CN114719872B - Lane line processing method and device and electronic equipment - Google Patents

Abstract

The embodiment of the disclosure discloses a lane line processing method, a lane line processing device and electronic equipment, wherein the method comprises the following steps: acquiring data to be processed in the current road surface area; the data to be processed comprises lane lines generated in the initial processing process; the lane line comprises a current interrupted lane line; determining a lane line to be connected of the current interrupted lane line based on the related information of the current interrupted lane line; and generating a transition lane line between the current interrupted lane line and the lane line to be connected. The technical scheme belongs to the technical field of geographic information, solves the technical problem that a lane line cannot be accurately and automatically identified and extracted when the lane complex condition occurs, can reduce the manual operation amount of a complex scene in an operation production line of a high-precision map, and reduces the manual operation cost.

Description

Lane line processing method and device and electronic equipment

Technical Field

The disclosure relates to the technical field of geographic information, in particular to a lane line processing method and device and electronic equipment.

Background

With the development of Location Based Services (LBS), more and more application software integrates service capabilities related to electronic maps, and at the same time, electronic maps are beginning to evolve from standard maps to high-precision maps.

In the manufacturing process of the high-precision map, the collection vehicles and the like sense road information through a series of sensors, and the automatic identification and extraction of linear information such as lane lines on the road are realized by means of machine vision, neural networks and the like. In order to improve the automatic operation efficiency and reduce the manual operation cost, an operation production line of a high-precision map carries out initialization modeling on a lane according to an original identification line. However, there are complex scenes such as widening, narrowing, increasing, decreasing, wearing, and blocking of a real lane, and manual work is still required. In addition, with the fact that the production line of the high-precision map is mature day by day, in order to guarantee the freshness of the high-precision map, the collected data source of the high-precision map is in a multisource trend, and with the addition of a non-professional data collecting vehicle, the data identification level is weakened relatively.

Therefore, a solution is needed to be provided, so as to further process the automatically identified and extracted lane lines when the lane complex situation occurs, thereby reducing the manual work amount on the complex scene in the work production line of the high-precision map, improving the work efficiency of the high-precision map, and reducing the manual work cost.

Disclosure of Invention

The embodiment of the disclosure provides a lane line processing method and device and electronic equipment.

In a first aspect, an embodiment of the present disclosure provides a lane line processing method, where the method includes:

acquiring data to be processed in the current road surface area; the data to be processed comprises lane lines generated in the initial processing process; the lane line comprises a current interrupted lane line;

determining a lane line to be connected of the current interrupted lane line based on the related information of the current interrupted lane line; the related information comprises one or more combinations of interruption points on the current interruption lane line, spatial relations between other lane lines in the range of the current interruption lane line and the current interruption lane line, and corresponding relations between the road attributes of the section of the current interruption lane line and the road attributes of the sections of the other lane lines;

and generating a transition lane line between the current interrupted lane line and the lane line to be connected so as to connect the current interrupted lane line and the lane line to be connected.

Further, determining a lane line to be connected of the currently interrupted lane line based on the related information of the currently interrupted lane line includes:

starting from the interruption point of the current interruption lane line, if other interruption lane lines are searched along the extension direction of the current interruption lane line, determining the other searched interruption lane lines as candidate lane lines;

generating a temporary lane line connecting the candidate lane line and the currently interrupted lane line;

and screening the lane lines to be connected from the candidate lane lines based on whether the widths between the temporary lane lines and other lane lines on two sides of the temporary lane lines meet the preset driving width.

Further, determining a lane line to be connected of the currently interrupted lane line based on the related information of the currently interrupted lane line includes:

starting from the interruption point of the current interruption lane line, if other interruption lane lines are not searched along the extension direction of the current interruption lane line, determining other interruption lane lines in the preset area range where the interruption point is located as candidate lane lines;

screening out candidate lane lines which do not accord with the characteristics of the lane lines to be connected based on the candidate lane lines and the lane serial numbers and/or lane types of the current interrupted lane lines; the lane sequence number is determined based on the number of lane lines crossed from the candidate lane line and the current interrupt lane line to a lane side boundary line;

generating a temporary lane line connecting the remaining candidate lane lines and the currently interrupted lane line;

selecting a plurality of temporary points on the temporary lane lines according to preset intervals, and determining the lane lines to be connected from the candidate lane lines based on the distance between the temporary points and the road boundary line, the curvatures of the temporary lane lines at the connection positions with the candidate lane lines and the current interrupt lane lines respectively, and the distance between the temporary lane lines and the lane lines on two sides of the temporary lane lines.

Further, determining a lane line to be connected of the currently interrupted lane line based on the related information of the currently interrupted lane line includes:

dividing the current road surface area into at least two sections based on an interruption point of the current interruption lane line;

when the road surface width and the preset running width of the current interval where the current interrupted lane line is located are respectively consistent with the road surface width and the preset running width of the adjacent interval, selecting a non-interrupted lane line adjacent to the current interrupted lane line from the current interval as a reference line;

generating a temporary connecting line which is consistent with the reference line in direction from the interruption point of the current interruption lane line, wherein one end of the temporary connecting line is connected to the interruption point of another interruption lane line in the adjacent interval;

and determining whether the other interrupted lane line is the lane line to be connected based on the spatial relationship between the temporary connection line and the other lane line and the difference between the curvature of the interrupted point of the other interrupted lane line and the curvature of the reference line.

Further, determining a lane line to be connected of the currently interrupted lane line based on the related information of the currently interrupted lane line includes:

determining whether the interruption point of the current interrupted lane line is a lane number change point; the number of lanes at the lane number change point in the current road surface area is inconsistent with the number of lanes in the extending direction of the current interrupted lane line;

when the interruption point of the current interruption lane line is a lane number change point, starting from the lane number change point of the current interruption lane line, and searching candidate lane lines along the extending direction of the current interruption lane line; the distance between the candidate lane line and the extension line of the current interrupted lane line in the extension direction is smaller than the preset driving width;

and screening out the candidate lane line which can form a merging lane line after being connected with the current interrupt lane line based on the attribute information of the candidate lane line and the spatial relationship between the candidate lane line and the current interrupt lane line, and taking the candidate lane line as the lane line to be connected.

Further, the method further comprises:

obtaining the deleted lane lines which are screened out during initial modeling;

screening candidate lane lines with target line segments from the deleted lane lines; the distances between the target line segment and the lane lines on the two sides of the candidate lane line meet the preset driving width;

and taking the target line segment in the deleted lane line as an interrupted lane line and adding the interrupted lane line into the data to be processed.

Further, the method further comprises:

obtaining the deleted lane lines which are screened out during initial modeling;

if the deleted lane line has a preceding lane line or a subsequent lane line with a road type being a preset road type, determining the deleted lane line as a candidate lane line;

and determining whether the candidate lane line is used as an interrupted lane line or not based on whether the road surface of the section where the candidate lane line is located is narrowed or not and whether the number of lanes is changed or not, and adding the interrupted lane line into the data to be processed.

In a second aspect, an embodiment of the present disclosure provides a location-based service providing method, where the method provides a location-based service for a served object by using the method described in the first aspect, and the location-based service includes: one or more of navigation, map rendering, route planning.

In a third aspect, an embodiment of the present disclosure provides a lane line processing apparatus, including:

the first acquisition module is configured to acquire data to be processed in the current road surface area; the data to be processed comprises lane lines generated in the initial processing process; the lane line comprises a current interrupted lane line;

a first determination module configured to determine a lane line to be connected of the currently interrupted lane line based on the related information of the currently interrupted lane line; the related information comprises one or more combinations of interruption points on the current interruption lane line, spatial relations between other lane lines within the range of the current interruption lane line and the current interruption lane line, and corresponding relations between the road attributes of the section of the current interruption lane line and the road attributes of the sections of the other lane lines;

a generating module configured to generate a transition lane line between the current interrupted lane line and the lane line to be connected, so as to connect the current interrupted lane line and the lane line to be connected.

The functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the above-described functions.

In one possible design, the apparatus includes a structure including a memory for storing one or more computer instructions that enable the apparatus to perform the corresponding method described above, and a processor configured to execute the computer instructions stored in the memory. The apparatus may also include a communication interface for the apparatus to communicate with other devices or a communication network.

In a fourth aspect, the disclosed embodiments provide an electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of any of the above aspects.

In a fifth aspect, the disclosed embodiments provide a computer-readable storage medium for storing computer instructions for use by any one of the above apparatuses, the computer instructions, when executed by a processor, being configured to implement the method of any one of the above aspects.

