 is (0.78,1.77), and the coordinate of the storage end point 1005 is (4.53,10).

For example, when the storage start point 1004 is aligned in an integer, and the target point is determined, a point closest to the longitudinal coordinate of the storage start point 1004 and having an integer longitudinal coordinate may be determined on the lane line, for example, the two-dimensional point 1006 illustrated in fig. 10, and the two-dimensional point 1006 is determined as the target point corresponding to the storage start 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 the storage end point 1005 is aligned in an integer, it may be determined from the coordinates of the storage end point 1005 that the longitudinal coordinates of the storage end point 1005 are originally integers, so that the storage end point 1005 may 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, so that updating of the end point of the lane line is realized, the updated end point is a point on the lane line, and the vertical coordinates of the updated end point are integers.

Based on the above description, it may be determined that, in this embodiment, for a lane line whose projection direction is projected toward the longitudinal axis, the longitudinal coordinates of the endpoint may be aligned in an integer, so as to obtain an updated endpoint.

Similarly, in the actual implementation process, for example, only the storage start point may be updated, or only the storage end point may be updated, or both the storage start point and the storage end point may be updated, which is not limited in this embodiment, and may be selected according to the actual requirement, so long as the processing manner of each lane line is guaranteed to be the same.

After the end points of the lane lines are aligned to integers, errors among 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 identical is guaranteed, and further the fact that the segmentation effect of the subsequent broken lines is aligned can be guaranteed.

In this embodiment, when determining the projection direction, the coordinate axis having the smaller angle with the lane line is determined as the coordinate axis of the projection direction, in part, because the coordinate range corresponding to the coordinate axis having the smaller angle with the lane line is larger, the degree of the endpoint variation can be reduced as much as possible during the whole process of aligning the endpoints.

For example, as can be understood in conjunction with the example of fig. 7, as shown in fig. 7, for example, the current lane line has a smaller angle with the x-axis, for example, the current two end points (2.13,2.67) and (6.10,4.04) are respectively 2.13-6.10 in the coordinate range of the x-axis, and the coordinate range of the y-axis is only 2.67-4.04.

If the projection direction is determined to be projected to the transverse axis at this time, the transverse coordinates of the endpoints are subjected to integer alignment, and the range of the transverse coordinates of the endpoints corresponding to the integer alignment is possibly 3-6;

however, if the projection direction is determined to be projected toward the vertical axis at this time, the vertical coordinates of the end points are aligned in an integer, and the range of the vertical coordinates of the end points corresponding to the aligned integer may be 3 to 4.

It can be seen that in this case, if the projection direction is determined to be projected toward the vertical axis, and then the vertical coordinates are aligned in an integer manner, the end point is greatly changed, and further, the length of the updated lane line is greatly changed, so in this embodiment, the coordinate axis having a smaller angle with the lane line is determined as the coordinate axis of the projection direction.

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 the end point of the updated lane line.

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

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

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

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

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

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

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

Possible implementations of lane line segmentation are described below:

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

That is to say that the lane lines are divided into a rendering section and a blank section according to a fixed length, for example, as can be understood in connection with fig. 11.

As shown in fig. 11, it is assumed that there is currently a lane line shown in 1101 in fig. 11, wherein 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 division is performed starting from the updated storage start point a.

For example, the first preset length may be set to be 5, the second preset length may be set to be 3, and from the storage start point a, two-dimensional points having a distance of 5 from the storage start point a, for example, two-dimensional points B in fig. 10, may be determined to have a length of 5 between points a and B, and a rendering section including a plurality of two-dimensional points may be determined between points a and B.

Next, continuing from the two-dimensional point B, a two-dimensional point having a distance of 3 from the two-dimensional point B, for example, the two-dimensional point C in fig. 10, it is possible to determine that the length between the point B and the point C is 3, and to determine that a blank section including a plurality of two-dimensional points is between the point B and the point C.

Next, the rendering segments and the blank segments are alternately determined in turn according to the length 5 and the length 3, so that the lane lines are divided into 3 rendering segments shown in fig. 10: point A to Point B, point C to Point D, point E to Point F, and 3 blank segments: the lane dashed line in 1102 may be determined based on the three rendering segments and the three blank segments, 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 segments obtained by dividing according to the preset length are the same, and the lengths of the blank segments are the same, so that the orderly display of the lane dotted lines can be effectively ensured.

For example, if the division result is the result shown in fig. 12 in a fixed-length division manner for the 3 lane lines in fig. 10, it can be seen from fig. 12 that the updated storage start points of the respective lane lines are all aligned in an integer, so that the division of the lane lines can be performed starting from the updated storage start points, and the lengths of the respective blank sections and the respective rendering sections are the same.

