CN114969226A

CN114969226A - Method, device and equipment for breaking lane lines simultaneously and computer program product

Info

Publication number: CN114969226A
Application number: CN202210345643.4A
Authority: CN
Inventors: 曹航
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-08-30

Abstract

The embodiment of the disclosure discloses a method, a device, equipment and a computer program product for breaking lane lines, wherein the method comprises the following steps: acquiring a traffic line of a current processing area, wherein the traffic line comprises: a lane line to be processed and a reference lane line; calculating to obtain the road direction of the current processing area according to the reference lane line; determining a breaking point, determining a breaking direction according to the road direction, and generating a flush broken line based on the breaking direction by taking the breaking point as a starting point; and performing alignment breaking on the lane line to be processed based on the alignment breaking line. The technical scheme can quickly, accurately and automatically realize the neat interruption of the lane lines, not only improves the accuracy rate of the neat interruption of the lane lines, but also saves a large amount of labor cost and improves the working efficiency of the neat interruption of the lane lines.

Description

Method, device and equipment for breaking lane lines simultaneously and computer program product

Technical Field

The embodiment of the disclosure relates to the technical field of traffic data processing, in particular to a method, a device, equipment and a computer program product for breaking lane lines.

Background

With the development and progress of the society, vehicles on roads are more and more, road conditions are more and more complex, and traveling of many users depends on guidance of an electronic map, so that accurate drawing of traffic lines such as lane lines and the like in the electronic map is very important. The common production processes of the lane line include data acquisition, lane line identification, manual verification and modification and data release. Under the current technical conditions, the identification accuracy of the lane line is not enough, so the workload of manual checking and modification is large, the time consumption is long, and certain errors exist in the manual checking and modification. Therefore, a scheme for automatically and accurately breaking the lane lines is needed.

Disclosure of Invention

The embodiment of the disclosure provides a method, a device, equipment and a computer program product for breaking a lane line.

In a first aspect, an embodiment of the present disclosure provides a lane alignment breaking method.

Specifically, the lane alignment interruption method includes:

acquiring a traffic line of a current processing area, wherein the traffic line comprises: a lane line to be processed and a reference lane line;

calculating to obtain the road direction of the current processing area according to the reference lane line;

determining a breaking point, determining a breaking direction according to the road direction, and generating a flush broken line based on the breaking direction by taking the breaking point as a starting point;

and performing alignment breaking on the lane line to be processed based on the alignment breaking line.

In an embodiment of the present disclosure, after acquiring the traffic line of the current processing area, the method further includes:

pre-processing the traffic line, wherein the pre-processing comprises one or more of the following processes:

marking and classifying the traffic lines to obtain the attributes and the classes of the traffic lines;

converting a coordinate system of the point coordinates of the traffic line;

and removing the noise traffic line.

In an embodiment of the present disclosure, after the preprocessing the traffic line, the method further includes:

acquiring an input track line, and determining a target reference traffic line from the traffic lines according to the input track line;

the calculation of the road direction of the current processing area according to the reference lane line is implemented as:

and calculating the road direction of the current processing area according to the target reference traffic line.

In an embodiment of the present disclosure, the traffic line further includes: collecting the obtained trajectory;

the determining a target reference traffic line from the traffic lines according to the input trajectory line comprises:

screening the reference lane lines in the traffic line according to the included angles and the distances between the input trajectory lines and the reference lane lines in the traffic line;

screening the collected trajectory lines in the traffic line according to the included angle between the input trajectory line and the trajectory line in the traffic line;

and taking the reference lane line and the acquisition track line obtained by screening as the target reference traffic line.

In an embodiment of the present disclosure, the calculating the road direction of the current processing area according to the target reference traffic line includes:

acquiring the direction and the length of the target reference traffic line;

determining the direction weight of the target reference traffic line according to the length of the target reference traffic line;

and carrying out weighted average on the direction of the target reference traffic line according to the direction weight of the target reference traffic line to obtain the road direction of the current processing area.

In an embodiment of the present disclosure, after determining the break point, the method further includes:

determining a bidirectional lane line to be processed in the traffic line and a lane line to be processed, which is positioned in a preset range of a breaking point and has an included angle smaller than a third preset angle with the road direction, in the traffic line as a target lane line to be processed;

the alignment breaking is performed on the lane line to be processed based on the alignment breaking line, and is implemented as follows:

and performing alignment breaking on the target lane line to be processed based on the alignment breaking line.