In a sixth aspect, the disclosed embodiments provide a computer program product comprising computer instructions for implementing the method of any one of the above aspects when executed by a processor.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

in the embodiment of the disclosure, for a complex scene of a real lane, performing initialization processing, for example, performing initialization modeling on original acquired data, and after acquiring to-be-processed data including lane lines, screening, for a current interrupted lane line in the to-be-processed data, a lane line to be connected, which is to be connected to the current interrupted lane line, in the real lane from the to-be-processed data, where relevant information of the current interrupted lane line in the screening process includes one or a combination of multiple ones of an interruption point on the current interrupted lane line, a spatial relationship between another lane line in a range where the current interrupted lane line is located and the current interrupted lane line, and a correspondence between road attributes of the region where the current interrupted lane line is located and road attributes of the region where the other lane line is located; and after the lane line to be connected is determined, generating a transition lane line for connecting the current interrupted lane line and the lane line to be connected. By the mode, the data obtained by initialization processing can be further processed by lane lines, more complete basic data can be provided for manufacturing of the high-precision map, the manual operation amount of complex scenes in an operation production line of the high-precision map can be reduced, the operation efficiency of the high-precision map is improved, and the manual operation cost is reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other features, objects, and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. The following is a description of the drawings.

Fig. 1 illustrates a flowchart of a lane line processing method according to an embodiment of the present disclosure.

Fig. 2 illustrates a schematic view of a broken lane line according to an embodiment of the present disclosure.

Fig. 3 is a schematic diagram illustrating selection of a temporary point on a temporary lane between the interrupted lane lines according to an embodiment of the present disclosure.

Fig. 4 is a schematic diagram illustrating the effect of the broken lane line of fig. 3 after being connected with the screened lane line to be connected.

Fig. 5 shows a schematic view of a reference line according to an embodiment of the present disclosure.

FIG. 6 illustrates a lane-change scenario diagram according to an embodiment of the present disclosure.

Fig. 7 shows a schematic diagram of a mistakenly deleted lane line in an initialization modeling process according to an embodiment of the present disclosure.

Fig. 8 shows a schematic diagram of an application of lane lines in a high-precision map on an autonomous vehicle according to an embodiment of the present disclosure.

Fig. 9 is a schematic structural diagram of an electronic device suitable for implementing a lane line processing method and/or a location-based service providing method according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.

In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of the disclosed features, numbers, steps, actions, components, parts, or combinations thereof, and do not preclude the possibility that one or more other features, numbers, steps, actions, components, parts, or combinations thereof are present or added.

It should also be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The details of the embodiments of the present disclosure are described in detail below with reference to specific embodiments.

Fig. 1 shows a flow chart of a lane line processing method according to an embodiment of the present disclosure. As shown in fig. 1, the lane line processing method includes the steps of:

in step S101, data to be processed in the current road surface area is acquired; the data to be processed comprises lane lines generated in the initial processing process; the lane line comprises a current interrupted lane line;

in step S102, determining a lane line to be connected of the current interrupted lane line based on the related information of the current interrupted lane line; the related information comprises one or more combinations of interruption points on the current interruption lane line, spatial relations between other lane lines within the range of the current interruption lane line and the current interruption lane line, and corresponding relations between the road attributes of the section of the current interruption lane line and the road attributes of the sections of the other lane lines;

in step S103, a transition lane line is generated between the currently interrupted lane line and the lane line to be connected, so as to connect the currently interrupted lane line and the lane line to be connected.

In this embodiment, the lane line processing method may be executed on a server. After the collection vehicle collects the road data, the road data can be subjected to initialization modeling in an automatic identification mode to obtain an initial lane line.

In the process of initial modeling, road image data can be collected in advance for a target road in reality, and the road image data can be a point cloud image. In some embodiments, the road image data may include point cloud images acquired by three-dimensional laser scanning instruments disposed on crowdsourced vehicles, specialty acquisition vehicles, and/or autonomous vehicles, among others. The point cloud image may be an image formed from point cloud data, and the point cloud data may be a three-dimensional point data set of the actual road surface acquired by a three-dimensional laser scanning instrument. In some embodiments, a corresponding identification line such as a lane line on a road may be identified from the acquired road image data. Since a lane line on a road, a hard isolation zone of a road boundary line, a soft isolation zone, a bicycle lane, a parking zone, a driving direction indicator, and the like are likely to be recognized as the recognition line. Therefore, in the initial modeling process of the real road, an accurate initial lane line is generated from the recognition line. In some embodiments, lane lines are used to describe lanes on a roadway that are passable using motor vehicles, non-motor vehicles.

It can be understood that, because a real road scene is complex, a lane on the road is widened, narrowed, increased, reduced, worn, blocked, and the like, and the complex scene cannot be intelligently identified in the initial modeling process, situations such as lane line interruption, lane line mistaken deletion, and the like occur in the modeling result.

In consideration of the above defects existing in the initialization modeling process, in the embodiment of the present disclosure, in order to further improve the automation operation efficiency and reduce the manual workload, the lane line data obtained by the initialization modeling is further processed, and the lane line data obtained by the initialization modeling is referred to as to-be-processed data.

It can be understood that the high-precision road data corresponding to the real road can be formed by dividing the real road into different road surface areas, processing the lane lines of the individual road surface areas, and finally combining the lane line processing results of the plurality of road surface areas.

In the embodiment of the present disclosure, the lane line processing process is described in detail by taking the currently processed current road surface area as an example.

The data to be processed corresponding to the current road surface area may include model data such as a lane line automatically identified for the current road surface area during initial modeling, where the lane line includes an interrupted lane line and a non-interrupted lane line. The interrupted lane line may be a lane line that is not completely recognized in the initialization modeling process due to a real complex road, and the non-interrupted lane line is model data of a complete lane line recognized in the initialization modeling process. In the embodiment of the disclosure, a to-be-connected lane line, which is originally connected to an interrupted lane line in a current road surface area, is obtained by searching for the interrupted lane line, and the interrupted lane line and the to-be-connected lane line are connected through a generated transition connection line, so as to obtain a complete lane line. Fig. 2 shows a schematic diagram of a broken lane line of an embodiment of the present disclosure. As shown in fig. 2, one lane line in the black frame has one end without a connected lane line, and the lane line may be considered as an interrupted lane line.

It is understood that a plurality of broken lane lines may be included in the current road surface area, and the steps of the lane line processing method described above may be performed for each broken lane line. Considering that the interrupted lane lines are respectively processed, after the transition connection line is generated, whether the generated transition connection line is repeated with the previously generated transition connection line can be further judged, that is, whether the transition connection line connecting the two interrupted lane lines is established or not when the transition connection line is processed aiming at other interrupted lane lines, and if the same transition connection line is established, the currently generated transition connection line can be directly deleted.

In some embodiments, an interrupted lane line may be identified from the data to be processed, where the interrupted lane line is a lane line without a preceding or subsequent lane line, that is, starting from a start point or an end point of any one lane line, whether a lane line exists within a certain distance range (for example, 0.1 meter) is respectively determined, if the lane line does not exist, the lane line may be considered as the interrupted lane line, and the start point or the end point of the interrupted lane line is determined as an interruption point of the interrupted lane line. An interrupted lane line may include one or two interruption points (start and/or end points).

For any interrupted lane line, the lane line to be connected, which is connected with the interrupted lane line, in the actual road can be determined based on the relevant information of the interrupted lane line, and then the interrupted lane line and the lane line to be connected are connected by generating a transition lane line and are consistent with the lane on the actual road.

In some embodiments, the current interrupt lane line may be any interrupt lane line currently processed. The related information of the currently interrupted lane line may include, but is not limited to, one or more combinations of interruption points on the currently interrupted lane line, spatial relationships between other lane lines within a range in which the currently interrupted lane line is located and the currently interrupted lane line, and correspondence relationships between road attributes of the section in which the currently interrupted lane line is located and road attributes of sections in which other lane lines are located, respectively.

In some embodiments, the spatial relationship between the other lane line in the range where the currently interrupted lane line is located and the currently interrupted lane line may include, but is not limited to, whether the other lane line is located in an extending direction of an interruption point of the currently interrupted lane line, whether a distance between the other lane line and the currently interrupted lane line or an extending line of the currently interrupted lane line from the interruption point is within a preset region range, whether an angle at a connection point after the other lane line is connected with the currently interrupted lane line is within a preset angle range, and whether a width between a lane formed after the other lane line is connected with the currently interrupted lane line and two side lane lines satisfies a preset driving width, that is, whether the width is greater than or equal to the preset driving width.

In other embodiments, the road attributes of the section where the currently interrupted lane line is located and the sections where other lane lines are located may be understood as a width change situation of a road surface in the section, a lane number change situation on the road surface, a lane number from a boundary of each lane line on the same side of the road surface, and the like. It should be noted that the section where the currently interrupted lane line is located may be understood as a section between a start point and an end point of the currently interrupted lane line, and a perpendicular line may be drawn from the start point and the end point to the boundary lines on both sides of the road, respectively, and the section between two perpendicular lines may be used as the section where the currently interrupted lane line is located.

