CN114608601B - Method, device, storage medium, and program product for generating travel route - Google Patents
Method, device, storage medium, and program product for generating travel route Download PDFInfo
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- 238000004590 computer program Methods 0.000 claims description 6
- 101150117196 tra-1 gene Proteins 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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Abstract
The embodiment of the application provides a method, equipment, a storage medium and a program product for generating a driving route, wherein the method for generating the driving route comprises the following steps: determining a starting point and an ending point of a target road section on a navigation route of a navigated object; determining a lane center line of a target lane passing from a start point to an end point of the target road section and a target track line for indicating a merging line of the target lane according to the lane connection relation of the target road section; determining a target connection point between the target track line and the lane center line of the target lane according to the index information of the target track line; and generating a lane-level driving route of the navigated object on the target road section according to the lane center line, the target connection point and the target track line of the target lane. The efficiency of route planning is improved, and the accuracy of route planning is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of geographic information, in particular to a method, equipment, a storage medium and a program product for generating a driving route.
Background
With development and popularization of electronic technology, application scenes of electronic maps are becoming wider and wider. For example, in an autopilot scenario, intelligent driving routes may be planned based on high-precision maps and standard (normal) maps; for another example, the support application software implements map navigation functions, such as map navigation application software, network taxi service application software, and the like. In the related art, the error between the planned route and the actually driven route is larger, the accuracy is not enough, and the calculation amount of the process of planning the route is larger, so that the instantaneity of planning the route is poorer.
Disclosure of Invention
In view of the above, embodiments of the present application provide a method, apparatus, storage medium and program product for generating a driving route, so as to at least partially solve the above-mentioned problems.
According to a first aspect of an embodiment of the present application, there is provided a method for generating a travel route, including: determining a starting point and an ending point of a target road section on a navigation route of a navigated object; determining a lane center line of a target lane passing from a starting point to a finishing point of a target road section according to a lane connection relation of the target road section, and a target track line for indicating a merging line of the target lane; determining a target connection point between the target track line and the lane center line of the target lane according to the index information of the target track line; and generating a lane-level driving route of the navigated object on the target road section according to the lane center line, the target connection point and the target track line of the target lane.
According to a second aspect of the embodiment of the present application, there is provided a travel route generation device including: the navigation module is used for determining the starting point and the end point of the target road section on the navigation route of the navigated object; the lane connection module is used for determining a lane center line of a target lane passing from a starting point to an ending point of the target road section according to the lane connection relation of the target road section and a target track line for indicating a parallel line route of the target lane; the track line module is used for determining a target connection point between the target track line and the lane center line of the target lane according to the index information of the target track line; and the driving route module is used for generating a lane-level driving route of the navigated object on the target road section according to the lane center line of the target lane, the target connection point and the target track line.
According to a third aspect of an embodiment of the present application, there is provided an electronic apparatus including: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are communicated with each other through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the driving route generating method according to the first aspect.
According to a fourth aspect of embodiments of the present application, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the method of generating a travel route as described in the first aspect.
According to a fifth aspect of embodiments of the present application, there is provided a computer program product which, when executed by a processor, implements the method of generating a travel route according to the first aspect.
