CN114863047A - Intersection virtual line drawing method and device, electronic equipment and computer program product - Google Patents
Intersection virtual line drawing method and device, electronic equipment and computer program product Download PDFInfo
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- CN114863047A CN114863047A CN202210488331.9A CN202210488331A CN114863047A CN 114863047 A CN114863047 A CN 114863047A CN 202210488331 A CN202210488331 A CN 202210488331A CN 114863047 A CN114863047 A CN 114863047A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/203—Drawing of straight lines or curves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/543—Depth or shape recovery from line drawings
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
Abstract
The embodiment of the disclosure discloses a method, a device, electronic equipment and a computer program product for drawing virtual lines of intersections, wherein the method comprises the following steps: determining a target intersection, a direction of the target entering the intersection and a direction of the target exiting the intersection; determining an entering lane group entering the target intersection according to the direction of the target entering the intersection; determining an exit lane group corresponding to the entry lane group according to the target exit intersection direction and the road topological relation; and generating an entering and exiting path according to the entering lane line group and the exiting lane line group, and drawing an intersection virtual line according to the entering and exiting path. According to the technical scheme, the automatic grouping drawing of the intersection virtual lines can be realized according to the road topological relation, so that the intersection virtual line drawing efficiency is improved, the intersection virtual line drawing difficulty is reduced, and the manual drawing cost is reduced.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of traffic data processing, in particular to a method and a device for drawing intersection virtual lines, electronic equipment and a computer program product.
Background
With the development of society and the progress of science and technology, an automatic driving technology with higher safety and higher efficiency has been recognized as one of the future directions of the automobile traveling industry. In the prior art, when making the intersection virtual line, the intersection virtual line is usually first estimated based on point cloud and image acquisition data, and then verified and modified manually to ensure the integrity of the intersection virtual line. However, because the lane lines in the intersection are overlapped and staggered, the relationship between the road elements is complex, and the difficulty is very high when the related information required by drawing the virtual lines is manually screened from the complex intersection information, a scheme capable of realizing automatic grouping drawing of the intersection virtual lines according to the road topological relationship is urgently needed, so that the intersection virtual line drawing efficiency is improved, the intersection virtual line drawing difficulty is reduced, and the manual drawing cost is reduced.
Disclosure of Invention
The embodiment of the disclosure provides a method and a device for drawing virtual lines of intersections, electronic equipment and a computer program product.
In a first aspect, an embodiment of the present disclosure provides a method for drawing a virtual line at an intersection.
Specifically, the intersection virtual line drawing method includes:
determining a target intersection, a direction of the target entering the intersection and a direction of the target exiting the intersection;
determining an entering lane group entering the target intersection according to the direction of the target entering the intersection;
determining an exit lane group corresponding to the entry lane group according to the target exit intersection direction and the road topological relation;
and generating an entering and exiting path according to the entering lane line group and the exiting lane line group, and drawing an intersection virtual line according to the entering and exiting path.
In an embodiment of the present disclosure, the determining an entering lane group entering the target intersection according to the target entering intersection direction includes:
determining an initial entering lane line entering the target intersection according to the direction of the target entering the intersection to form an initial entering lane line group;
acquiring a correlation entering lane line having a road homodromous correlation with the initial entering lane line;
and forming a target entering lane line group by the initial entering lane line and the corresponding associated entering lane line.
In an embodiment of the present disclosure, the method further includes:
and deleting the lane line in the target entering lane line group, which is opposite to the initial entering lane line.
In an embodiment of the present disclosure, the method further includes:
for each target lane line of the target entering lane line group, searching whether a historical intersection virtual line exists in a first preset range with the tail point of the target as the center;
if yes, the target lane line is reserved in the target entering lane line group;
if the target lane line does not exist, the lane line of the virtual line of the historical intersection exists in the first preset range with the tail point as the center and the next preset range with the tail point as the center, which is searched along the direction of the target lane line, and the corresponding target lane line is replaced and placed into the target entering lane line group.
In an embodiment of the present disclosure, the determining, according to the target exit intersection direction and the road topological relation, an exit lane group corresponding to the entry lane group includes:
for each entering lane line in the entering lane line group, searching whether a historical intersection virtual line exists in a second preset range with the tail point as the center;
if the virtual lines exist, continuing to search along the direction of the target exit intersection until a lane line without the historical intersection virtual line in a second preset range with the tail point as the center is found, or until the search depth of the lane line reaches a preset depth threshold value, and taking all the searched lane lines with the historical intersection virtual line in the second preset range with the tail point as the exit lane lines corresponding to the entering lane lines.