The current road surface area can be divided into a plurality of sections based on the starting point and the end point of the current interrupted lane line, wherein the current interrupted lane line is positioned in the section corresponding to the starting point to the end point; while other lane lines may be located in other zones. The rationality of whether other lane lines are lanes to be connected or not can be judged by whether the width of the road surface in the section where the current interrupt lane line is located is the same as the width of the road surface in other sections, whether the number of lanes is the same as the number of lanes in the section where the other lane lines are located, and whether the lane numbers of the current interrupt lane line and the other lane lines are the same from the boundary line on the same side of the road surface.

The following is detailed by way of example: a certain spatial relationship exists between the lane line to be connected and the current interrupted lane line, and the spatial relationship is related to the interruption point of the current interrupted lane line. For example, the lane line to be connected may be located in an extending direction of the current interrupt lane line from an interrupt point of the current interrupt lane line, and in consideration of an identification error during the initial modeling, the lane line to be connected may not be located in the extending direction but may have a certain deviation from the extending direction, and thus, it may be determined whether the other interrupt lane line is located within a certain range where the extending line from the interrupt point of the current interrupt lane line is located by setting a range.

In other embodiments, a reasonable lane to be connected can be screened out from the preset driving width formed after the current interrupted lane line is connected with other lane lines, that is, after the current interrupted lane line is connected with other lane lines, the preset driving width formed between the current interrupted lane line and other lane lines not to be connected can also be used as a basis for judging whether the lane to be connected is the lane to be connected.

In other embodiments, the corresponding relationship between the road attribute of the section where the currently interrupted lane line is located and the road attribute of the section where the other lane line is located may also be used as a basis for screening lanes to be connected. The section in which the current interrupt lane line is located may be a section between a start point and an end point of the current interrupt lane line. The current lane surface area may be divided into a plurality of sections based on a start point and an end point of a current interrupted lane line, where the current interrupted lane line is located in a section corresponding to the start point to the end point.

It is understood that the lane line to be connected is also a broken lane line, and other lane lines involved in determining whether the lane line is a to-be-connected may include broken lane lines and/or non-broken lane lines.

In the embodiment of the disclosure, for a complex scene of a real lane, performing initialization processing, for example, performing initialization modeling on original acquired data, and after acquiring to-be-processed data including lane lines, screening out, from the to-be-processed data, a lane line to be connected, which is to be connected to a current interrupted lane line in the to-be-processed data, for the current interrupted lane line in the to-be-processed data, where relevant information of the current interrupted lane line in the screening process includes one or more combinations of an interruption point on the current interrupted lane line, a spatial relationship between other lane lines in a range where the current interrupted lane line is located and the current interrupted lane line, and a correspondence between road attributes of a section where the current interrupted lane line is located and road attributes of sections where the other lane lines are located; and after the lane line to be connected is determined, generating a transition lane line for connecting the current interrupted lane line and the lane line to be connected. By the mode, the data obtained by initialization processing can be further processed by lane lines, more perfect basic data are provided for manufacturing of high-precision maps, the manual operation amount of complex scenes in an operation production line of the high-precision maps can be reduced, the operation efficiency of the high-precision maps is improved, and the manual operation cost is reduced.

In an optional implementation manner of this embodiment, in step S102, the step of determining a lane line to be connected of the currently interrupted lane line based on the relevant information of the currently interrupted lane line further includes the following steps:

starting from the interruption point of the current interruption lane line, if other interruption lane lines are searched along the extension direction of the current interruption lane line, determining the other searched interruption lane lines as candidate lane lines;

generating a temporary lane line connecting the candidate lane line and the currently interrupted lane line;

and screening the lane lines to be connected from the candidate lane lines based on whether the widths between the temporary lane lines and other lane lines on two sides of the temporary lane lines meet the preset driving width.

In this alternative implementation, there may be a lane line to be connected that is actually connected to the current interrupt lane line near the interrupt point of the current interrupt lane line, and the lane line to be connected generally extends in a direction from the interrupt point of the current interrupt lane line, where the extending direction may be understood as a direction extending forward with the curvature of the current interrupt lane line. If one or more other interrupted lane lines are searched in the extending direction, the lane line to be connected may exist in the one or more other interrupted lane lines at a high probability. When searching for another broken lane line in the extending direction, starting from the break point, one point may be taken at intervals in the extending direction, and another broken lane line within the range of the point may be searched for. It is understood that, since other broken lane lines in the extending direction are searched in this embodiment, a smaller range in which the point is located may be set in consideration of errors, and other broken lane lines in the range may be searched, for example, the center of the point may be searched, other broken lane lines in a centimeter-level radius range may be searched, and the like.

After other interrupted lane lines are searched, the other interrupted lane lines can be used as candidate lane lines, a temporary lane line is generated between the candidate lane line and the current interrupted lane line, whether the width between the temporary lane line and the other lane lines on two sides of the temporary lane line meets the preset driving width is determined, if yes, the candidate lane line can be considered as a lane line to be connected, and the temporary lane line can be used as a transition lane line for connecting the interrupted lane line and the lane line to be connected.

It can be understood that the reasonability of the candidate lane line as the lane line to be connected can also be judged from the aspects of lane width, whether the candidate lane line intersects with other lanes or not, and the like, and the candidate lane line can be taken as the lane line to be connected after various unreasonable conditions are eliminated.

In an optional implementation manner of this embodiment, in step S102, the step of determining a lane line to be connected of the currently interrupted lane line based on the relevant information of the currently interrupted lane line further includes the following steps:

starting from the interruption point of the current interruption lane line, if other interruption lane lines are not searched along the extension direction of the current interruption lane line, determining other interruption lane lines in a preset area range where the interruption point is located as candidate lane lines;

screening out candidate lane lines which do not accord with the characteristics of the lane lines to be connected based on the candidate lane lines and the lane serial numbers and/or lane types of the current interrupted lane lines; the lane sequence number is determined based on the number of lane lines crossed by the candidate lane line and the current interrupted lane line to a lane side boundary;

generating a temporary lane line connecting the remaining candidate lane lines and the currently interrupted lane line;

selecting a plurality of temporary points on the temporary lane lines according to preset intervals, and determining the lane lines to be connected from the candidate lane lines based on the distance between the temporary points and the road boundary line, the curvatures of the temporary lane lines at the connection positions with the candidate lane lines and the current interrupt lane lines respectively, and the distance between the temporary lane lines and the lane lines on two sides of the temporary lane lines.

In this optional implementation manner, when no other interrupted lane line is searched for from the intermediate point along the extending direction of the currently interrupted lane line in the previous embodiment, the search range may be expanded, that is, other interrupted lane lines may be searched for from a larger preset range where the intermediate point is located. The preset range may be set to be larger, for example, the preset range may be set such that the interruption point extends in the extending direction and in the direction opposite to the extending direction to form an extending line, and the extending line extends to both sides to form a region range. It will be appreciated that the distance that the extension line extends to both sides may be less than the preset running width. In this way, other interrupted lane lines around the interruption point can be searched, and the searched other interrupted lane lines can be added into the candidate lane line set.

And for the candidate lane lines in the candidate lane line set, screening out the candidate lane lines which are obviously impossible to be the to-be-connected lane lines according to the conditions of whether the lane serial number from the boundary line on one side of the road is consistent with the current interrupted lane line, whether the lane types are the same and the like. For example, in a preset area range, after a current interrupted lane line is extended, a point is taken at intervals from the extension line, perpendicular lines are respectively made to the boundary line of one side or two sides of the road surface, and the intersection points of the perpendicular lines and the lane lines are numbered from the boundary line of one side or two sides of the road surface to obtain lane serial numbers; if the lane number of the extension line of the currently interrupted lane line is not consistent with the lane number of the candidate lane line from the boundary line on the same side of the same lane, it may be considered that the candidate lane line may not be the lane line to be connected of the currently interrupted lane line, at least not the lane line to be connected to be found in the embodiment, and thus the candidate lane line may be deleted. In addition, if the lane type of the candidate lane line is different from the lane type of the currently interrupted lane line, it may also be considered that the candidate lane line may not be the to-be-connected lane line of the currently interrupted lane line, and the candidate lane line may be deleted.

For the remaining candidate lane lines, a temporary lane line connecting the candidate lane line and the currently interrupted lane line may be generated. Whether the candidate lane line is a lane line to be connected may be determined based on the temporary lane line.

In some embodiments, a temporary point may be selected at each interval of a distance on the temporary lane line, a plurality of temporary points may be obtained, and whether the setting of the temporary lane line is reasonable may be determined based on whether the distances from the temporary points to the road boundary line are consistent, whether the temporary lane line is reasonable may be determined according to whether the width between the temporary lane line and the lane lines on both sides of the temporary lane line satisfies a preset driving width, and if the width between the temporary lane line and the other lane lines on both sides is smaller than the preset driving width, the temporary lane line may be considered as not conforming to the regularity. In such a way, the candidate lane line corresponding to the temporary lane line which all the conditions are met is taken as the lane line to be connected. It is of course understood that in the above manner, it is also possible that no reasonable lane line to be connected can be found.