In an embodiment of the present disclosure, the performing alignment breaking on the target lane line to be processed based on the alignment breaking line includes:

calculating the intersection point between the target lane line to be processed or the extension line of the target lane line to be processed along the road direction and the break-even line;

determining whether the target lane line to be processed needs to be extended or not or whether a protruding part exceeding the break-even line exists on the target lane line to be processed or not according to the position relation between the intersection and a target end point of the target lane line to be processed along the road direction;

if the target lane line to be processed needs to be extended, extending the target lane line to be processed to the intersection;

and if the target lane line to be processed is determined to have the protruding part exceeding the break-even line, determining whether the protruding part has an intersection with other lane lines, and if not, deleting the protruding part.

In an embodiment of the present disclosure, the extending the target lane line to be processed to the intersection includes:

extending the target lane line to be processed by a third preset distance along the road direction;

calculating the intersection point between the target lane line to be processed and the break line;

and if the protruding part of the target lane line to be processed exceeding the alignment breaking line is determined according to the position relation between the intersection point and the end point of the target lane line to be processed along the road direction, deleting the protruding part.

In an embodiment of the present disclosure, the method further includes:

generating new lane line data based on the simultaneous interruption result, and adjusting the new lane line data, wherein the new lane line data comprises one or more of the following data: the lane line end point, the break point on the lane line, the lane line position, the lane line length and the lane line width.

In an embodiment of the present disclosure, the adjusting the new lane line data includes:

calculating a first distance between an end point of a lane line along the road direction and an adjacent breaking point, and deleting the end point if the first distance is smaller than a first preset distance threshold;

and calculating a second distance between the breaking points of different lane lines, and combining the breaking points of different lane lines into the same breaking point if the second distance is smaller than a second preset distance threshold.

In an embodiment of the present disclosure, the method further includes:

post-processing the new lane line data, wherein the post-processing comprises one or more of:

comparing the new lane line data with original lane line data generated before the break to obtain lane line change data;

and carrying out coordinate system inverse transformation on the point coordinates of the lane lines.

In a second aspect, a lane alignment breaking device is provided in an embodiment of the present disclosure.

Specifically, the lane alignment breaking device includes:

an obtaining module configured to obtain a traffic line of a current processing area, wherein the traffic line includes: a lane line to be processed and a reference lane line;

the calculation module is configured to calculate the road direction of the current processing area according to the reference lane line;

the generating module is configured to determine a breaking point, determine a breaking direction according to the road direction, and generate a flush breaking line based on the breaking direction by taking the breaking point as a starting point;

and the alignment breaking module is configured to perform alignment breaking on the lane line to be processed based on the alignment breaking line.

In a third aspect, the disclosed embodiments provide an electronic device, including a memory for storing one or more computer instructions for supporting a lane alignment breaking apparatus to perform the lane alignment breaking method, and a processor configured to execute the computer instructions stored in the memory. The lane line breaking device may further include a communication interface for communicating with other devices or a communication network.

In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium for storing computer instructions for a lane alignment breaking apparatus, which includes computer instructions for executing the lane alignment breaking method described above for the lane alignment breaking apparatus.

In a fifth aspect, the disclosed embodiments provide a computer program product comprising a computer program/instructions, wherein the computer program/instructions, when executed by a processor, implement the lane alignment breaking method described above.

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

according to the technical scheme, the road direction is calculated by utilizing the reference lane line, the alignment breaking line is generated based on the road direction, and then the alignment breaking of the lane line to be processed is realized by utilizing the alignment breaking line. The technical scheme can quickly, accurately and automatically realize the neat interruption of the lane lines, not only improves the accuracy rate of the neat interruption of the lane lines, but also saves a large amount of labor cost and improves the working efficiency of the neat interruption of the lane lines.