In an embodiment of the present disclosure, the generating an entry and exit path according to the entry lane line group and the exit lane line group includes:
and connecting the entering lane line in the entering lane line group with the corresponding exiting lane line to generate an entering and exiting path.
In an embodiment of the present disclosure, the drawing an intersection virtual line according to the entering and exiting path includes:
and according to the preset virtual line drawing requirement, drawing along the entering and exiting path to obtain a virtual line of the intersection.
In a second aspect, an intersection virtual line drawing device is provided in the embodiments of the present disclosure.
Specifically, the intersection virtual line drawing device includes:
a first determination module configured to determine a target intersection, a target entry intersection direction, and a target exit intersection direction;
a second determination module configured to determine an entering lane group entering the target intersection according to the target intersection entering direction;
a third determining module configured to determine an exit lane line group corresponding to the entry lane line group according to the target exit intersection direction and the road topology relationship;
and the drawing module is configured to generate an entering and exiting path according to the entering lane line group and the exiting lane line group, and draw an intersection virtual line according to the entering and exiting path.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including a memory and a processor, where the memory is used to store one or more computer instructions that support an intersection virtual line drawing device to execute the intersection virtual line drawing method, and the processor is configured to execute the computer instructions stored in the memory. The intersection virtual line drawing device can also comprise a communication interface used for communicating with other equipment or a communication network.
In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium for storing computer instructions for an intersection virtual line drawing device, where the computer instructions include computer instructions for executing the intersection virtual line drawing method to the intersection virtual line drawing device.
In a fifth aspect, the present disclosure provides a computer program product, which includes a computer program/instruction, where the computer program/instruction when executed by a processor implements the intersection virtual line drawing method.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
according to the technical scheme, the entering lane line group and the exiting lane line group are obtained according to the determined target intersection, the direction of the target entering the intersection and the direction of the target exiting the intersection, the entering exiting path is further generated according to the entering lane line group and the exiting lane line group, and the intersection virtual line is obtained through drawing. According to the technical scheme, the automatic grouping drawing of the intersection virtual lines can be realized according to the road topological relation, so that the intersection virtual line drawing efficiency is improved, the intersection virtual line drawing difficulty is reduced, and the manual drawing 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 embodiments of the disclosure.
Drawings
Other features, objects, and advantages of embodiments of the disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 shows a flowchart of an intersection virtual line drawing method according to an embodiment of the present disclosure;
FIG. 2A shows a four lane and initial lane entry schematic in accordance with an embodiment of the present disclosure;
FIG. 2B illustrates an associated incoming lane line schematic in accordance with one embodiment of the present disclosure;
FIG. 2C illustrates a lane tail point schematic according to an embodiment of the present disclosure;
FIG. 2D illustrates a lane exit schematic in accordance with an embodiment of the present disclosure;
FIG. 2E illustrates a virtual line of an intersection in accordance with an embodiment of the present disclosure;
fig. 3 is a block diagram showing a structure of an intersection virtual line drawing apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a computer system suitable for implementing the intersection virtual line drawing method according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, exemplary embodiments of the disclosed embodiments will be described in detail with reference to the accompanying drawings so that they can be easily implemented by those skilled in the art. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.
In the disclosed embodiments, 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, behaviors, components, parts, or combinations thereof, and are not intended to preclude the possibility that one or more other features, numbers, steps, behaviors, components, parts, or combinations thereof may be present or added.
It should be further noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The technical scheme provided by the embodiment of the disclosure obtains an entering lane line group and an exiting lane line group according to the determined target intersection, the direction of the target entering the intersection and the direction of the target exiting the intersection, further generates an entering exiting path according to the entering lane line group and the exiting lane line group, and draws to obtain an intersection virtual line. According to the technical scheme, the automatic grouping drawing of the intersection virtual lines can be realized according to the road topological relation, so that the intersection virtual line drawing efficiency is improved, the intersection virtual line drawing difficulty is reduced, and the manual drawing cost is reduced.