Fig. 3 is a schematic diagram illustrating selection of a temporary point on a temporary lane between the interrupted lane lines according to an embodiment of the present disclosure. As shown in fig. 3, the two uppermost broken lane lines in the figure are connected by a temporary lane line, and based on the selection of the temporary point, it is determined that one of the two broken lane lines is the current broken lane line and the other is the lane line to be connected, and the middle lane line does not establish the temporary lane line because the width between the middle lane line and the other lane lines does not meet the preset driving width, and is not selected as the lane line to be connected. The lane lines shown in fig. 3 are processed to form complete lane lines as shown in fig. 4.

In an optional implementation manner of this embodiment, in step S102, the step of determining a lane line to be connected of the currently interrupted lane line based on the relevant information of the currently interrupted lane line further includes the following steps:

dividing the current road surface area into at least two sections based on the break point of the current break lane line;

when the road surface width and the preset running width of the current interval where the current interrupted lane line is located are respectively consistent with the road surface width and the preset running width of the adjacent interval, selecting a non-interrupted lane line adjacent to the current interrupted lane line from the current interval as a reference line;

generating a temporary connecting line which is consistent with the reference line in direction from the interruption point of the current interruption lane line, wherein one end of the temporary connecting line is connected to the interruption point of another interruption lane line in the adjacent interval;

and determining whether the other interrupted lane line is the lane line to be connected based on the spatial relationship between the temporary connection line and the other lane line and the difference between the curvature of the interrupted point of the other interrupted lane line and the curvature of the reference line.

In this optional implementation, the current road surface area may be divided into a plurality of sections, and the division principle is that one of the sections is a section where the current interrupted lane line is located. Judging whether the width of the current interval where the current interrupted lane line is located is consistent with the width of the road surface of the adjacent interval, judging whether the width of the lane where the current interrupted lane line is located is consistent with the width of the lane in the adjacent interval under the condition that the width of the road surface is consistent, and selecting an adjacent non-interrupted lane line of the current interrupted lane line as a reference line under the condition that the width of the road surface is consistent with the width of the lane; the reference line crosses the current interval and the adjacent interval because the reference line is a non-interrupted lane line; and the width between the reference line and the current interrupt lane line meets the preset driving width.

Fig. 5 shows a schematic view of a reference line according to an embodiment of the present disclosure. As shown in fig. 5, the lower straight line segment is the current interrupted lane line, the origin points of the two ends are the interruption points, and the upper curve is the reference line (not shown in the figure to divide the adjacent sections). The generated temporary connection line may completely coincide with the reference line from the break point (the right break point in fig. 5), that is, form a lane with the width of the vehicle with the reference line. Another interrupt lane line may be in an adjacent section, that is, on the right side of the lane line shown in fig. 5, and one end of the temporary connection line may be connected to an interrupt point of another interrupt lane line.

After the temporary connection line is generated, it may be determined whether another broken lane line is a lane line to be connected based on a spatial relationship of the temporary connection line and the other lane line, whether a curvature at a breaking point of the another broken lane line coincides with a curvature of the reference line, and the like. The spatial relationship of the temporary connection line to other lane lines may be understood as whether the presence of the temporary connection line affects other lane lines, which may include broken lane lines or non-broken lane lines. For example, whether the distance between the temporary connection line and the other lane line satisfies a preset running width, whether it crosses the other lane line, or the like. In addition, it is also possible to determine whether or not the other interrupt lane line is a lane line to be connected based on whether or not the curvature at the connection point of the temporary connection line and the other interrupt lane line coincides with the curvature at the corresponding position of the reference line, or the like.

If a sharp corner appears at the connection point of the temporary connection line and another broken lane line, or the curvature at the corresponding position to the reference line is too different, the other broken lane line may be considered not to be the lane line to be connected.

In an optional implementation manner of this embodiment, in step S102, the step of determining a lane line to be connected of the currently interrupted lane line based on the relevant information of the currently interrupted lane line further includes the following steps:

determining whether the interruption point of the current interrupted lane line is a lane number change point; the number of lanes at the lane number change point in the current road surface area is inconsistent with the number of lanes in the extending direction of the current interrupted lane line;

when the interruption point of the current interrupted lane line is a lane number change point, starting from the lane number change point of the current interrupted lane line, and searching candidate lane lines along the extending direction of the current interrupted lane line; the distance between the candidate lane line and the extension line of the current interrupted lane line in the extension direction is smaller than the preset driving width;

and screening out the candidate lane line which can form a merging lane line after being connected with the current interrupt lane line based on the attribute information of the candidate lane line and the spatial relationship between the candidate lane line and the current interrupt lane line, and taking the candidate lane line as the lane line to be connected.

In this alternative implementation, the interrupted lane line with the merging situation may be processed, that is, there is a situation that the number of lanes changes in the current road surface area, for example, the number of lanes increases or decreases, as shown in fig. 6, the number of lanes increases from three lanes in one frame to five lanes in another frame in the driving direction. In the initial modeling process, since the condition can not be identified, the broken lane line can be generated, and the embodiment of the disclosure can realize the connection of the merging lane line aiming at the condition.

In this embodiment, it may be determined whether the interruption point on the currently interrupted lane line is a lane number change point. In general, if there is a merge situation, there is an interrupted lane line corresponding to the merge point, so the lane number change point is usually an interrupted point on the interrupted line. In order to determine whether the break point is a lane number change point, a perpendicular line may be drawn from the break point of the current interrupted lane line to the boundary lines on both sides of the road surface point by point along the extending direction of the current interrupted lane line, intersection points are provided between the perpendicular line and all the lane lines in the current road surface area, whether the number of intersection points of the perpendicular line and each lane line corresponding to each point is the same as the number of intersection points at the break point is compared, when the number of intersection points changes, the break point of the current interrupted lane line may be considered as a lane number change point, candidate lane lines having the number of intersection points different from the number of intersection points at the lane number change point may be screened, and a point on the candidate lane line closest to the extension line of the current interrupted lane line may be used as a connection point. The distance between the candidate lane line and the extension line of the currently interrupted lane line in the extension direction may be smaller than the preset running width.

After the candidate lane lines are determined, if a plurality of candidate lane lines are included, the lane to be connected of the currently interrupted lane line may be screened out therefrom based on the attribute information of the candidate lane lines and the spatial relationship between the candidate lane lines and the currently interrupted lane line. And the screening basis comprises that a lane merging line meeting the lane merging condition in the real road is formed after the connection with the current interrupt connecting line is available or not. In some embodiments, the attribute information of the candidate lane line includes whether the candidate lane line is an interrupt lane line, whether it is a boundary line, or the like. The spatial relationship between the candidate lane line and the current interrupted lane line may include a relative position between the candidate lane line and the current interrupted lane line, and may further include an angle at a connection point, a width between two lane lines before connection, a distance between the interruption point and the connection point, and the like after the connection point is connected to the connection point on the candidate lane line. The candidate lane line with the small angle, the short distance and the width according with the merging situation in the real road can be selected as the lane line to be connected. In addition, the reasonability of the selected candidate lane line as the lane line to be connected can be judged whether the selected candidate lane line is intersected with other lane lines or not, whether the selected candidate lane line exceeds a road surface area after connection or not and the like.

In an optional implementation manner of this embodiment, the method further includes the following steps:

obtaining the deleted lane lines which are screened out during initial modeling;

screening candidate lane lines with target line segments from the deleted lane lines; the distances between the target line segment and the lane lines on the two sides of the candidate lane line meet the preset driving width;

and taking the target line segment in the deleted lane line as an interrupted lane line and adding the interrupted lane line into the data to be processed.

In this alternative implementation, some lane lines may be deleted during the initial modeling process because they may be lines that are misidentified due to interference information in the collected data. However, some lane lines may be mistakenly deleted lane lines in the initial modeling process, such as merging lane lines. In the embodiment of the disclosure, the salvage processing can be performed on the mistakenly deleted lane line in the initialization modeling process. That is, the deleted lane line that is deleted by mistake is used as the interrupted lane line again to add the data to be processed, and further the lane line processing method disclosed in the above is used for further processing.

In this embodiment, for a deleted lane line, it may be determined whether a target line segment exists before the deleted lane line is deleted, where the target line segment is a road segment whose distance from the lane line on two sides of the deleted lane line satisfies a preset driving width, that is, if a partial road segment exists in the deleted lane line and the distance between the partial road segment and the lane line on two sides is greater than or equal to the preset driving width, the deleted lane line may be a mistaken deletion lane, and therefore, the deleted lane line is added to the to-be-processed data as an interrupted lane line. As shown in fig. 7, the merging lane line in the circle may be deleted as an unreasonable lane line in the initial modeling process. In the embodiment of the disclosure, the merged lane line can be obtained by fishing back from the deleted lane and processing the lane line in the above manner.