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 illustrates a flow chart of a lane alignment break method according to an embodiment of the present disclosure;

FIG. 2A illustrates a current processing area traffic line schematic according to an embodiment of the present disclosure;

FIG. 2B shows a pre-processed traffic line schematic according to an embodiment of the present disclosure;

fig. 2C illustrates a traffic line schematic showing a target reference traffic line according to an embodiment of the present disclosure;

FIG. 2D illustrates a traffic lane schematic showing a target lane line to be processed according to one embodiment of the present disclosure;

FIG. 2E illustrates a snap-break effect diagram according to an embodiment of the present disclosure;

FIG. 3 illustrates a block diagram of a lane alignment breaking apparatus according to an embodiment of the present disclosure;

FIG. 4 is a block diagram of a computer system suitable for implementing a lane alignment breaking 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 utilizes the reference lane line to calculate the road direction, and generates the break line based on the road direction, so as to realize the break line of the lane line to be processed. The technical scheme can quickly, accurately and automatically realize the alignment breaking of the lane lines, not only improves the accuracy rate of the alignment breaking of the lane lines, but also saves a large amount of labor cost, and improves the working efficiency of the alignment breaking of the lane lines.

Fig. 1 shows a flowchart of a lane alignment interruption method according to an embodiment of the present disclosure, which includes the following steps S101 to S104, as shown in fig. 1:

in step S101, a traffic line of a current processing area is acquired, where the traffic line includes: a lane line to be processed and a reference lane line;

in step S102, calculating a road direction of the current processing area according to the reference lane line;

in step S103, determining a breaking point, determining a breaking direction according to the road direction, and generating a snap line based on the breaking direction with the breaking point as a starting point;

in step S104, performing alignment breaking on the lane line to be processed based on the alignment breaking line.

As mentioned above, with the development and progress of society, vehicles on roads are more and more, road conditions are more and more complex, and traveling of many users depends on guidance of an electronic map, so that accurate drawing of traffic lines such as lane lines in the electronic map becomes very important. The common production processes of the lane line include data acquisition, lane line identification, manual verification and modification and data release. Under the current technical conditions, the identification accuracy of the lane line is not enough, so the workload of manual checking and modification is large, the time consumption is long, and certain errors exist in the manual checking and modification. Therefore, a scheme for automatically and accurately breaking the lane lines is needed.

In view of the above problem, in this embodiment, a lane line alignment breaking method is proposed, which calculates a road direction using a reference lane line, generates an alignment breaking line based on the road direction, and further performs alignment breaking of a lane line to be processed using the alignment breaking line. The technical scheme can quickly, accurately and automatically realize the neat interruption of the lane lines, not only improves the accuracy rate of the neat interruption of the lane lines, but also saves a large amount of labor cost and improves the working efficiency of the neat interruption of the lane lines.

In an embodiment of the present disclosure, the lane alignment interruption method may be applied to a computer, a computing device, an electronic device, a server, a service cluster, and the like that can perform lane alignment interruption.

In an embodiment of the present disclosure, the traffic line refers to a traffic line that is helpful for achieving alignment breaking of lane lines, for example, a track line of a certain vehicle obtained by actual acquisition, a lane line to be processed that needs alignment breaking and already exists in current electronic traffic data, a reference lane line from a database, and the like, for subsequent alignment breaking of lane lines.

In an embodiment of the present disclosure, the current processing area refers to an area where various traffic lines exist, which needs to be processed currently, for example, an area where various traffic lines exist, which corresponds to an actual geographic location, and which is displayed on the current screen may also be directly considered as an area displayed on the current screen.

Fig. 2A illustrates a current processing area traffic line schematic diagram according to an embodiment of the present disclosure, in fig. 2A, a single solid line represents a one-way lane line, a double solid line represents a two-way lane line, a dot-dashed line represents a trajectory line, and a segment-dashed line represents a reference lane line.

In one embodiment of the present disclosure, the road direction refers to a direction of a road, and may also be understood as a driving direction of a vehicle on the road.

In an embodiment of the present disclosure, the co-current breaking line refers to a line for breaking a lane line to achieve co-current breaking of a plurality of lane lines. Wherein the direction of the break-even line is perpendicular to the road direction. In an embodiment of the present disclosure, the breaking direction includes two opposite directions using the breaking point as a starting point, and when the breaking point is used as a starting point, when the flush breaking line is generated based on the breaking direction, first preset distances need to be respectively extended along the breaking direction, so that it is ensured that the flush breaking line can cover the whole road, and finally the flush breaking of multiple lane lines is achieved, where the first preset distance may be set according to requirements of practical applications, for example, may be set to 30 meters.