Fig. 1 shows a flowchart of an intersection virtual line drawing method according to an embodiment of the present disclosure, and as shown in fig. 1, the intersection virtual line drawing method includes the following steps S101 to S104:
in step S101, a target intersection entering direction, and a target intersection exiting direction are determined;
in step S102, determining an entering lane group entering the target intersection according to the direction of the target entering the intersection;
in step S103, determining an exit lane group corresponding to the entry lane group according to the target exit intersection direction and the road topology relationship;
in step S104, an entering exit path is generated according to the entering lane line group and the exiting lane line group, and an intersection virtual line is drawn according to the entering exit path.
As mentioned above, with the development of society and the advancement of scientific technology, a more safe and efficient automatic driving technology has been recognized as one of the future directions of the automobile travel industry. In the prior art, when making the intersection virtual line, the intersection virtual line is usually first estimated based on point cloud and image acquisition data, and then verified and modified manually to ensure the integrity of the intersection virtual line. However, because the lane lines in the intersection are overlapped and staggered, the relationship between the road elements is complex, and the difficulty is very high when the related information required by drawing the virtual lines is manually screened from the complex intersection information, a scheme capable of realizing automatic grouping drawing of the intersection virtual lines according to the road topological relationship is urgently needed, so that the intersection virtual line drawing efficiency is improved, the intersection virtual line drawing difficulty is reduced, and the manual drawing cost is reduced.
In view of the above problem, in this embodiment, a method for drawing virtual intersection lines is provided, which obtains an entering lane line group and an exiting lane line group according to a determined target intersection, a target entering intersection direction, and a target exiting intersection direction, and further generates an entering exiting path according to the entering lane line group and the exiting lane line group, and draws virtual intersection lines. According to the technical scheme, the automatic grouping drawing of the intersection virtual lines can be realized according to the road topological relation, so that the intersection virtual line drawing efficiency is improved, the intersection virtual line drawing difficulty is reduced, and the manual drawing cost is reduced.
In an embodiment of the present disclosure, the intersection virtual line drawing method may be applied to a computer, a computing device, an electronic device, a server, a service cluster, and the like, which may perform intersection virtual line drawing.
In an embodiment of the present disclosure, the target intersection refers to an intersection where a virtual line is to be drawn. Wherein the target intersection can be designated or input by a user or a worker.
In an embodiment of the present disclosure, the target intersection entering direction refers to a direction entering the target intersection related to a starting point at which a virtual line is desired to be drawn, and similarly, the target intersection exiting direction refers to a direction exiting the target intersection related to an ending point at which a virtual line is desired to be drawn. The direction of the target entering the intersection and the direction of the target exiting the intersection can be designated or input by a user or a worker. After a given target enters the intersection direction and a target exits the intersection direction, the grouped drawing of the intersection virtual lines under the conditions of the given target entering the intersection direction and the target exiting the intersection direction can be realized, for example, if the target entering the intersection direction is the straight south-north direction, and the target exiting the intersection direction is the south-north direction, namely, the vehicle is in the straight-going state, the final drawing is the virtual line which enters the target intersection from the straight-going road, passes through the target intersection and leaves the target intersection straight; for another example, if the direction of the target entering the intersection is from south to north of a left turn, and the direction of the target exiting the intersection is from east to west, that is, the vehicle is in a left turn state, the virtual line which enters the target intersection from a left turn lane, passes through the left turn and leaves the target intersection is finally drawn.
Further, the direction of the target exiting the intersection may not be specified or may be selected as all directions, and the obtained virtual line is a virtual line entering the intersection from the direction of the target entering the intersection and exiting the intersection from all possible exiting directions.
In an embodiment of the present disclosure, the set of entering lane lines refers to a combination of all entering lane lines entering the target intersection from the direction of the target entering intersection. Wherein the entering lane line group may include two or more entering lane lines.
In an embodiment of the present disclosure, the exit lane line group refers to a combination of all exit lane lines corresponding to the entry lane lines in the entry lane line group and exiting the target intersection in the direction of the target exit intersection. Wherein the exit lane line group may include two or more exit lane lines.
In an embodiment of the present disclosure, the entry/exit path refers to a path from an entry road formed by two entry lane lines in the entry lane line group to an exit road formed by two exit lane lines in the exit lane line group corresponding to the entry road, and an intersection virtual line may be drawn based on the entry/exit path, so that a subsequent autonomous vehicle may enter and exit the target intersection along the entry/exit path formed by the intersection virtual line.