In an optional implementation manner of this embodiment, the method further includes the following steps:

obtaining the deleted lane lines which are screened out during initial modeling;

if the deleted lane line has a preceding lane line or a subsequent lane line with a road type being a preset road type, determining the deleted lane line as a candidate lane line;

and determining whether to take the candidate lane line as an interrupt lane line to be added into the data to be processed based on whether the road surface of the section where the candidate lane line is located is narrowed and whether the number of lanes changes.

In this alternative implementation, the preset road type may be a general road type. For a lane line of a general road type, if both a following lane line and a following lane line do not exist, and the lane line is also a general interrupted lane line, the deleted lane line may be a mistakenly deleted lane line, and thus may be used as a lane line candidate. In some embodiments, it may be determined whether a lane line exists within a certain distance range (for example, 0.1 meter) from the start point or the end point of the deleted lane line, and if not, the lane line may be considered as an interrupted lane line without a preceding lane line or a following lane line.

For the type of candidate lane line, whether the deleted lane line is added to the data to be processed as an interrupted lane line can be determined according to whether the road surface of the section where the candidate lane line is located is narrowed and whether the number of lanes is changed. If the road surface of the section where the candidate lane line is located is narrowed and the number of lanes is changed, the deleted lane line is related to a lane changing lane line, and the lane line is deleted by mistake due to the fact that the lane changing lane line cannot be identified in the initialization modeling process.

It is understood that the lane-change lane line re-added to the data to be processed may be processed in the manner of processing the lane-change lane line in the above-disclosed embodiment, and thus the embodiment may be performed before the implementation of the lane-change processing.

According to an embodiment of the present disclosure, a location-based service providing method for providing a location-based service to a served object by using the lane line generating method includes: one or more of navigation, map rendering, route planning.

In this embodiment, the location-based service providing method may be executed on a location service terminal, and the location service terminal may be a mobile phone, an ipad, a computer, a smart watch, a vehicle-mounted device of a vehicle, or the like. According to the embodiment of the disclosure, the collected road image data can be automatically processed by the server, the line information on the road is identified, then the lane line modeling is carried out, and then the lane line obtained by modeling is processed to obtain a more reasonable lane line.

The served object can be a mobile phone, ipad, computer, smart watch, vehicle, robot, etc. The server may provide the high-precision map obtained based on the method to the location service terminal, and the location service terminal may provide services such as path planning, road rendering, navigation and the like based on the lane line in the high-precision map in the service process of the served object, and specific details related to the processing process of the lane line may be referred to the description of the lane line processing method, which is not described herein again.

Fig. 8 shows a schematic diagram of an application of lane lines in a high-precision map on an autonomous vehicle, which is manufactured according to an embodiment of the present disclosure. As shown in fig. 8, the lane line modeling and processing server may obtain the collected data of the road image collected by the collection vehicle on the target road, and further perform the initialization modeling on the lane line of the target road based on the road image data to obtain the lane line model. After the lane line after the initial modeling is processed by the lane line processing method disclosed in the above, a more complete lane line model can be obtained, the more complete lane line model can be provided to the high-precision map making server, the high-precision map making server performs processing under the cooperation of operators, the processed lane line model can be added into the existing high-precision map data, and the high-precision map data can be provided to the navigation server.

During the automatic driving process of the automatic driving vehicle, the navigation server can provide a high-precision map and navigation information to the vehicle-mounted device on the automatic driving vehicle, and the vehicle-mounted device generates an automatic driving instruction for the vehicle based on the high-precision map so as to control the automatic driving vehicle to perform corresponding driving actions during the driving process.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods.

According to the lane line processing apparatus of an embodiment of the present disclosure, the apparatus may be implemented as a part or all of an electronic device by software, hardware, or a combination of both. This lane line processing apparatus includes:

the first acquisition module is configured to acquire data to be processed in the current road surface area; the data to be processed comprises lane lines generated in the initial processing process; the lane line comprises a current interrupted lane line;

a first determination module configured to determine a lane line to be connected of the currently interrupted lane line based on the related information of the currently interrupted lane line; the related information comprises one or more combinations of interruption points on the current interruption lane line, spatial relations between other lane lines in the range of the current interruption lane line and the current interruption lane line, and corresponding relations between the road attributes of the section of the current interruption lane line and the road attributes of the sections of the other lane lines;

a generating module configured to generate a transition lane line between the current interrupted lane line and the lane line to be connected so as to connect the current interrupted lane line and the lane line to be connected.

In this embodiment, the lane line processing apparatus may be executed on a server. After the collection vehicle collects the road data, the road data can be subjected to initialization modeling in an automatic identification mode to obtain an initial lane line.

In the process of initial modeling, road image data can be collected in advance for a target road in reality, and the road image data can be a point cloud image. In some embodiments, the road image data may include point cloud images captured by three-dimensional laser scanning instruments disposed on crowdsourced vehicles, professional capture vehicles, and/or autonomous vehicles, among others. The point cloud image may be an image formed from point cloud data, and the point cloud data may be a three-dimensional point data set of the actual road surface acquired by a three-dimensional laser scanning instrument. In some embodiments, a corresponding identification line such as a lane line on a road may be identified from the acquired road image data. Since a lane line on a road, a hard isolation zone of a road boundary line, a soft isolation zone, a bicycle lane, a parking zone, a driving direction indicator, and the like are likely to be recognized as the recognition line. Therefore, in the initial modeling process of the real road, an accurate initial lane line is generated from the recognition line. In some embodiments, lane lines are used to describe lanes on a road that are passable using motor vehicles, non-motor vehicles.

It can be understood that, because the real road scene is relatively complex, the lane on the road is widened, narrowed, increased, decreased, worn, blocked, etc., and the complex scene cannot be intelligently identified in the initial modeling process, the situations of lane line interruption, lane line mistaken deletion, etc. can occur in the modeling result.

In consideration of the above defects existing in the initialization modeling process, in the embodiment of the present disclosure, in order to further improve the automation operation efficiency and reduce the manual workload, the lane line data obtained by the initialization modeling is further processed, and the lane line data obtained by the initialization modeling is referred to as to-be-processed data.

It can be understood that the high-precision road data corresponding to the real road can be formed by dividing the real road into different road surface areas, processing the lane lines of the individual road surface areas, and finally combining the lane line processing results of the plurality of road surface areas.

In the embodiment of the present disclosure, the lane line processing process is described in detail by taking the currently processed current road surface area as an example.

The data to be processed corresponding to the current road surface area may include model data such as a lane line automatically identified for the current road surface area during initial modeling, where the lane line includes an interrupted lane line and a non-interrupted lane line. The interrupted lane line may be a lane line that is not completely recognized in the initialization modeling process due to a real complex road, and the non-interrupted lane line is model data of a complete lane line recognized in the initialization modeling process. In the embodiment of the disclosure, a to-be-connected lane line, which is originally connected to an interrupted lane line in a current road surface area, is obtained by searching for the interrupted lane line, and the interrupted lane line and the to-be-connected lane line are connected through a generated transition connection line, so as to obtain a complete lane line. Fig. 2 illustrates a schematic view of a broken lane line according to an embodiment of the present disclosure. As shown in fig. 2, one lane line in the black frame has one end without a connected lane line, and the lane line may be considered as an interrupted lane line.

It is understood that a plurality of broken lane lines may be included in the current road surface area, and the steps in the lane line processing device described above may be performed for each broken lane line. Considering that the interrupted lane lines are respectively processed, after the transition connection line is generated, whether the generated transition connection line is repeated with the previously generated transition connection line can be further judged, that is, whether the transition connection line connecting the two interrupted lane lines is established or not when the transition connection line is processed aiming at other interrupted lane lines, and if the same transition connection line is established, the currently generated transition connection line can be directly deleted.

In some embodiments, an interrupted lane line may be identified from the data to be processed, where the interrupted lane line is a lane line without a preceding or subsequent lane line, that is, starting from a start point or an end point of any one lane line, whether a lane line exists within a certain distance range (for example, 0.1 meter) is respectively determined, if the lane line does not exist, the lane line may be considered as the interrupted lane line, and the start point or the end point of the interrupted lane line is determined as an interruption point of the interrupted lane line. An interrupted lane line may include one or two interruption points (start and/or end points).

For any interrupted lane line, the lane line to be connected, which is connected with the interrupted lane line, in the actual road can be determined based on the relevant information of the interrupted lane line, and then the interrupted lane line and the lane line to be connected are connected by generating a transition lane line and are consistent with the lane on the actual road.