In one embodiment of the present disclosure, the breaking point refers to a predetermined point that is a starting point for generating the snap line and should coincide with an end point of the broken lane line. In an embodiment of the present disclosure, an end point of a reference lane line in the same direction as the road direction along the road direction may be selected as the breaking point, when there are two or more reference lane lines in the same direction as the road direction, an end point of one of the reference lane lines along the road direction may be selected as the breaking point, and a middle point of the end points of the two or more reference lane lines along the road direction may also be used as the breaking point.

In the above embodiment, first, a traffic line that contributes to achieving the neat break of lane lines in the current processing area is acquired; then calculating according to a reference lane line in the traffic line to obtain the road direction of the current processing area; then determining breaking points, determining breaking directions according to the road directions, and generating a flush breaking line based on the breaking directions by taking the breaking points as starting points; and finally, performing aligned breaking on the lane lines to be processed in the traffic lines based on the aligned breaking lines to obtain a plurality of aligned broken lane lines.

In an embodiment of the present disclosure, after the step of acquiring the traffic line of the current processing area in step S101, the method may further include the following steps:

and preprocessing the traffic line.

In this embodiment, in order to improve the quality of the alignment break of the lane line, a pre-treatment of the traffic line is required, wherein the pre-treatment may include one or more of the following treatments: marking and classifying the traffic lines to obtain attributes and categories of the traffic lines, for example, determining the length of the traffic lines, determining whether intersection points exist between the lane lines in the traffic lines and other lane lines, whether the lane lines in the traffic lines are bidirectional lane lines or unidirectional lane lines, whether the lane lines in the traffic lines are suspension lines with the length being greater than a first preset length and the intersection points not existing between the lane lines and other lane lines, and the like; in practical application, the initial coordinates of each point on the traffic line are usually longitude and latitude coordinates, and the longitude and latitude coordinates are not convenient for calculating the length and other attributes of the traffic line, so that the initial coordinates need to be converted into position coordinates, for example, the longitude and latitude coordinates can be firstly projected to the world coordinates of the Mocha bracket, and then the world coordinates of the Mocha bracket are converted into relative coordinate values which have smaller values and are more convenient to calculate, for example, coordinate values in a relative coordinate system with a certain sampling point as an origin, so as to reduce precision errors; and removing the noise traffic line, wherein the traffic line which has a length smaller than the second preset length and does not have an intersection with other traffic lines can be removed as the noise traffic line in consideration of the fact that the shorter isolated line segment has little significance for the actual calculation, such as the shorter single lane line shown in fig. 2A, and the traffic line after the preprocessing is shown in fig. 2B. The first preset length may be the same as or different from the second preset length, for example, the first preset length and the second preset length may be the same and are 5 meters.

In an embodiment of the present disclosure, after the step of preprocessing the traffic line, the method may further include the steps of:

and acquiring an input track line, and determining a target reference traffic line from the traffic lines according to the input track line.

In this embodiment, a target reference traffic line suitable for assisting the alignment breaking of the lane lines may be determined from the traffic lines, considering that the reference lane line in the traffic lines is not the most suitable reference lane line for assisting the alignment breaking of the lane lines, for example, the reference lane line opposite to the road direction is not suitable for assisting the alignment breaking of the lane lines. Specifically, the determination of the target reference traffic line may be achieved by means of an input trajectory line, wherein the input trajectory line refers to a trajectory line generated by a certain vehicle traveling on the road, which is input by a user or other input party, is different from a collection trajectory line in the traffic line, has a trajectory direction, and the trajectory direction coincides or substantially coincides with the road direction, assuming that a dot-dash line in fig. 2A and 2B is the input trajectory line.

Further, in this embodiment, the step S102 of calculating the road direction of the current processing area according to the reference lane line may be implemented as:

As mentioned above, the traffic line further comprises the acquired trajectory line. In this embodiment, the step of determining a target reference traffic line from the traffic lines according to the input trajectory line may include the steps of:

screening the reference lane lines in the traffic line according to the included angle and the distance between the input trajectory line and the reference lane lines in the traffic line;