In the above embodiment, a target intersection, a direction of the target entering the intersection and a direction of the target exiting the intersection are determined for the virtual line of the intersection to be drawn; then determining an entering lane group entering the target intersection according to the direction of the target entering the intersection; determining an exit lane group corresponding to the entry lane group according to the target exit intersection direction and the road topological relation; and finally, generating an entering and exiting path according to the entering lane line group and the exiting lane line group, namely drawing intersection virtual lines in groups according to the entering and exiting path.
In an embodiment of the present disclosure, the step S102 of determining an entering lane group entering the target intersection according to the direction of the target entering the intersection may include the following steps:
determining an initial entering lane line entering the target intersection according to the direction of the target entering the intersection to form an initial entering lane line group;
acquiring a correlation entering lane line having a road homodromous correlation with the initial entering lane line;
and forming a target entering lane line group by the initial entering lane line and the corresponding associated entering lane line.
In this embodiment, first, according to the direction of the target entrance intersection, an initial entrance lane line entering the target intersection is determined to form an initial entrance lane group, and assuming that four roads entering the target intersection from south to north, that is, four lanes, where the leftmost lane is a left-turn lane, the middle two lanes are straight lanes, and the rightmost lane is a right-turn lane, as shown in fig. 2A, assuming that the direction of the target entrance intersection is the direction of the straight lane 1, the initial entrance lane line entering the target intersection is two lane lines forming the straight lane 1, as shown by the short dashed line in fig. 2A, and these two lane lines form the initial entrance lane group. Then, obtaining an associated entering lane line having a road equidirectional association relationship with the initial entering lane line, where the associated entering lane line having a road equidirectional association relationship with the initial entering lane line refers to a constituent lane line of a road having an equidirectional relationship with a road composed of the initial entering lane line, for example, the associated entering lane line having a road equidirectional association relationship with the initial entering lane line in the above example is a lane line of a straight lane 2 constituting a straight lane from north to south, where a left lane line constituting the straight lane 2 and a right lane line constituting the straight lane 1 are the same lane line; finally, the initial entering lane line and the corresponding associated entering lane line are combined into a target entering lane line group, and in the above example, three initial entering lane lines and three corresponding associated entering lane lines are provided, as shown by the short dashed line in fig. 2B.
In an embodiment of the present disclosure, the method may further include the steps of:
and deleting the lane line in the target entering lane line group, which is opposite to the initial entering lane line.
In this embodiment, in order to ensure the drawing accuracy of the virtual line, the lane lines in the target entering lane line group are further screened, that is, the lane line in the target entering lane line group opposite to the initial entering lane line is deleted. The direction of the lane line may be obtained based on the attribute information of the lane line or the arrangement order of the points constituting the lane line.
In an embodiment of the present disclosure, the method may further include the steps of:
for each target lane line of the target entering lane line group, searching whether a historical intersection virtual line exists in a first preset range with the tail point of the target as the center;
if yes, the target lane line is reserved in the target entering lane line group;
if the target lane line does not exist, the lane line of the virtual line of the historical intersection exists in the first preset range with the tail point as the center and the next preset range with the tail point as the center, which is searched along the direction of the target lane line, and the corresponding target lane line is replaced and placed into the target entering lane line group.
In this embodiment, intersection nearest neighbor lane lines are determined based on historical intersection virtual lines to replace the target lane lines for determining the starting point of the entry and exit path. Specifically, for each target lane line in the target entry lane line group, whether a historical intersection virtual line exists within a first preset range centered on the tail point of the target entry lane line is retrieved based on high-precision traffic data, where the tail point of the lane line refers to the last point in the direction away from the target intersection, which constitutes the lane line, for example, for the left lane line of the straight lane 1 in the above example, the end point is shown as a black dot in fig. 2C, wherein the first preset range can be set according to the requirement of the practical application, for example, a range obtained with the end point of the target lane line as the center and with a radius of 0.01 m may be set, the historical intersection virtual line refers to an intersection virtual line drawn in a preset historical time period, and the retrieval of the historical intersection virtual line can be used for determining whether the target lane line is close to an intersection or not; if the target lane line meets the conditions of the adjacent intersection, the target lane line can be reserved in the target entering lane line group and can be subsequently used as a starting point for entering and exiting a path; if not, the target lane line does not meet the condition of the adjacent intersection, namely the target lane line is not the lane line of the adjacent intersection, determining whether the next lane line is the lane line of the adjacent intersection along the direction of the target lane line, namely, whether a historical crossing virtual line exists in a first preset range taking the tail point of the next lane line as the center is searched, iterating in the above way until a lane line with a history intersection virtual line in a first preset range taking the tail point as the center is found, replacing the corresponding target lane line with the lane line to be used as a new target lane line, and placing the new target lane line into the target entering lane line group, in the above example, assuming that the target lane lines located in front of the stop line remain in the target entering lane line group, that is, the lane line in the set of target entering lanes is still the lane line indicated by the short dashed line in fig. 2B by the above judgment of the adjacent lane line.