In another possible implementation, the at least one first line segment and the at least one second line segment may be determined in a projection axis, which 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 a 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 section and a virtual end by projection of the lane line on the projection axis.

The projection axis is a coordinate axis corresponding to the projection direction described above, for example, the projection direction is projected toward the horizontal axis, the projection axis is the horizontal axis, and for example, the projection direction is projected toward the vertical axis, the projection axis is the 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 an integral aligned storage start point and/or an integral aligned storage end point, for example, from coordinates corresponding to updated end points in a coordinate axis, and line segments are alternately determined in the projection axis according to a third preset length and a fourth preset length, so as to obtain at least one first line segment and at least one second line segment.

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

Currently, for the lane line shown in fig. 13, the corresponding projection axis is an x axis, for example, the first line segment and the second line segment may be sequentially determined in the x axis from the 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: line segment 1301 corresponds to x=2-4, and line segment 1303 corresponds to x=5-7; the second line segment includes: line segment 1302 corresponds to x=4-5, and line segment 1303 corresponds to x=7-8.

Then, determining a line segment corresponding to at least one first line segment in the updated lane line as at least one rendering segment, referring to fig. 13, a line segment from a point L to a point M in the lane line is a line segment corresponding to the first line segment 1301, so that 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 of 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 can 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, referring to fig. 13, a line segment from a point M to a point N in 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 of 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 the blank segment.

For example, if the division is performed in a projected manner for the 3 lane lines in fig. 10, the division result may be, for example, the result shown in fig. 14, and it can be seen from fig. 14 that the updated storage start points of the respective lane lines are all aligned in an integer, and the determined division points are also aligned in an integer on the projection axis.

In the actual implementation process, the fixed length mode or the projection mode is specifically selected for segmentation, and the segmentation can be selected according to actual requirements, which is not limited in this embodiment.

It should be noted here that, in the present embodiment, the coordinate axis having a smaller angle with the lane line is determined as the coordinate axis of the projection direction when determining the projection direction, and in addition to the reason that the degree of fluctuation of the end point can be reduced as much as possible as described above, another reason is that the effect of rendering the lane line obtained by division is ensured when the lane line division is performed by the projection method.

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 of the lane line is (0, 100), if the projection direction of the lane line is the projection of the desired x-axis, the lane line finally becomes a point, therefore, the lane line must be projected towards the y-axis and cut according to the change of the y-value, and if the projection cutting of the lane line in the x-axis direction is performed, the cutting cannot be successfully performed. Therefore, in this embodiment, the coordinate axis having a smaller angle with the lane line is defined as the coordinate axis of the projection direction.

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

In a possible implementation manner, after the lane line processing method in the present disclosure is used for processing, the lane dashed line displayed in the HMI may be, for example, as shown in fig. 15 and fig. 16, and take part in fig. 15 and fig. 16, where the lane dashed line is displayed in a very orderly manner, and alignment is implemented by using double-sided double-dashed lines that need to be aligned, so as to ensure the orderly display of 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 the 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 carried out based on the principle, the updating change of the end point of the lane line can be effectively ensured to be as small as possible, and the dividing effect of the lane line can be ensured when the lane line is divided in a subsequent projection mode. And aligning the transverse coordinates or the longitudinal coordinates of the endpoints of the lane lines according to the projection direction, so that the same segmentation starting points of the lane lines to be aligned can be ensured, further the orderly display of the lane lines can be effectively ensured, and the lane lines are divided into a rendering section and a blank section from the updated endpoints, and the segmentation modes of the lane lines are the same, so that the embodiment ensures that the starting points of the divided lane lines are aligned, and simultaneously ensures that the segmentation of the lane lines is also aligned, further ensures the alignment effect of the lane lines, and improves the display order of the lane lines.

On the basis of the foregoing embodiments, in the lane line processing method provided in the embodiments of the present disclosure, each two-dimensional point of a lane line may be included in the first set, and the first set includes a storage start point and a storage end point, so that the storage order of each two-dimensional point in the first set is also the same.

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

As shown in fig. 17, the method includes:

s1701, determining a first vector according to the starting point of the lane line and the ending point of the lane line.

It will be appreciated that the lane line itself may include a start point and an end point, which may be determined, for example, based on an actual lane line direction in the lane line, or may be determined based on a two-dimensional point acquisition order in the lane line, which is not limited in this embodiment.

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

As can be understood, for example, in connection with fig. 18, there is currently a lane line, as shown in fig. 18, where the starting point of the lane line is, for example, R shown in fig. 18, and the ending point of the lane line is, for example, T as described in fig. 18, from which starting point R and ending point T, a first vector S in fig. 17 can be determined, the direction of which is also indicated in fig. 18.