In this embodiment, the target reference traffic line may include two portions of traffic lines, one portion of the traffic line is a reference lane line meeting a certain condition, and the other portion of the traffic line is a collection track line meeting a certain condition. Specifically, a reference lane line in the traffic line, which has an included angle with the input trajectory line smaller than a first preset angle and a distance with the input trajectory line smaller than a second preset distance, may be used as the target reference traffic line, where the first preset angle may be set to 80 degrees and the second preset distance may be set to 10 meters, that is, a reference lane line that has an excessively large included angle with the input trajectory line and is too far away from the input trajectory line may be considered to be unsuitable as the target reference traffic line. Specifically, a collection trajectory line of the traffic lines having an included angle with the input trajectory line smaller than a second preset angle may be used as the target reference traffic line, wherein the second preset angle may be set to one of 180 to 90 degrees, that is, a trajectory line in the same direction as the input trajectory line may be considered to be suitable as the target reference traffic line. For example, the leftmost reference lane line in fig. 2B is a reference lane line that is too far away from the input trajectory line, the upper right-hand reference lane line in fig. 2B is a reference lane line that has too large an angle with the input trajectory line, and both are not suitable for use as the target reference traffic line, and the right-hand reference lane line in fig. 2B is suitable for having a suitable angle and a suitable distance with the input trajectory line, and therefore can be used as the target reference traffic line. For convenience, the reference lane lines and the collection track lines that are not suitable as the target reference traffic lines in fig. 2B are deleted, and the deleted traffic lines are shown in fig. 2C.

In an embodiment of the present disclosure, the step S102 of calculating the road direction of the current processing area according to the target reference traffic line may include the following steps:

acquiring the direction and the length of the target reference traffic line;

In this embodiment, the road direction of the current processing area is determined according to the target reference traffic line. Specifically, the direction and length of the target reference traffic line are determined first; then, determining the direction weight of the target reference traffic line according to the length of the target reference traffic line, for example, normalizing the length of the target reference traffic line, and taking the value obtained after normalization as the direction weight of the target reference traffic line; then, the directions of the target reference traffic lines are weighted and averaged according to the direction weights of the target reference traffic lines, and the obtained direction can be regarded as the road direction of the current processing area, wherein the longer the length of the target reference traffic line is, the larger the weight is, that is, the road direction is closer to the direction of the target reference traffic line with the longer length. The road direction in this example may be determined to be an upward direction according to the target reference traffic line determined in the above example.

In an embodiment of the present disclosure, after the step of determining the breaking point in step S103, the method may further include the following steps:

and determining the bidirectional lane line to be processed in the traffic line and the lane line to be processed in the traffic line, which is positioned in a preset range of a breaking point and has an included angle with the road direction smaller than a third preset angle, as a target lane line to be processed.

Considering that not all of the lane lines to be processed need to be subjected to the alignment breaking, for example, those lane lines opposite to the road direction do not belong to the range of the lane lines to be subjected to the alignment breaking, in order to improve the effectiveness of the alignment breaking operation, in this embodiment, the effectiveness of the lane lines to be processed in the traffic lines is also screened, specifically, considering that the bidirectional lane lines to be processed have two directions, one of which must be the same direction as the road direction, and therefore, the bidirectional lane lines to be processed in the traffic lines may be determined as the target lane lines to be subjected to the alignment breaking. In addition, the lane line which is closer to the breaking point and approximately in the same direction as the road direction is located in a preset breaking point range, for example, a lane line to be processed which is located in a range with the breaking point as a center and with a radius of 10m and has an included angle with the road direction smaller than a third preset angle may also be used as a target lane line to be processed which needs to be broken uniformly, wherein the third preset angle may be set according to the needs of practical application, for example, may be set to 30 degrees, 15 degrees, and the like. The leftmost lane line to be processed in fig. 2C is not the target lane line to be processed because it is substantially opposite to the road direction, and for convenience, the non-target lane line to be processed in fig. 2C is deleted, and the traffic line after deletion is shown in fig. 2D.

Further, in this embodiment, the step S104 of performing alignment breaking on the to-be-processed lane line based on the alignment breaking line may be implemented as:

In an embodiment of the present disclosure, the step S104 of performing alignment breaking on the target lane line to be processed based on the alignment breaking line may include the following steps:

In this embodiment, when performing alignment breaking on the target lane line to be processed based on the alignment breaking line:

firstly, calculating an intersection point between the target lane line to be processed and the break-even line, and if there is no intersection point between the current target lane line to be processed and the break-even line, it is indicated that a certain distance exists between the target lane line to be processed and the break-even line.