In an embodiment of the present disclosure, the step S103 of determining an exit lane group corresponding to the entry lane group according to the target exit intersection direction and the road topology relationship may include the following steps:
for each entering lane line in the entering lane line group, searching whether a historical intersection virtual line exists in a second preset range with the tail point as the center;
if the virtual lines exist, continuing to search along the direction of the target exit intersection until a lane line without the historical intersection virtual line in a second preset range with the tail point as the center is found, or until the search depth of the lane line reaches a preset depth threshold value, and taking all the searched lane lines with the historical intersection virtual line in the second preset range with the tail point as the exit lane lines corresponding to the entering lane lines.
In this embodiment, an exit lane group corresponding to the entry lane group is determined according to the target exit intersection direction and the road topology relationship, so as to determine the end point of the entry and exit path. Specifically, for each entering lane line in the entering lane line group, based on high-precision traffic data, retrieving whether a historical intersection virtual line exists in a second preset range centered on an end point of the entering lane line, where the second preset range is similar to the first preset range, and the second preset range may be set according to requirements of practical applications, for example, may be set to a range centered on the end point of the entering lane line and having a radius of 0.01 meter, where the historical intersection virtual line refers to an intersection virtual line drawn in a preset historical time period, and the retrieval of the historical intersection virtual line may be used to determine whether the entering lane line is a lane line in a lane area, and to determine a last lane line in the lane area, so as to further determine an end point of the entering and exiting path; if the vehicle lane line exists, the entering vehicle lane line is the vehicle lane line in the intersection area, then the search can be continued along the direction of the target exit intersection, whether the historical intersection virtual line exists in a second preset range taking the tail point of the next vehicle lane line as the center or not is searched, the iteration is carried out until the vehicle lane line which does not have the historical intersection virtual line in the second preset range taking the tail point as the center is found, the search is finished, if the vehicle lane line which does not have the historical intersection virtual line in the second preset range taking the tail point as the center is not found, the search can be finished when the search depth of the vehicle lane line reaches a preset depth threshold value, at the moment, all the searched vehicle lane lines which have the historical intersection virtual line in the second preset range taking the tail point as the center are used as exit vehicle lane lines which correspond to the entering vehicle lane line in the intersection area, and can form a road, And the entering lane line and the exiting lane line which correspond to each other are connected, so that an entering and exiting path can be generated. The lane line retrieval depth may be considered as the number of times of performing the retrieval operation, wherein the preset depth threshold may be set according to the requirement of the actual application, for example, may be set to 7. In the above example, it is assumed that the retrieved exit lane line corresponding to the entry lane line is shown by a long dashed line in fig. 2D.
In an embodiment of the present disclosure, the step of generating an entering exit path according to the entering lane line group and the exiting lane line group in step S104 may include the following steps:
and connecting the entering lane line in the entering lane line group with the corresponding exiting lane line to generate an entering and exiting path.
As mentioned above, the entering and exiting paths can be generated by connecting the entering lane lines and the exiting lane lines which can form a road and correspond to each other, and therefore, in this embodiment, one or more entering and exiting paths can be generated by connecting the entering lane lines and the exiting lane lines corresponding to the entering lane lines in the entering lane line group to each other, as shown in fig. 2D.
In an embodiment of the present disclosure, the step of drawing the intersection virtual line according to the entering and exiting path in the step S104 may include the following steps:
and drawing along the entering and exiting path according to the preset virtual line drawing requirement to obtain the intersection virtual line.
In this embodiment, along the entering and exiting path, the composition edge of the entering and exiting path is drawn according to the drawing requirement of the preset virtual line, so as to obtain the intersection virtual line, as shown by the dot-dash line in fig. 2E.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods.