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

After determining S of the first vector according to the start point and the end point, the direction of the lane line may be determined according to the angle between the direction of the first vector and the forward direction of the transverse axis, wherein the direction of the lane line may be forward or reverse.

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

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

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

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

S1704, determining that the direction of the lane line is reverse.

In another possible implementation, if it is determined that the direction of the first vector is 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 y-axis direction, the direction of the lane line may be determined to be reverse.

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

S1705, according to the direction of the lane lines, storing each two-dimensional point of the lane lines into the first set in sequence.

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

In one possible implementation manner, if the direction of the lane line is positive, the positive sequence of each two-dimensional point of the lane line is sequentially stored into the first set.

For example, as can be understood in conjunction with fig. 18, the direction of the lane line is determined to be forward based on the first vector S in fig. 18, and thus the respective two-dimensional point positive orders of the lane line, which in this embodiment refers to the order from the start point to the end point of the lane line, can be stored.

As shown in fig. 18, for example, from the start point to the end point of the current lane line are two-dimensional point 1, two-dimensional point 2, two-dimensional points 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 then in the first set, the storage start point is two-dimensional point 1 and the storage end 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 reverse order.

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

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

When the direction of the lane line is positive, the two-dimensional points are stored in positive sequence, and when the direction of the lane line is reverse, the two-dimensional points are stored in reverse sequence, so that the storage sequence of the two-dimensional points of each lane line can be ensured to be consistent.

For example, the consistency of the storage sequence can be understood in connection with a more extreme example, for example, in fig. 12, a lane line 2001 is included, where the direction of the lane line 2001 is forward, and then the two-dimensional points of the lane line 2001 can be stored in the forward sequence, that is, in the direction shown by 2002; and in fig. 12, a lane line 2003 is further included, wherein the direction of the lane line 2003 is reverse, and two-dimensional points of the lane line 2003 may be stored in reverse order, that is, in the direction indicated by 2004 therein.

It will be understood from this that, if the directions of the lane lines 2001 and 2003 are completely opposite, and if the processes are not performed, the two-dimensional points of the lane lines in opposite directions are stored in the same order, but the storage order of the two-dimensional points of the lane lines 2001 and 2003 in opposite directions is the same through the processes, so that the subsequent integer alignment of the storage start points or the integer alignment of the storage end points can be ensured, and the operation can be performed based on the same direction when the division is performed, and the ordering of the lane broken lines obtained by the lane line division can be further ensured.

According to the lane line processing method, the two-dimensional points of the lane lines are stored in the positive sequence or in the reverse sequence according to the direction of the lane lines, so that the storage direction of the two-dimensional points of each lane line can be effectively guaranteed to be consistent, and the ordering of the lane broken lines obtained after the lane lines are segmented is further effectively guaranteed.

Based on the above description, it may 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 before the lane line is processed, for example, the lane line may be preprocessed.

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

And combining two adjacent lane lines when the included angle of the two adjacent lane lines is smaller than a preset included angle.

Through the preprocessing operation, the data quantity 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 lane line segmentation effect 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: the system comprises an acquisition module 2101, an updating module 2102, a segmentation module 2103 and a processing module 2104.

The system comprises an acquisition module 2101, a first processing module and a second processing module, wherein the acquisition module is used for acquiring coordinates of a first reference point of a lane line, and the first reference point is an endpoint 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 the updated transverse coordinate or the updated longitudinal coordinate of the endpoint of the lane line is an integer;

The segmentation module 2103 is used for carrying out segmentation processing on the updated lane lines to obtain lane broken lines corresponding to the lane lines, and rendering the lane broken lines in a graphical user interface.

In a possible implementation, the update module 2102 includes:

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 to a transverse axis or projected to 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 transverse coordinate or a longitudinal coordinate of the target point is an integer, and the target point is located on the lane line;

And 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 projected to a transverse axis, determining a two-dimensional point with a transverse coordinate being an integer and closest to the transverse coordinate of the first reference point as the target point in at least one two-dimensional point of the lane line;

And if the projection direction of the lane line is projected towards a longitudinal axis, determining a two-dimensional point with longitudinal coordinates being an integer and the longitudinal coordinates closest to the longitudinal coordinates of the first reference point as the target point in 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 that the projection direction of the lane line is projected towards the transverse axis; or alternatively

And if the first included angle is larger than or equal to the second included angle, determining that the projection direction of the lane line is projected towards a longitudinal axis.