The method, the device, the storage medium and the program product for generating the driving route provided by the embodiment of the application determine the starting point and the ending point of a target road section on the navigation route of a navigated object, wherein the navigation route comprises at least one road section; determining a lane center line of a target lane passing from a starting point to a finishing point of a target road section according to a lane connection relation of the target road section, and a target track line for indicating a merging line of the target lane; determining a target connection point between the target track line and the lane center line of the target lane according to the index information of the target track line; and generating a lane-level driving route of the navigated object on the target road section according to the lane center line, the target connection point and the target track line of the target lane. Because the lane connection relation between the track line and the lanes is preset, the navigation process can be quickly spliced only according to the lane connection relation, so that the calculated amount is reduced, and the route planning efficiency is improved; and the central line and the track line of the lane are further determined according to the planned target lane, the connection point is determined, the planned driving route is closer to the actual driving route, and the accuracy of route planning is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
Fig. 1 is a schematic view of a scenario of a method for generating a driving route according to a first embodiment of the present application;
fig. 2 is a flowchart of a method for generating a driving route according to a first embodiment of the present application;
FIG. 3 is a schematic view of a lane according to a first embodiment of the present application;
FIG. 4 is a schematic diagram of a lane connection relationship according to a first embodiment of the present application;
FIG. 5 is a schematic diagram of index information according to an embodiment of the present application;
fig. 6 is a schematic diagram of another scenario of a driving route generation method according to the first embodiment of the present application;
Fig. 7 is a block diagram of a driving route generating device according to a second embodiment of the present application;
fig. 8 is a block diagram of an electronic device according to a third embodiment of the present application.
Detailed Description
In order to better understand the technical solutions in the embodiments of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the present application, shall fall within the scope of protection of the embodiments of the present application.
The implementation of the embodiments of the present application will be further described below with reference to the accompanying drawings.
Example 1
An embodiment of the present application provides a method for generating a driving route, which is applied to an electronic device, and for convenience of understanding, an application scenario of the method for generating a driving route provided in the embodiment of the present application is described, and referring to fig. 1, fig. 1 is a schematic scenario diagram of the method for generating a driving route provided in the embodiment of the present application. The scenario shown in fig. 1 includes an electronic device 101, where the electronic device 101 may be a device that executes the method for generating a driving route according to the first embodiment of the present application.
The electronic device 101 may be a terminal device such as a smart phone, a tablet computer, a notebook computer, or a vehicle-mounted terminal, or the electronic device 101 may be a network device such as a server, which is, of course, only illustrative and not intended to limit the present application.
The electronic device 101 may access a network, connect to a cloud end through the network, and perform data interaction, where the network includes a local area network (Local Area Network, LAN), a wide area network (Wide Area Network, WAN), and a mobile communication network; such as the World Wide Web (WWW), long term evolution (english: long Term Evolution, LTE) networks, 2G networks (english: 2th Generation Mobile Network), 3G networks (english: 3th Generation Mobile Network), 5G networks (english: 5th Generation Mobile Network), etc. The cloud may include various devices connected through a network, for example, a server, a relay Device, a Device-to-Device (D2D) Device, and the like. Of course, the description is intended to be illustrative only and is not to be taken in a limiting sense.
Referring to fig. 1, it should be noted that fig. 1 is only one application scenario of the driving route generation method provided in the first embodiment of the present application, and is not representative of the application scenario that the driving route generation method must be applied to the scenario shown in fig. 1, and specifically, the driving route generation method may be applied to an electronic device, and referring to fig. 2, fig. 2 is a flowchart of the driving route generation method provided in the first embodiment of the present application, and the method includes the following steps:
step 201, determining the starting point and the ending point of a target road section on the navigation route of the navigated object.
In the present application, the object to be navigated refers to an object that is required to be navigated and is movable, and for example, the object to be navigated may be a vehicle, a person, or the like. The navigation route may be preset according to the departure place and destination of the object to be navigated, and in the present application, the navigation route may be a road-level route, and the navigation route may include at least one road segment. Alternatively, in one implementation, the road in the map may be divided into at least one road segment in advance, for example, the user may select a start point and an end point on the map, determine a road segment between the start point and the end point selected by the user as a target road segment, and for example, divide at least one road segment in advance, and the user may select one of the at least one road segment as the target road segment; in another implementation, the target road segment may be segmented in real time in the road of the map, and, illustratively, a road segment of a preset distance in a direction along the navigation route toward the destination is determined as the target road segment from the positioning position according to the positioning position of the navigated object. The preset distance may be set by itself, for example, the preset distance may be 100m,50m, or the like, taking the case where the object to be navigated is a vehicle, the current positioning position of the vehicle is obtained, and a road section 100m in front of the positioning position (in the direction toward the destination along the navigation route) is determined as the target road section. Of course, the foregoing is merely illustrative.