Fig. 3 is a block diagram illustrating a structure of an intersection virtual line drawing apparatus according to an embodiment of the present disclosure, which may be implemented as part or all of an electronic device by software, hardware, or a combination of the two. As shown in fig. 3, the intersection virtual line drawing device includes:
a first determining module 301 configured to determine a target intersection, a target entering intersection direction, and a target exiting intersection direction;
a second determining module 302 configured to determine a set of entering lane lines entering the target intersection according to the target intersection entering direction;
a third determining module 303, configured to determine an exit lane line group corresponding to the entry lane line group according to the target exit intersection direction and the road topology relationship;
a drawing module 304 configured to generate an entry and exit path according to the entry lane line group and the exit lane line group, and draw an intersection virtual line according to the entry and exit path.
As mentioned above, with the development of society and the advancement of scientific technology, a more safe and efficient automatic driving technology has been recognized as one of the future directions of the automobile travel industry. In the prior art, when making the intersection virtual line, the intersection virtual line is usually first estimated based on point cloud and image acquisition data, and then verified and modified manually to ensure the integrity of the intersection virtual line. However, because the lane lines in the intersection are overlapped and staggered, the relationship between the road elements is complex, and the difficulty is very high when the related information required by drawing the virtual lines is manually screened from the complex intersection information, a scheme capable of realizing automatic grouping drawing of the intersection virtual lines according to the road topological relationship is urgently needed, so that the intersection virtual line drawing efficiency is improved, the intersection virtual line drawing difficulty is reduced, and the manual drawing cost is reduced.
In view of the above problem, in this embodiment, an intersection virtual line drawing device is provided, which obtains an entering lane line group and an exiting lane line group according to a determined target intersection, a target entering intersection direction, and a target exiting intersection direction, and further generates an entering exiting path according to the entering lane line group and the exiting lane line group, and draws an intersection virtual line. According to the technical scheme, the automatic grouping drawing of the intersection virtual lines can be realized according to the road topological relation, so that the intersection virtual line drawing efficiency is improved, the intersection virtual line drawing difficulty is reduced, and the manual drawing cost is reduced.
In an embodiment of the present disclosure, the intersection virtual line drawing device may be implemented as a computer, a computing device, an electronic device, a server, a service cluster, and the like, which can execute the intersection virtual line drawing.
Technical features and corresponding explanations and explanations related to the above-mentioned apparatus embodiments are the same as, corresponding to, or similar to the technical features and corresponding explanations and explanations related to the above-mentioned method embodiments, and for the technical features and corresponding explanations and explanations related to the above-mentioned apparatus embodiments, the technical features and corresponding explanations and explanations related to the above-mentioned method embodiments can be referred to, and detailed descriptions of the disclosure are omitted here.
The embodiment of the present disclosure also discloses an electronic device, which includes a memory and a processor; wherein the content of the first and second substances,
the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to perform any of the method steps described above.
Fig. 4 is a schematic structural diagram of a computer system suitable for implementing the intersection virtual line drawing method according to an embodiment of the present disclosure.
As shown in fig. 4, the computer system 400 includes a processing unit 401 that can execute various processes in the above-described embodiments according to a program stored in a Read Only Memory (ROM)402 or a program loaded from a storage section 408 into a Random Access Memory (RAM) 403. In the RAM403, various programs and data necessary for the operation of the computer system 400 are also stored. The processing unit 401, the ROM402, and the RAM403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
The following components are connected to the I/O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including a display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a network interface card such as a LAN card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. A driver 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 410 as necessary, so that a computer program read out therefrom is mounted into the storage section 408 as necessary. The processing unit 401 may be implemented as a CPU, a GPU, a TPU, an FPGA, an NPU, or other processing units.
In particular, the above described methods may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a medium readable thereby, the computer program comprising program code for performing the intersection virtual line drawing method. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 409, and/or installed from the removable medium 411.
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 disclosed embodiment also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the apparatus in the foregoing embodiment; 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 embodiments of 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 embodiments of 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 made without departing from the inventive concept. For example, the above features and (but not limited to) the features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (10)
1. A crossing virtual line drawing method comprises the following steps:
determining a target intersection, a direction of the target entering the intersection and a direction of the target exiting the intersection;
determining an entering lane group entering the target intersection according to the direction of the target entering the intersection;
determining an exit lane group corresponding to the entry lane group according to the target exit intersection direction and the road topological relation;
and generating an entering and exiting path according to the entering lane line group and the exiting lane line group, and drawing an intersection virtual line according to the entering and exiting path.