Then, according to the position relationship between the intersection point and a target endpoint of the target lane line to be processed along the road direction, determining whether the target lane line to be processed needs to be extended or whether the target lane line to be processed has a protruding part exceeding the alignment breaking line, for example, if the intersection point is overlapped with the target endpoint, it is indicated that the target lane line to be processed is just connected with the alignment breaking line, and the target lane line to be processed does not need to be extended and does not exceed the alignment breaking line; if the intersection point is not overlapped with the target endpoint and the intersection point is positioned on an extension line of the target endpoint along the road direction, the intersection point can be intersected with the alignment breaking line only if the target lane line to be processed needs to be extended; if the intersection point is not overlapped with the target endpoint and the intersection point is positioned on a reverse extension line of the target endpoint along the road direction, the intersection point indicates that the target lane line to be processed is intersected with the break-even line and a protruding part exceeding the break-even line exists.

If the target lane line to be processed needs to be extended, extending the target lane line to be processed to the intersection; if the protruding part exceeding the snap-off line exists in the target lane line to be processed, whether the protruding part intersects with other lane lines or not is further determined, if yes, the protruding part is reserved, if not, the protruding part is considered to be isolated, suspended and meaningless, and the protruding part can be deleted.

In an embodiment of the present disclosure, the step of extending the target lane line to be processed to the intersection may include the steps of:

In this embodiment, when the target lane line to be processed is extended to the intersection, the target lane line to be processed is first extended by a third preset distance along the road direction, where the third preset distance may be set according to the requirement of the actual application, for example, may be set to 30 meters; then calculating the intersection point between the prolonged target lane line to be processed and the flush breaking line; then, according to the above description, determining the protruding portion of the target lane line to be processed beyond the break-even line according to the position relationship between the intersection point and the target endpoint of the target lane line to be processed along the road direction, and finally deleting the protruding portion. The effect of the snap is schematically shown in fig. 2E, wherein the dotted line represents the snap line.

In an embodiment of the present disclosure, the method may further include the steps of:

After the alignment breaking is performed on the target lane line to be processed based on the alignment breaking line, some lane lines may be lengthened, some lane lines may be shortened, breaking points may be added to some lane lines, and some lane lines have no breaking points added or breaking points added but end points reduced because end points coincide with the breaking points, so that the data related to the lane lines are changed compared with those before the alignment breaking, and in view of the fact that an electronic map or other traffic data platform requires accurate lane line data, in this embodiment, after the alignment breaking is performed on the target lane line to be processed based on the alignment breaking line, new lane line data is generated according to the alignment breaking result, wherein the new lane line data may include one or more of the following data: lane line end points, break points on lane lines, lane line position, lane line length, lane line width, and the like. Then, the new lane line data may be adjusted, for example, combining points closer to each other, and so on. Specifically, the method comprises the following steps:

in an embodiment of the present disclosure, the adjusting the new lane line data may include:

In this embodiment, when adjusting the new lane line data, the endpoint that is closer to the breaking point and the breaking point that is closer to the breaking point may be merged, for example, a first distance between the endpoint of the lane line along the road direction and the adjacent breaking point may be calculated, and if it is determined that the first distance is smaller than a first preset distance threshold, the two endpoints may be merged and deleted; the second distance between the breaking points of different lane lines can be calculated, and if the second distance is determined to be smaller than the second preset distance threshold, the breaking points of different lane lines are combined into the same breaking point, for example, for two breaking points of two lane lines, one of the breaking points can be deleted, the two lane lines share the other reserved breaking point, and the two breaking points can also be moved to a point in the middle of the two breaking points. The first preset distance threshold and the second preset distance threshold may be set according to the requirements of practical applications, may be set to be the same, or may be set to be different, for example, the first preset distance threshold and the second preset distance threshold may be set to be 0.1 meter.

As mentioned above, the electronic map or other traffic data platform needs lane line data, and if all the new lane line data is sent to the traffic data platform, the data transmission amount will be large, and there may be a large amount of data transmission redundancy, that is, there may be a large amount of overlap between the new lane line data and the previous lane line data, so in this embodiment, the new lane line data is compared with the original lane line data generated before the break so as to obtain lane line change data, and then the lane line change data may be directly sent to the traffic data platform, so as to reduce the data transmission amount and save the data transmission bandwidth. In addition, as mentioned above, the initial coordinates of each point on the traffic lane are usually longitude and latitude coordinates, and when the alignment breaking is performed on the lane line, the longitude and latitude coordinates are converted into relative coordinate values through the mokato world coordinates for the convenience of calculation.