Step 202, determining a lane center line of a target lane passing from a starting point to an ending point of the target road section and a target track line of a parallel line route for indicating the target lane according to the lane connection relation of the target road section.
It should be noted that, in the present application, a road section may include at least one lane, as shown in fig. 3, fig. 3 is a schematic diagram of a lane provided in the first embodiment of the present application, where the lane f1 and the lane t1 are two lanes connected in the same direction, and the lane f2 and the lane f1 are two lanes adjacent to each other in the left and right, which is, of course, only illustrative. It should be further noted that the lane center line is a line along the lane center, and the lane center line may be a straight line or a curved line, where the lane center line is used to indicate a path that is parallel between two lanes, and the lane line is located between two lane lines, alternatively, the lane line may be located between another lane line and a lane line, or may be located between two other lane lines. Of course, this is only an exemplary illustration.
The lane connection relationship is used for indicating the connection relationship between the lanes, each road section can have the lane connection relationship, and the lane connection relationship can be stored in a list or the like. In a specific implementation manner, the lane connection relationship may include at least one piece of connection information, where one piece of connection information is used to indicate a connection manner between two lanes, the connection information includes a number of a start lane, a number of a destination lane, and a connection manner between the start lane and the destination lane, and the connection manner includes no connection, direct connection, or a number of a track line connecting the start lane and the destination lane. Based on the lane shown in fig. 3, referring to fig. 4, fig. 4 is a schematic diagram of a lane connection relationship according to the first embodiment of the present application, a track line tra1 connects the lane f2 with the lane t1, the track lines tra2, f2 and f1 are not connected to connect the lane f2 with the lane t2, and the f1 and t1 are directly connected. Of course, this is only an exemplary illustration.
Alternatively, a specific example is enumerated herein to illustrate how the lane centerline and the target trajectory of the target lane are determined. Determining a lane center line of a target lane passing from a start point to an end point of a target link and a target track line for indicating a merging line of the target lane according to a lane connection relation of the target link, comprising: determining a first target lane where a starting point of a target road section is located and a second target lane where an ending point of the target road section is located; and determining a candidate lane communicated with the first target lane according to the lane connection relation, determining the candidate lane capable of driving to the second target lane as the target lane, and acquiring a target track line between adjacent target lanes. Here, it is exemplified how to determine a lane candidate of the first target lane, and for each lane, the lane candidate may be determined, and then a plurality of lane paths starting from the first target lane may be obtained, and a lane through which a lane path capable of connecting the first target lane and the second target lane passes may be determined as the target lane.
And 203, determining a target connection point between the target track line and the lane center line of the target lane according to the index information of the target track line.
It should be noted that, there may be a plurality of connection points on the lane center line, and in the present application, the target connection point refers to a connection point that connects the lane center line of the target lane with the target track line, and the navigated object starts to merge along the target track line at the position of the connection point, so that determining the target connection point may further improve the accuracy of the planned route. It should be noted that each track line has index information indicating a connection relationship between the track line and the lane line and/or other track lines. Optionally, in a specific example, the index information of the target track line includes: the number of the target track line, the number of the lane center line of the target lane communicated with the target track line, and the number of the target connection point. Referring to fig. 5, referring to the lane shown in fig. 3, fig. 5 is a schematic diagram of index information provided by an embodiment of the present application, in the index information of a track line tra1, two lanes f2 and t1 (a lane center line of the same lane as tra1 or two lanes communicating with tra 1) associated with the track line are recorded, and a number of a connection point of tra1 and f2 at f2 and a number of a connection point of tra1 and t1 at t1 are recorded. It should be noted that all the connection points may be regarded as being on the lane center line, and the connection points on each lane center line are individually numbered, for example, 4 connection points on f2 may be numbered 0-4 in sequence, which is only exemplary.