In some embodiments, the current interrupt lane line may be any interrupt lane line currently being processed. The related information of the currently interrupted lane line may include, but is not limited to, one or a combination of multiple types of interruption points on the currently interrupted lane line, spatial relationships between other lane lines within a range in which the currently interrupted lane line is located and the currently interrupted lane line, and corresponding relationships between road attributes of a section in which the currently interrupted lane line is located and road attributes of sections in which the other lane lines are located, respectively.

In some embodiments, the spatial relationship between the other lane line in the range where the currently interrupted lane line is located and the currently interrupted lane line may include, but is not limited to, whether the other lane line is located in an extending direction of an interruption point of the currently interrupted lane line, whether a distance between the other lane line and the currently interrupted lane line or an extending line of the currently interrupted lane line from the interruption point is within a preset region range, whether an angle at a connection point after the other lane line is connected with the currently interrupted lane line is within a preset angle range, and whether a width between a lane formed after the other lane line is connected with the currently interrupted lane line and two side lane lines satisfies a preset driving width, that is, whether the width is greater than or equal to the preset driving width.

In other embodiments, the road attributes of the section where the currently interrupted lane line is located and the sections where other lane lines are located may be understood as a width change condition of a road surface in the section, a lane number change condition on the road surface, a lane number of each lane line from a boundary of the same side of the road surface, and the like. It should be noted that the section where the currently interrupted lane line is located may be understood as a section between a start point and an end point of the currently interrupted lane line, and perpendicular lines may be respectively made from the start point and the end point to boundary lines on both sides of the road, and the section between the two perpendicular lines may be used as the section where the currently interrupted lane line is located.

The current road surface area can be divided into a plurality of sections based on the starting point and the end point of the current interrupted lane line, wherein the current interrupted lane line is positioned in the section corresponding to the starting point to the end point; while other lane lines may be located in other zones. The rationality of whether other lane lines are lanes to be connected or not can be judged by whether the width of the road surface in the section where the current interrupt lane line is located is the same as the width of the road surface in other sections, whether the number of lanes is the same as the number of lanes in the section where the other lane lines are located, and whether the lane numbers of the current interrupt lane line and the other lane lines are the same from the boundary line on the same side of the road surface.

The following is detailed by way of example: a certain spatial relationship exists between the lane line to be connected and the current interrupted lane line, and the spatial relationship is related to the interruption point of the current interrupted lane line. For example, the lane line to be connected may be located in an extending direction of the current interrupted lane line from the interruption point of the current interrupted lane line, and in consideration of an identification error during the initialization modeling, the lane line to be connected may not be located in the extending direction but may have a certain deviation from the extending direction, and therefore, it may be determined whether the other interrupted lane line is located within a certain range where the extending line from the interruption point of the current interrupted lane line is located by setting a range.

In other embodiments, a reasonable lane to be connected can be screened out from the preset driving width formed after the current interrupted lane line is connected with other lane lines, that is, after the current interrupted lane line is connected with other lane lines, the preset driving width formed between the current interrupted lane line and other lane lines not to be connected can also be used as a basis for judging whether the lane to be connected is the lane to be connected.

In other embodiments, the corresponding relationship between the road attribute of the section where the currently interrupted lane line is located and the road attribute of the section where the other lane line is located may also be used as a basis for screening lanes to be connected. The section in which the current interrupt lane line is located may be a section between a start point and an end point of the current interrupt lane line. The current lane surface area may be divided into a plurality of sections based on a start point and an end point of a current interrupted lane line, where the current interrupted lane line is located in a section corresponding to the start point to the end point.

It is understood that the lane line to be connected is also an interrupted lane line, and other lane lines involved in the process of determining whether the lane line is to be connected may include an interrupted lane line and/or a non-interrupted lane line.

In the embodiment of the disclosure, for a complex scene of a real lane, performing initialization processing, for example, performing initialization modeling on original acquired data, and after acquiring to-be-processed data including lane lines, screening, for a current interrupted lane line in the to-be-processed data, a lane line to be connected, which is to be connected to the current interrupted lane line, in the real lane from the to-be-processed data, where relevant information of the current interrupted lane line in the screening process includes one or a combination of multiple ones of an interruption point on the current interrupted lane line, a spatial relationship between another lane line in a range where the current interrupted lane line is located and the current interrupted lane line, and a correspondence between road attributes of the region where the current interrupted lane line is located and road attributes of the region where the other lane line is located; and after the lane line to be connected is determined, generating a transition lane line for connecting the current interrupted lane line and the lane line to be connected. By the mode, the data obtained by initialization processing can be further processed by lane lines, more perfect basic data are provided for manufacturing of high-precision maps, the manual operation amount of complex scenes in an operation production line of the high-precision maps can be reduced, the operation efficiency of the high-precision maps is improved, and the manual operation cost is reduced.

In an optional implementation manner of this embodiment, the first determining module includes:

the first searching submodule is configured to, starting from an interruption point of the current interruption lane line, determine, if other interruption lane lines are searched along the extending direction of the current interruption lane line, the other searched interruption lane lines as candidate lane lines;

a first generation sub-module configured to generate a temporary lane line connecting the candidate lane line and the currently interrupted lane line;

the first screening submodule is configured to screen the lane line to be connected from the candidate lane lines on the basis of whether the width between the temporary lane line and other lane lines on two sides of the temporary lane line meets a preset driving width.

In this alternative implementation, there may be a lane line to be connected that is actually connected to the current interrupt lane line near the interrupt point of the current interrupt lane line, and the lane line to be connected generally extends in a direction from the interrupt point of the current interrupt lane line, where the extending direction may be understood as a direction extending forward with the curvature of the current interrupt lane line. If one or more other interrupted lane lines are searched in the extending direction, the lane line to be connected may exist in the one or more other interrupted lane lines at a high probability. When searching for another broken lane line in the extending direction, starting from the break point, one point may be taken at intervals in the extending direction, and another broken lane line within the range of the point may be searched for. It is understood that, since other interrupted lane lines in the extending direction are searched for in this embodiment, a smaller range in which the point is located may be set in consideration of the error, and other interrupted lane lines in the range may be searched for, for example, the center of the point may be searched for, other interrupted lane lines in a centimeter-sized radius range may be searched for, and the like.

After other interrupted lane lines are searched, the other interrupted lane lines can be used as candidate lane lines, a temporary lane line is generated between the candidate lane lines and the current interrupted lane line, whether the width between the temporary lane line and the other lane lines on two sides of the temporary lane line meets the preset driving width is determined, if yes, the candidate lane line can be considered as a lane line to be connected, and the temporary lane line can be used as a transition lane line for connecting the interrupted lane line and the lane line to be connected.

It can be understood that the reasonability of the candidate lane line as the lane line to be connected can also be judged from the aspects of lane width, whether the candidate lane line intersects with other lanes or not, and the like, and the candidate lane line can be taken as the lane line to be connected after various unreasonable conditions are eliminated.

In an optional implementation manner of this embodiment, the first determining module includes:

the first determining module includes:

the first determining submodule is configured to determine, from an interruption point of the current interruption lane line, other interruption lane lines within a preset area range where the interruption point is located as candidate lane lines when the other interruption lane lines are not searched along the extending direction of the current interruption lane line;

a screening sub-module configured to screen out candidate lane lines that do not conform to the characteristics of the lane lines to be connected based on the candidate lane lines and the lane numbers and/or lane types of the currently interrupted lane lines; the lane sequence number is determined based on the number of lane lines crossed from the candidate lane line and the current interrupt lane line to a lane side boundary line;

a second generation sub-module configured to generate a temporary lane line connecting the remaining candidate lane lines and the currently interrupted lane line;

and the second determining submodule is configured to select a plurality of temporary points on the temporary lane line at preset intervals, and determine the lane line to be connected from the candidate lane lines on the basis of the distance between the temporary points and the road boundary line, the curvatures of the temporary lane line at the connection part with the candidate lane line and the current interrupt lane line respectively, and the distance between the temporary lane line and the lane lines on two sides of the temporary lane line.

In this optional implementation manner, when no other broken lane line is searched from the break point along the extending direction of the currently broken lane line in the previous implementation manner, the search range may be expanded, that is, other broken lane lines may be searched from a larger preset range where the break point is located. The preset range may be set to be larger, for example, the preset range may be set such that the interruption point extends in the extending direction and in the direction opposite to the extending direction to form an extending line, and the extending line extends to both sides to form a region range. It will be appreciated that the distance that the extension line extends to both sides may be less than the preset running width. In this way, other interrupted lane lines around the interruption point can be searched, and the searched other interrupted lane lines can be added into the candidate lane line set.