In a possible implementation manner, the dividing unit includes:

The acquisition unit is used for acquiring a plurality of two-dimensional points of the lane lines according to a first set, wherein each two-dimensional point of the lane lines is stored in the first set, and the two-dimensional points comprise the updated end points;

The dividing unit is used for dividing the updated lane line into at least one rendering segment and at least one blank segment from the updated end point, wherein the rendering segment and the blank segment respectively comprise at least one two-dimensional point;

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

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

Starting from the updated end point, alternately dividing 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 transverse axis or a longitudinal 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 a 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 plurality of two-dimensional points of the lane line are acquired according to the first set, where the direction of the lane line is a forward direction or a reverse direction;

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 the positive sequence of each two-dimensional point of the lane line into the first set; or alternatively

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 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 ending point of the lane line;

If the direction of the first vector faces to a first quadrant or a second quadrant of a preset coordinate axis, determining that the direction of the lane line is a forward direction; or alternatively

If the direction of the first vector faces the third quadrant or the 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, a lane line processing device, electronic equipment and a cloud control platform, which are applied to computer vision in the fields of intelligent traffic and image processing, so as to achieve the purpose of improving the display order of lane broken lines.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

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, where the electronic device included in the cloud control platform may acquire data of a sensing device (such as a roadside camera), such as a picture and a video, so as to perform image video processing and data calculation; the cloud control platform can also be called a vehicle-road collaborative 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 an electronic device can read, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any one of the embodiments described above.

Fig. 22 shows 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 telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary 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 that 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, the ROM 2202, and the RAM 2203 are connected to each other via a bus 2204. An input/output (I/O) interface 2205 is also connected to bus 2204.

Various components in device 2200 are connected to 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, or the like. 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 telecommunications networks.

The computing unit 2201 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 2201 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 2201 performs the respective methods and processes described above, such as a lane line processing method. For example, in some embodiments, the lane line processing method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the 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 RAM 2203 and executed by 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 lane line processing methods 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 circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. 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. The 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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 that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service ("Virtual PRIVATE SERVER" or simply "VPS") are overcome. The server may also be a server of a distributed system or a server that incorporates a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present application may be performed in parallel or sequentially or in a different order, provided that the desired results of the disclosed embodiments are achieved, and are not limited herein.

The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A lane line processing method, comprising:

Dividing the updated lane lines to obtain lane dotted lines corresponding to the lane lines, and rendering the lane dotted lines in a graphical user interface;

The updating the end point of the lane line according to the coordinates of the first reference point comprises the following steps:

Determining the projection direction of the lane line, wherein the projection direction of the lane line is projected to a transverse axis or projected to 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 transverse coordinate or the longitudinal coordinate of the target point is an integer, and the target point is positioned on the lane line;

and determining the target point as an endpoint of the updated lane line.

2. The method of claim 1, wherein the determining the 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:

3. The method of claim 1, wherein the determining the projected direction of the lane line comprises:

4. A method according to any one of claims 1-3, wherein the dividing the updated lane line to obtain a lane dashed 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 segment and at least one blank segment from the updated end point, wherein the rendering segment and the blank segment respectively comprise at least one two-dimensional point;

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

5. The method of claim 4, wherein the partitioning the updated lane line into at least one rendered segment and at least one blank segment from the updated endpoint comprises:

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

7. The method of claim 5, the method further comprising, prior to acquiring the plurality of two-dimensional points of the lane line from the first set:

Determining the direction of the lane line, wherein the direction of the lane line is positive 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.

8. The method of claim 7, wherein the sequentially storing the two-dimensional points of the lane lines into the first set according to the direction of the lane lines comprises:

9. The method of claim 8, wherein the determining the direction of the lane line comprises:

10. A lane line processing apparatus comprising:

The segmentation module is used for carrying out segmentation processing on the updated lane lines to obtain lane broken lines corresponding to the lane lines, and rendering the lane broken lines in a graphical user interface;

The updating module comprises:

11. The apparatus of claim 10, wherein the second determining unit is specifically configured to:

12. The apparatus of claim 10, wherein the first determining unit is specifically configured to:

13. The apparatus of any of claims 10-12, wherein the segmentation module comprises:

14. The apparatus of claim 13, wherein the segmentation unit is specifically configured to:

15. The apparatus of claim 14, wherein the segmentation unit is specifically configured to:

16. The apparatus of claim 14, the apparatus further comprising: a processing module;

the processing module is used for:

17. The apparatus of claim 16, wherein the storage unit is specifically configured to:

18. The apparatus of claim 17, wherein the fifth determining unit is specifically configured to:

19. An electronic device, comprising:

At least one processor; and

A memory communicatively coupled to the at least one processor; wherein,

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 1-9.

20. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-9.

21. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-9.

22. A cloud control platform comprising the electronic device of claim 19.