In combination with steps 202 and 203, the lane connection relation and index information of at least one track line may be obtained in advance, for example, the method further includes: and acquiring the layer data of the electronic map, acquiring the lane connection relation of the target road section in a first layer of the layer data, and acquiring the index information of the target track line in a second layer of the layer data, wherein the first layer and the second layer can be the same layer or different layers. The layer data may include the connection relation of all lanes and index information of all track lines (i.e., the full-scale connection relation and the full-scale track line), or may include only a part, and is merely illustrative. Illustratively, the first layer may be a high-precision lane connection (HdpLaneConnectivity) layer and the second layer may be a high-precision lane track (HDPLANETRACK) layer, although this is merely illustrative. Further, the layer data may further include at least one of a lateral slope data, a longitudinal slope data, a curvature data and a steering angle data of a center line of the lane, and a curvature data and a steering angle data of a trajectory line. It should be noted that, at the connection point of the track line and the lane center line, the lateral slope data, the longitudinal slope data, the curvature data and the steering angle data are continuous, so as to ensure a smoother driving process along the lane center line and the track line.
And 204, generating a lane-level driving route of the navigated object on the target road section according to the lane center line of the target lane, the target connection point and the target track line.
In connection with steps 201-204, it should be noted that, in some optional application scenarios, multiple target track lines may exist between lane center lines of two target lanes, and end points between the target track lines may also be determined, so as to further improve the accuracy of the driving route. Illustratively, the method further comprises: if the number of the target track lines between the two target track lines is at least two, determining target end points between the target track lines according to index information of the target track lines; generating a lane-level driving route of the navigated object on the target road section according to the lane center line, the target connection point and the target track line of the target lane, comprising: and generating a lane-level driving route of the navigated object on the target road section according to the lane center line, the target connection point, the target end point and the target track line of the target lane.
Based on the above application scenario, a specific example is listed here to further describe in detail the method for generating the driving route according to the first embodiment of the present application, as shown in fig. 6, fig. 6 is another scenario schematic diagram of the method for generating the driving route according to the first embodiment of the present application. Fig. 6 shows an electronic device 101, a navigated object 102, and a cloud 103, and in fig. 6, the navigated object is a vehicle, which may be an automatic driving vehicle or a human driving vehicle. When the vehicle travels to the target section shown in fig. 6, the electronic device acquires layer data from the cloud, the layer data including 7 lanes, f1, f2, f3, t1, t2, t3, and t4, and 6 track lines, tra1, tra2, tra3, tra4, tra5, and tra6, respectively. Determining a starting point and an ending point of the target road section; determining a lane in which a start point and an end point of a target road section are located, wherein the lane in which the start point is located is f2, the lane in which the end point is located is t1 in fig. 6, and determining that candidate lanes communicated with f2 include t1 and t2 according to a lane connection relationship contained in layer data, because the end point is in the lane t1, target track lines tra1, tra2 and tra3 between f2 and t1 can be determined; querying index information of the trace line, wherein the index information of the trace line comprises: the number of the lane center line associated with the track line (the number of the lane line on the same lane as the track line), the start point number of the track line, the cut-off point number of the track line; determining that a target connection point between f2 and tra1 is a connection point with the number of 3 on f2 according to the index information of tra1, wherein the other end of tra1 is a target end point of a track line; determining that the two ends of the tra2 are respectively connected with other track lines through target endpoints according to the index information of the tra 2; the target connection point between the tra3 and t1 can be determined as a connection point with the number 1 on t1 according to the index information of the tra3; and generating a running route of the navigated object on the target road section according to the determined lane center lines (f 2 and t 1) of the target lane, the target connection point (the connection point No. 3 of the f2 and the connection point No. 1 of the t 1), the target end points (the two end points of the tra 2) and the target track lines (tra 1, tra2 and tra 3).