For the candidate lane lines in the candidate lane line set, the candidate lane lines which are obviously impossible to be the lane lines to be connected can be screened out according to the conditions of whether the lane serial number from the boundary line on one side of the road is consistent with the current interrupted lane line, whether the lane types are the same and the like. For example, after a current interrupted lane line is extended within a preset area range, a point is taken at intervals from the extended line, perpendicular lines are respectively made to the boundary line on one side or two sides of the road surface, and the intersection point of the perpendicular line and each lane line is numbered from the boundary line on one side or two sides of the road surface to obtain a lane number; if the lane serial number of the extension line of the currently interrupted lane line is not consistent with the lane serial number of the candidate lane line from the boundary line on the same side of the road surface, it may be considered that the candidate lane line may not be the lane line to be connected of the currently interrupted lane line, at least not the lane line to be connected to be found in the embodiment, and thus the candidate lane line may be deleted. In addition, if the lane type of the candidate lane line is different from the lane type of the currently interrupted lane line, it may also be considered that the candidate lane line may not be the to-be-connected lane line of the currently interrupted lane line, and the candidate lane line may be deleted.

For the remaining candidate lane lines, a temporary lane line connecting the candidate lane line and the currently interrupted lane line may be generated. Whether the candidate lane line is a lane line to be connected may be determined based on the temporary lane line.

In some embodiments, a temporary point may be selected at each interval of a distance on the temporary lane line, a plurality of temporary points may be obtained, and whether the temporary lane line is reasonable may be determined based on whether the distances from the temporary points to the road boundary line are consistent, whether the temporary lane line is reasonable may be determined according to whether the width between the temporary lane line and the lane lines on both sides of the temporary lane line satisfies a preset driving width, and if the width between the temporary lane line and the other lane lines on both sides is smaller than the preset driving width, it may be considered that the temporary lane line is not normal. In such a way, the candidate lane line corresponding to the temporary lane line satisfying all the conditions is used as the lane line to be connected. It is of course understood that in the above manner, a reasonable lane line to be connected may not be found.

In an optional implementation manner of this embodiment, the first determining module includes:

a division sub-module configured to divide the current road surface area into at least two sections based on an interruption point of the current interruption lane line;

the selection submodule is configured to select a non-interrupted lane line adjacent to the current interrupted lane line from the current interval as a reference line when the road surface width and the preset driving width of the current interval where the current interrupted lane line is located are respectively consistent with the road surface width and the preset driving width of an adjacent interval;

a third generation submodule configured to generate a temporary connection line having a same direction as the reference line from an interruption point of the current interruption lane line, one end of the temporary connection line being connected to an interruption point of another interruption lane line of the adjacent section;

a third determination submodule configured to determine whether the other broken lane line is the lane line to be connected based on a spatial relationship of the temporary connection line and the other lane line, and a difference between a curvature at a breaking point of the other broken lane line and a curvature of the reference line.

In this optional implementation, the current road surface area may be divided into a plurality of sections, and the division principle is that one of the sections is a section where the current interrupted lane line is located. Judging whether the width of the current interval where the current interrupted lane line is located is consistent with the width of the road surface of the adjacent interval, judging whether the width of the lane where the current interrupted lane line is located is consistent with the width of the lane in the adjacent interval under the condition that the width of the road surface is consistent, and selecting an adjacent non-interrupted lane line of the current interrupted lane line as a reference line under the condition that the width of the road surface is consistent with the width of the lane; the reference line crosses the current interval and the adjacent interval because the reference line is a non-interrupted lane line; and the width between the reference line and the current interrupt lane line meets the preset driving width.

After the temporary connection line is generated, it may be determined whether another broken lane line is a lane line to be connected based on a spatial relationship of the temporary connection line and the other lane line, whether a curvature at a breaking point of the another broken lane line coincides with a curvature of the reference line, and the like. The spatial relationship of the temporary connection line to other lane lines may be understood as whether the presence of the temporary connection line affects other lane lines, which may include interrupted lane lines or non-interrupted lane lines. For example, whether the distance between the temporary connection line and the other lane line satisfies a preset running width, whether the temporary connection line crosses the other lane line, and the like. In addition, it is also possible to determine whether or not the other interrupt lane line is a lane line to be connected based on whether or not the curvature at the connection point of the temporary connection line and the other interrupt lane line coincides with the curvature at the corresponding position of the reference line, or the like.

If a sharp corner appears at the connection point of the temporary connection line and another broken lane line, or the curvature at the corresponding position to the reference line is too different, the other broken lane line may be considered not to be the lane line to be connected.

In an optional implementation manner of this embodiment, the first determining module includes:

a fourth determination submodule configured to determine whether an interruption point of the currently interrupted lane line is a lane number change point; the number of lanes at the lane number change point in the current road surface area is inconsistent with the number of lanes in the extending direction of the current interrupted lane line;

a second search sub-module configured to search for a candidate lane line along an extending direction of the currently interrupted lane line from a change point of the number of lanes of the currently interrupted lane line when the interruption point of the currently interrupted lane line is a change point of the number of lanes; the distance between the candidate lane line and the extension line of the current interrupted lane line in the extension direction is smaller than the preset driving width;

and the second screening submodule is configured to screen out a candidate lane line which can form a merging lane line after being connected with the current interrupt lane line and is used as the lane line to be connected based on the attribute information of the candidate lane line and the spatial relationship between the candidate lane line and the current interrupt lane line.

In this alternative implementation, the interrupted lane line with the merging situation may be processed, that is, there is a change in the number of lanes in the current road surface area, for example, the number of lanes increases or decreases, as shown in fig. 6, the number of lanes increases from three lanes in one frame to five lanes in another frame in the driving direction. In the initial modeling process, since the condition can not be identified, the broken lane line can be generated, and the embodiment of the disclosure can realize the connection of the merging lane line aiming at the condition.

In this embodiment, it may be determined whether the interruption point on the currently interrupted lane line is a lane number change point. In general, if there is a merge situation, there is an interrupted lane line corresponding to the merge point, so the lane number change point is usually an interrupted point on the interrupted line. In order to determine whether the break point is a lane number change point, a perpendicular line may be made from the break point of the currently broken lane line to the boundary lines on both sides of the road surface point by point along the extending direction of the currently broken lane line, intersection points are provided between the perpendicular line and all the lane lines in the current road surface area, the number of intersection points of the perpendicular line and each lane line corresponding to each point is compared with the number of intersection points at the break point to determine whether the number of intersection points is the same, when the number of intersection points changes, the break point of the currently broken lane line may be considered as a lane number change point, candidate lane lines having the number of intersection points different from the number of intersection points at the lane number change point may be screened, and a point on the candidate lane line closest to the extension line of the currently broken lane line may be used as a connection point. The distance between the candidate lane line and the extension line of the currently interrupted lane line in the extension direction may be smaller than the preset running width.

After the candidate lane lines are determined, if a plurality of candidate lane lines are included, the lane to be connected of the currently interrupted lane line may be screened out therefrom based on the attribute information of the candidate lane lines and the spatial relationship between the candidate lane lines and the currently interrupted lane line. And the screening basis comprises that a lane merging line meeting the lane merging condition in the real road is formed after the connection with the current interrupt connecting line is available or not. In some embodiments, the attribute information of the candidate lane line includes whether the candidate lane line is an interrupt lane line, whether it is a boundary line, or the like. The spatial relationship between the candidate lane line and the current interrupted lane line may include a relative position between the candidate lane line and the current interrupted lane line, and may further include an angle at a connection point, a width between two lane lines before connection, a distance between the interruption point and the connection point, and the like after the connection point is connected to the connection point on the candidate lane line. The candidate lane line with the small angle, the short distance and the width according with the merging situation in the real road can be selected as the lane line to be connected. In addition, the reasonability of the selected candidate lane line as the lane line to be connected can be judged whether the selected candidate lane line is intersected with other lane lines or not, whether the selected candidate lane line exceeds a road surface area after connection or not and the like.

In an optional implementation manner of this embodiment, the apparatus further includes:

a second obtaining module configured to obtain the removed lane line that was screened out at the time of initial modeling;

a screening module configured to screen candidate lane lines with target line segments from the deleted lane lines; the distances between the target line segment and the lane lines on the two sides of the candidate lane line meet the preset driving width;

and the second determining module is configured to take the target line segment in the deleted lane line as an interrupted lane line and add the interrupted lane line into the data to be processed.

In an optional implementation manner of this embodiment, the apparatus further includes:

a third obtaining module configured to obtain the deleted lane line that is screened out at the initial modeling;

a third determination module configured to determine the deleted lane line as a candidate lane line if there is a preceding lane line or a following lane line of which the road type is a preset road type in the deleted lane line;

and the fourth determining module is configured to determine whether to add the candidate lane line into the to-be-processed data as an interrupted lane line based on whether the road surface of the section where the candidate lane line is located is narrowed and whether the number of lanes changes.