2. The method of claim 1, the determining a set of entering lane lines into the target intersection based on the target intersection entering direction, comprising:
determining an initial entering lane line entering the target intersection according to the direction of the target entering the intersection to form an initial entering lane line group;
acquiring a correlation entering lane line having a road homodromous correlation with the initial entering lane line;
and forming a target entering lane line group by the initial entering lane line and the corresponding associated entering lane line.
3. The method of claim 2, further comprising:
and deleting the lane line in the target entering lane line group, which is opposite to the initial entering lane line.
4. The method of claim 2 or 3, further comprising:
for each target lane line of the target entering lane line group, searching whether a historical intersection virtual line exists in a first preset range with the tail point of the target as the center;
if yes, the target lane line is reserved in the target entering lane line group;
and if the target lane line does not exist, replacing the corresponding target lane line with the lane line of the historical intersection virtual line in a first preset range with the tail point as the center, which is searched along the direction of the target lane line, and placing the corresponding target lane line into the target entering lane line group.
5. The method of claim 4, the determining an exit lane line group corresponding to the entry lane line group according to the target exit intersection direction and the road topology relationship, comprising:
for each entering lane line in the entering lane line group, searching whether a historical intersection virtual line exists in a second preset range taking the tail point of the entering lane line as the center;
if the virtual lines exist, continuing to search along the direction of the target exit intersection until a lane line without the historical intersection virtual line in a second preset range with the tail point as the center is found, or until the search depth of the lane line reaches a preset depth threshold value, and taking all the searched lane lines with the historical intersection virtual line in the second preset range with the tail point as the exit lane lines corresponding to the entering lane lines.
6. The method of any of claims 1-5, the generating an entry exit path from the entering and exiting lane line groups, comprising:
and connecting the entering lane line in the entering lane line group with the corresponding exiting lane line to generate an entering and exiting path.
7. The method of any one of claims 1-6, said drawing intersection virtual lines according to said entry and exit paths, comprising:
and drawing along the entering and exiting path according to the preset virtual line drawing requirement to obtain the intersection virtual line.
8. An intersection virtual line drawing device comprising:
a first determination module configured to determine a target intersection, a target entry intersection direction, and a target exit intersection direction;
a second determination module configured to determine an entering lane group entering the target intersection according to the target intersection entering direction;
a third determining module configured to determine an exit lane line group corresponding to the entry lane line group according to the target exit intersection direction and the road topology relationship;
and the drawing module is configured to generate an entering and exiting path according to the entering lane line group and the exiting lane line group, and draw an intersection virtual line according to the entering and exiting path.
9. An electronic device comprising a memory and at least one processor; wherein the memory is to store one or more computer instructions, wherein the one or more computer instructions are to be executed by the at least one processor to implement the method steps of any one of claims 1-7.
10. A computer program product comprising computer programs/instructions, wherein the computer programs/instructions, when executed by a processor, implement the method steps of any of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210488331.9A CN114863047A (en) | 2022-05-06 | 2022-05-06 | Intersection virtual line drawing method and device, electronic equipment and computer program product |
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| CN202210488331.9A CN114863047A (en) | 2022-05-06 | 2022-05-06 | Intersection virtual line drawing method and device, electronic equipment and computer program product |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116045996A (en) * | 2023-03-31 | 2023-05-02 | 高德软件有限公司 | Method and equipment for determining road connection relation of crossing and generating virtual line of crossing |
| CN116071460A (en) * | 2023-03-23 | 2023-05-05 | 高德软件有限公司 | Method and device for detecting lane conflict in intersection |
-
2022
- 2022-05-06 CN CN202210488331.9A patent/CN114863047A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116071460A (en) * | 2023-03-23 | 2023-05-05 | 高德软件有限公司 | Method and device for detecting lane conflict in intersection |
| CN116071460B (en) * | 2023-03-23 | 2023-08-29 | 高德软件有限公司 | Method and device for detecting lane conflict in intersection |
| CN116045996A (en) * | 2023-03-31 | 2023-05-02 | 高德软件有限公司 | Method and equipment for determining road connection relation of crossing and generating virtual line of crossing |
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