According to the method for generating the driving route, provided by the embodiment of the application, the starting point and the end point of the target road section are determined on the navigation route of the navigated object; determining a lane center line of a target lane passing from a start point to an end point of the target road section and a target track line for indicating a merging line of the target lane according to the lane connection relation of the target road section; determining a target connection point between the target track line and the lane center line of the target lane according to the index information of the target track line; and generating a lane-level driving route of the navigated object on the target road section according to the lane center line, the target connection point and the target track line of the target lane. Because the lane connection relation between the track line and the lanes is preset, the navigation process can be quickly spliced only according to the lane connection relation, so that the calculated amount is reduced, and the route planning efficiency is improved; and the central line and the track line of the lane are further determined according to the planned target lane, the connection point is determined, the planned driving route is closer to the actual driving route, and the accuracy of route planning is improved.
Example two
Based on the method described in the first embodiment, a second embodiment of the present application provides a driving route generating device for executing the method described in the first embodiment, referring to fig. 7, a driving route generating device 70 includes:
A navigation module 701, configured to determine a start point and an end point of a target road segment on a navigation route of a navigated object;
A lane connection module 702 for determining a lane center line of a target lane passing from a start point to an end point of a target link according to a lane connection relationship of the target link, and a target track line for indicating a merging line of the target lane;
a trajectory line module 703 for determining a target connection point between the target trajectory line and a lane center line of the target lane according to the index information of the target trajectory line;
The driving route module 704 is configured to generate a lane-level driving route of the navigated object on the target road segment according to the lane center line of the target lane, the target connection point and the target track line.
Optionally, in a specific example, the lane connection module 702 is configured to determine a first target lane where a start point of the target road segment is located, and a second target lane where an end point of the target road segment is located; and determining a candidate lane communicated with the first target lane according to the lane connection relation, determining the candidate lane capable of driving to the second target lane as the target lane, and acquiring a target track line between adjacent target lanes.
Optionally, in a specific example, the trajectory line module 703 is further configured to determine, if the number of target trajectory lines between two target lanes is at least two, a target endpoint between the target trajectory lines according to index information of the target trajectory lines;
The driving route module 704 is configured to generate a lane-level driving route of the navigated object on the target road segment according to the lane center line, the target connection point, the target endpoint, and the target track line of the target lane.
Optionally, in a specific example, the lane connection relationship includes at least one piece of connection information, the connection information includes a number of the starting lane, a number of the destination lane, and a connection manner of the starting lane and the destination lane, and the connection manner includes no connection, direct connection, or a number of a track line connecting the starting lane and the destination lane.
Optionally, in a specific example, the index information of the target track line includes: the number of the target track line, the number of the lane center line of the target lane communicated with the target track line, and the number of the target connection point.
Optionally, in a specific example, the navigation module 701 is further configured to obtain layer data of the electronic map, the lane connection module 702 is further configured to obtain a lane connection relationship of the target road segment in a first layer of the layer data, and the track line module 703 is further configured to obtain index information of the target track line in a second layer of the layer data, where the first layer and the second layer may be the same layer or different layers.
Optionally, in a specific example, the layer data further includes at least one of a lateral slope data, a longitudinal slope data, a curvature data and a steering angle data of a lane center line, and a curvature data and a steering angle data of a trajectory line of the lane.
The device for generating the driving route provided by the embodiment of the application determines the starting point and the end point of a target road section on the navigation route of a navigated object; determining a lane center line of a target lane passing from a start point to an end point of the target road section and a target track line for indicating a merging line of the target lane according to the lane connection relation of the target road section; determining a target connection point between the target track line and the lane center line of the target lane according to the index information of the target track line; and generating a lane-level driving route of the navigated object on the target road section according to the lane center line, the target connection point and the target track line of the target lane. Because the lane connection relation between the track line and the lanes is preset, the navigation process can be quickly spliced only according to the lane connection relation, so that the calculated amount is reduced, and the route planning efficiency is improved; and the central line and the track line of the lane are further determined according to the planned target lane, the connection point is determined, the planned driving route is closer to the actual driving route, and the accuracy of route planning is improved.