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

Fig. 3 shows a block diagram of a lane alignment breaking 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 lane alignment breaking device includes:

an obtaining module 301 configured to obtain a traffic line of a current processing area, wherein the traffic line includes: a lane line to be processed and a reference lane line;

a calculating module 302 configured to calculate a road direction of a current processing area according to the reference lane line;

the generating module 303 is configured to determine a breaking point, determine an breaking direction according to the road direction, and generate a snap line based on the breaking direction with the breaking point as a starting point;

a justification break module 304 configured to perform justification break for the lane line to be processed based on the justification break line.

As mentioned above, with the development and progress of society, vehicles on roads are more and more, road conditions are more and more complex, and traveling of many users depends on guidance of an electronic map, so that accurate drawing of traffic lines such as lane lines in the electronic map becomes very important. The common production processes of the lane line include data acquisition, lane line identification, manual verification and modification and data release. Under the current technical conditions, the identification accuracy of the lane line is not enough, so the workload of manual checking and modification is large, the time consumption is long, and certain errors exist in the manual checking and modification. Therefore, a scheme for quickly and accurately breaking the lane line in a neat manner is needed.

In view of the above, in this embodiment, a lane-line alignment breaking device is proposed that calculates a road direction using a reference lane line, generates an alignment breaking line based on the road direction, and then performs alignment breaking of a lane line to be processed using the alignment breaking line. The technical scheme can quickly, accurately and automatically realize the alignment breaking of the lane lines, not only improves the accuracy rate of the alignment breaking of the lane lines, but also saves a large amount of labor cost, and improves the working efficiency of the alignment breaking of the lane lines.

In an embodiment of the present disclosure, the lane alignment breaking apparatus may be implemented as a computer, a computing device, an electronic device, a server, a service cluster, or the like that can perform lane alignment breaking.

The technical features related to the above device embodiments and the corresponding explanations and descriptions thereof are the same as, corresponding to or similar to the technical features related to the above method embodiments and the corresponding explanations and descriptions thereof, and for the technical features related to the above device embodiments and the corresponding explanations and descriptions thereof, reference may be made to the technical features related to the above method embodiments and the corresponding explanations and descriptions thereof, and details of the disclosure are not repeated herein.

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.

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 portion 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 lane alignment breaking 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

1. A lane alignment breaking method, comprising:

determining breaking points, determining breaking directions according to the road directions, and generating a neat breaking line based on the breaking directions by taking the breaking points as starting points;

2. The method of claim 1, after obtaining the traffic line of the current processing region, further comprising:

converting a coordinate system of the point coordinates of the traffic line;

and removing the noise traffic line.

3. The method of claim 2, after the pre-processing the traffic line, further comprising:

4. The method of claim 3, the traffic lane further comprising: collecting the obtained trajectory line;

screening the collected track lines in the traffic line according to the included angle between the input track line and the collected track line in the traffic line;

5. The method according to claim 3 or 4, wherein the calculating of the road direction of the current processing area according to the target reference traffic line comprises:

acquiring the direction and the length of the target reference traffic line;

6. The method of claim 4, after determining the breakpoint, further comprising:

determining a bidirectional lane line to be processed in the traffic line and a lane line to be processed, which is positioned in a preset range of a breaking point and has an included angle with the road direction smaller than a third preset angle, in the traffic line as a target lane line to be processed;

the performing alignment breaking on the lane line to be processed based on the alignment breaking line is implemented as:

7. The method of claim 6, the performing the alignment break for the target lane line to be processed based on the alignment break line, comprising:

8. The method of claim 7, the extending the target lane-to-be-treated line to the intersection, comprising:

9. The method of any of claims 1-4, 6-8, further comprising:

generating new lane line data based on the simultaneous interruption result, and adjusting the new lane line data, wherein the new lane line data comprises one or more of the following data: the lane line end points, the breaking points on the lane lines, the lane line positions, the lane line lengths and the lane line widths.

10. The method of claim 9, the adjusting for the new lane line data comprising:

and calculating second distances between the breaking points of different lane lines, and combining the breaking points of different lane lines into the same breaking point if the second distance is smaller than a second preset distance threshold.

11. The method of claim 9 or 10, further comprising:

12. A lane alignment breaking device comprising:

the generating module is configured to determine a breaking point, determine an breaking direction according to the road direction, and generate a snap line based on the breaking direction by taking the breaking point as a starting point;

13. 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 1-11.

14. 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 1-11.