In this alternative implementation, the preset road type may be a general road type. For a lane line of a common road type, if neither a following lane line nor a following lane line exists, or a common interrupted lane line, the deleted lane line may be a lane line that has been deleted by mistake, and thus, may be used as a candidate lane line. In some embodiments, it may be determined whether a lane line exists within a certain distance range (for example, 0.1 meter) from the start point or the end point of the deleted lane line, and if not, the lane line may be considered as an interrupted lane line without a preceding lane line or a following lane line.

For the type of candidate lane line, whether the deleted lane line is added to the data to be processed as an interrupted lane line can be determined according to whether the road surface of the section where the candidate lane line is located is narrowed and whether the number of lanes is changed. If the road surface of the section where the candidate lane line is located becomes narrow and the number of lanes also changes, it is indicated that the deleted lane line relates to a lane changing lane line, and the initial modeling process mistakenly deletes the lane line because the lane changing lane line cannot be identified.

It is understood that the lane-change lane line re-added to the data to be processed may be processed in the manner of processing the lane-change lane line in the above-disclosed embodiment, and thus the embodiment may be performed before the implementation of the lane-change processing.

Fig. 9 is a schematic structural diagram of an electronic device suitable for implementing a lane line processing method and/or a location-based service providing method according to an embodiment of the present disclosure.

As shown in fig. 9, electronic device 900 includes a processing unit 901, which may be implemented as a CPU, GPU, FPGA, NPU, or other processing unit. The processing unit 901 can execute various processes in the embodiment of any one of the above-described methods of the present disclosure according to a program stored in the Read Only Memory (ROM) 902 or a program loaded from the storage section 908 into the Random Access Memory (RAM) 903. In the RAM903, various programs and data necessary for the operation of the electronic apparatus 900 are also stored. The processing unit 901, the ROM902, and the RAM903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.

The following components are connected to the I/O interface 905: an input portion 906 including a keyboard, a mouse, and the like; an output section 907 including components such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 908 including a hard disk and the like; and a communication section 909 including a network interface card such as a LAN card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as necessary. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 910 as necessary, so that a computer program read out therefrom is mounted into the storage section 908 as necessary.

In particular, according to embodiments of the present disclosure, any of the methods described above with reference to embodiments of the present disclosure may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing any of the methods of the embodiments of the present disclosure. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 909, and/or installed from the removable medium 911.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowcharts or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units or modules described in the embodiments of the present disclosure may be implemented by software or hardware. The units or modules described may also be provided in a processor, and the names of the units or modules do not in some cases constitute a limitation of the units or modules themselves.

As another aspect, the present disclosure also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the apparatuses of the above embodiments; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is possible without departing from the inventive concept. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims (11)

1. A lane line processing method, comprising:

acquiring data to be processed in the current road surface area; the data to be processed comprises a lane line model generated by performing initialization modeling on the acquired road image data; the lane line model comprises a current interrupted lane line, wherein the current interrupted lane line is one of the lane lines which cannot be completely identified aiming at the current road surface area in the initial modeling process;

determining a lane line to be connected of the current interrupt lane line based on the related information of the current interrupt lane line; the related information comprises one or more combinations of interruption points on the current interruption lane line, spatial relations between other lane lines in the range of the current interruption lane line and the current interruption lane line, and corresponding relations between the road attributes of the section of the current interruption lane line and the road attributes of the sections of the other lane lines; the lane line to be connected is also an interrupted lane line generated by performing initialization modeling on the acquired road image data;

and generating a transition lane line between the current interrupted lane line and the lane line to be connected so as to connect the current interrupted lane line and the lane line to be connected.

2. The method of claim 1, wherein determining a lane line to be connected for the currently broken lane line based on information related to the currently broken lane line comprises:

starting from the interruption point of the current interruption lane line, if other interruption lane lines are searched along the extension direction of the current interruption lane line, determining the other searched interruption lane lines as candidate lane lines;

generating a temporary lane line connecting the candidate lane line and the currently interrupted lane line;

and screening the lane lines to be connected from the candidate lane lines based on whether the widths between the temporary lane lines and other lane lines on two sides of the temporary lane lines meet the preset driving width.

3. The method of claim 2, wherein determining the lane line to be connected of the currently interrupted lane line based on the information related to the currently interrupted lane line comprises:

starting from the interruption point of the current interruption lane line, if other interruption lane lines are not searched along the extension direction of the current interruption lane line, determining other interruption lane lines in the preset area range where the interruption point is located as candidate lane lines;

screening out candidate lane lines which do not accord with the characteristics of the lane lines to be connected based on the candidate lane lines and the lane serial numbers and/or lane types of the current interrupted lane lines; the lane sequence number is determined based on the number of lane lines crossed by the candidate lane line and the current interrupted lane line to a lane side boundary;

generating a temporary lane line connecting the remaining candidate lane lines and the currently interrupted lane line;

selecting a plurality of temporary points on the temporary lane lines according to preset intervals, and determining the lane lines to be connected from the candidate lane lines based on the distance between the temporary points and the road boundary line, the curvatures of the temporary lane lines at the connection positions with the candidate lane lines and the current interrupt lane lines respectively, and the distance between the temporary lane lines and the lane lines on two sides of the temporary lane lines.

4. The method according to claim 1 or 2, wherein determining a lane line to be connected of the currently interrupted lane line based on the information related to the currently interrupted lane line comprises:

dividing the current road surface area into at least two sections based on an interruption point of the current interruption lane line;

when the road surface width and the preset running width of the current interval where the current interrupted lane line is located are respectively consistent with the road surface width and the preset running width of the adjacent interval, selecting a non-interrupted lane line adjacent to the current interrupted lane line from the current interval as a reference line;

generating a temporary connecting line which is consistent with the reference line in direction from the interruption point of the current interruption lane line, wherein one end of the temporary connecting line is connected to the interruption point of another interruption lane line in the adjacent interval;

and determining whether the other interrupted lane line is the lane line to be connected based on the spatial relationship between the temporary connection line and the other lane line and the difference between the curvature of the interrupted point of the other interrupted lane line and the curvature of the reference line.

5. The method according to claim 1 or 2, wherein determining the lane line to be connected of the currently interrupted lane line based on the information related to the currently interrupted lane line comprises:

determining whether the interruption point of the current interrupted lane line is a lane number change point; the number of lanes at the lane number change point in the current road surface area is inconsistent with the number of lanes in the extending direction of the current interrupted lane line;

when the interruption point of the current interruption lane line is a lane number change point, starting from the lane number change point of the current interruption lane line, and searching candidate lane lines along the extending direction of the current interruption lane line; the distance between the candidate lane line and the extension line of the current interrupted lane line in the extension direction is smaller than the preset driving width;

and screening out the candidate lane line which can form a merging lane line after being connected with the current interrupt lane line based on the attribute information of the candidate lane line and the spatial relationship between the candidate lane line and the current interrupt lane line, and taking the candidate lane line as the lane line to be connected.

6. The method according to claim 1 or 2, wherein the method further comprises:

obtaining the deleted lane lines which are screened out during initial modeling;

screening candidate lane lines with target line segments from the deleted lane lines; the distances between the target line segment and the lane lines on the two sides of the candidate lane line meet the preset driving width;

and taking the target line segment in the deleted lane line as an interrupted lane line and adding the interrupted lane line into the data to be processed.

7. The method according to claim 1 or 2, wherein the method further comprises:

obtaining the deleted lane lines screened out during initial modeling;

if the deleted lane line has a preceding lane line or a subsequent lane line with a road type being a preset road type, determining the deleted lane line as a candidate lane line;

and determining whether the candidate lane line is used as an interrupted lane line or not based on whether the road surface of the section where the candidate lane line is located is narrowed or not and whether the number of lanes is changed or not, and adding the interrupted lane line into the data to be processed.

8. A method of providing location-based services to a served object using the method of any of claims 1-7, the location-based services comprising: one or more of navigation, map rendering, route planning.

9. A lane line processing apparatus, comprising:

the first acquisition module is configured to acquire data to be processed in the current road surface area; the data to be processed comprises a lane line model generated by performing initialization modeling on the acquired road image data; the lane line model comprises a current interrupted lane line, wherein the current interrupted lane line is one of the lane lines which cannot be completely identified aiming at the current road surface area in the initial modeling process;

a first determining module configured to determine a lane line to be connected of the current interrupt lane line based on the related information of the current interrupt lane line; the related information comprises one or more combinations of interruption points on the current interruption lane line, spatial relations between other lane lines in the range of the current interruption lane line and the current interruption lane line, and corresponding relations between the road attributes of the section of the current interruption lane line and the road attributes of the sections of the other lane lines; the lane line to be connected is also an interrupted lane line generated by performing initialization modeling on the acquired road image data;

a generating module configured to generate a transition lane line between the current interrupted lane line and the lane line to be connected, so as to connect the current interrupted lane line and the lane line to be connected.

10. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of any of claims 1-7.

11. A computer program product comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the method of any one of claims 1-7.

Images