Example III
Based on the method described in the first embodiment, the third embodiment of the present application provides an electronic device for performing the method described in the first embodiment, and referring to fig. 8, a schematic structural diagram of an electronic device according to the third embodiment of the present application is shown, and the specific embodiment of the present application is not limited to the specific implementation of the electronic device.
As shown in fig. 8, the electronic device 80 may include: a processor (processor) 802, a communication interface (Communications Interface) 804, a memory (memory) 806, and a communication bus 808.
Wherein:
Processor 802, communication interface 804, and memory 806 communicate with each other via a communication bus 808.
A communication interface 804 for communicating with other electronic devices or servers.
The processor 802 is configured to execute the program 810, and may specifically perform relevant steps in the above-described method embodiment for generating a driving route.
In particular, program 810 may include program code including computer operating instructions.
The processor 802 may be a processor CPU or an Application-specific integrated Circuit ASIC (Application SPECIFIC INTEGRATED Circuit) or one or more integrated circuits configured to implement embodiments of the present application. The one or more processors comprised by the smart device may be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
Memory 806 for storing a program 810. The memory 806 may include high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 810 is specifically operable to cause the processor 802 to execute to implement the travel route generation method described in the first embodiment. The specific implementation of each step in the program 810 may refer to corresponding steps and corresponding descriptions in the units in the above-mentioned driving route generation method embodiment, which are not repeated herein. It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and modules described above may refer to corresponding procedure descriptions in the foregoing method embodiments, which are not repeated herein.
The electronic equipment provided by the embodiment of the application determines the starting point and the end point of a target road section on the navigation route of a navigated object; determining a lane center line of a target lane passing from a start point to an end point of the target road section and a target track line for indicating a merging line of the target lane according to the lane connection relation of the target road section; determining a target connection point between the target track line and the lane center line of the target lane according to the index information of the target track line; and generating a lane-level driving route of the navigated object on the target road section according to the lane center line, the target connection point and the target track line of the target lane. Because the lane connection relation between the track line and the lanes is preset, the navigation process can be quickly spliced only according to the lane connection relation, so that the calculated amount is reduced, and the route planning efficiency is improved; and the central line and the track line of the lane are further determined according to the planned target lane, the connection point is determined, the planned driving route is closer to the actual driving route, and the accuracy of route planning is improved.
Example IV
Based on the method described in the first embodiment, a fourth embodiment of the present application provides a computer storage medium having a computer program stored thereon, which when executed by a processor, implements the method described in the first embodiment.
Example five
Based on the method described in the first embodiment, a fourth embodiment of the present application provides a computer program product, which when executed by a processor, implements the method described in the first embodiment.
It should be noted that, according to implementation requirements, each component/step described in the embodiments of the present application may be split into more components/steps, or two or more components/steps or part of operations of the components/steps may be combined into new components/steps, so as to achieve the objects of the embodiments of the present application.
The above-described methods according to embodiments of the present application may be implemented in hardware, firmware, or as software or computer code storable in a recording medium such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk, or as computer code originally stored in a remote recording medium or a non-transitory machine-readable medium and to be stored in a local recording medium downloaded through a network, so that the methods described herein may be stored on such software processes on a recording medium using a general purpose computer, special purpose processor, or programmable or special purpose hardware such as an ASIC or FPGA. It is understood that a computer, processor, microprocessor controller, or programmable hardware includes a memory component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the navigation methods described herein. Further, when the general-purpose computer accesses code for implementing the navigation method shown herein, execution of the code converts the general-purpose computer into a special-purpose computer for executing the navigation method shown herein.
Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the embodiments of the present application.
The above embodiments are only for illustrating the embodiments of the present application, but not for limiting the embodiments of the present application, and various changes and modifications may be made by one skilled in the relevant art without departing from the spirit and scope of the embodiments of the present application, so that all equivalent technical solutions also fall within the scope of the embodiments of the present application, and the scope of the embodiments of the present application should be defined by the claims.
Claims (10)
1. A method of generating a travel route, comprising:
determining a starting point and an ending point of a target road section on a navigation route of a navigated object;
determining a lane center line of a target lane passing from a start point to an end point of the target road section and a target track line for indicating a merging line of the target lane according to the lane connection relation of the target road section;
Determining a target connection point between the target track line and a lane center line of the target lane according to the index information of the target track line, wherein the index information of the target track line is used for indicating the connection relation between the target track line and the lane line and/or other track lines;
And generating a lane-level driving route of the navigated object on the target road section according to the lane center line of the target lane, the target connection point and the target track line.
2. The method of claim 1, wherein the determining a lane center line of a target lane passing from a start point to an end point of the target link according to the lane connection relation of the target link, and a target track line for indicating a merging line of the target lane, comprises:
Determining a first target lane where a starting point of the target road section is located and a second target lane where an ending point of the target road section is located;
And determining a candidate lane communicated with the first target lane according to the lane connection relation, determining the candidate lane capable of driving to the second target lane as the target lane, and acquiring a target track line between adjacent target lanes.
3. The method of claim 1, wherein the method further comprises:
If the number of the target track lines between the two target lanes is at least two, determining a target endpoint between the target track lines according to the index information of the target track lines;
The generating a lane-level driving route of the navigated object on the target road section according to the lane center line of the target lane, the target connection point and the target track line includes:
And generating a lane-level driving route of the navigated object on the target road section according to the lane center line of the target lane, the target connection point, the target end point and the target track line.
4. The method of claim 1, wherein the lane connection relationship comprises at least one piece of connection information, the connection information comprising a number of a starting lane, a number of a destination lane, and a manner of connection of the starting lane to the destination lane, the manner of connection comprising no connection, a direct connection, and a number of a track line connecting the starting lane and the destination lane.
5. The method of claim 1, wherein the index information of the target trajectory line comprises: the number of the target track line, the number of the lane center line of the target lane communicated with the target track line, and the number of the target connection point.
6. The method of any of claims 1-5, wherein the method further comprises:
And acquiring layer data of the electronic map, acquiring the lane connection relation of the target road section in a first layer of the layer data, and acquiring index information of the target track line in a second layer of the layer data, wherein the first layer and the second layer are the same layer or different layers.
7. The method of claim 6, wherein the layer data further comprises at least one of a lateral slope data, a longitudinal slope data, a curvature data and a steering angle data of a lane centerline, and a curvature data and a steering angle data of a trajectory line.
8. An electronic device, comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
The memory is configured to store at least one executable instruction that causes the processor to perform the method of generating a travel route according to any one of claims 1-7.
9. A storage medium having stored thereon a computer program which, when executed by a processor, implements the method of generating a travel route according to any one of claims 1-7.
10. A computer program product which, when executed by a processor, implements a method of generating a travel route as claimed in any one of claims 1 to 7.
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| CN112146671A (en) * | 2020-08-31 | 2020-12-29 | 华为技术有限公司 | Path planning method, related equipment and computer readable storage medium |
| CN113008261A (en) * | 2021-03-30 | 2021-06-22 | 上海商汤临港智能科技有限公司 | Navigation method, navigation device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112146671A (en) * | 2020-08-31 | 2020-12-29 | 华为技术有限公司 | Path planning method, related equipment and computer readable storage medium |
| CN113008261A (en) * | 2021-03-30 | 2021-06-22 | 上海商汤临港智能科技有限公司 | Navigation method, navigation device, electronic equipment and storage medium |
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