CN115265564A

CN115265564A - Lane line marking method and device

Info

Publication number: CN115265564A
Application number: CN202110484993.4A
Authority: CN
Inventors: 刘大伟; 刘建琴; 许明霞
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2022-11-01
Also published as: WO2022227878A1

Abstract

A lane line marking method and a lane line marking device are provided, wherein the method comprises the following steps: the method comprises the steps of obtaining an entrance point of a vehicle entering a crossing and an exit point of the vehicle exiting the crossing, determining a first lane line moving from the entrance point to the exit point, selecting one side area from the two side areas of the first lane line as a target obstacle avoidance area instead of marking the first lane line under the condition that the first lane line is intersected with an obstacle in the crossing or the minimum distance between the first lane line and the obstacle is smaller than a preset obstacle avoidance distance, selecting at least one control point with the distance from the obstacle being not smaller than the preset obstacle avoidance distance in the target obstacle avoidance area, and determining and marking a second lane line with the minimum distance from the obstacle being not smaller than the preset obstacle avoidance distance according to the entrance point, the at least one control point and the exit point so as to improve marking quality and marking efficiency of the lane lines.

Description

Lane line marking method and device

Technical Field

The application relates to the technical field of vehicle networking, in particular to a lane line marking method and device.

Background

In the field of car networking, high-precision maps play a crucial role in vehicle positioning, vehicle navigation and even automatic driving of vehicles. High-precision maps are typically made as follows: the method comprises the steps of collecting surrounding environment information of a real road, obtaining a point cloud map by carrying out fusion processing on the surrounding environment information, and marking structural data of various traffic entities in the point cloud map to obtain a high-precision map. The traffic entity may include, but is not limited to, a lane line, a traffic sign, a traffic light, or the like. The high-precision map in the field of car networking is mainly used for guiding the passing of vehicles, and the precision of the high-precision map at least reaches the lane level to achieve a good guiding effect. That is, how to efficiently and accurately mark the lane lines is very important for quickly obtaining a high-quality high-precision map so as to accurately guide the passage of the vehicle.

The existing lane line marking method mainly comprises two methods: firstly, manual marking is carried out, the surrounding environment of a lane to be marked in a point cloud map is judged mainly by human eyes of a cartographer, and a virtual curve is marked manually according to a judgment result, but the marking mode is time-consuming and labor-consuming, and the smoothness and the attractiveness of the virtual curve are not easy to guarantee; and secondly, automatic labeling, namely automatically drawing a curve by using some existing drawing software, wherein the drawing software only considers the entry point and the exit point and does not consider whether the current road has obstacles or not, and under the condition, the lane line automatically drawn by the drawing software is probably intersected with the obstacles on the road, so that the lane line is unavailable. Therefore, the two existing lane line marking methods cannot mark the lane lines efficiently and accurately, and are not beneficial to improving the marking efficiency and the marking quality of the lane lines on the map.

Disclosure of Invention

The application provides a lane line marking method and device, which are used for improving the marking efficiency and marking quality of lane lines.

In a first aspect, the present application provides a lane marking method, which is suitable for a lane marking device, where the lane marking device may be a device, or a chip with image processing capability, or may be a vehicle. The method comprises the following steps: the method comprises the steps that a lane line marking device obtains an entrance point of a vehicle entering the intersection and an exit point of the vehicle exiting the intersection, a first lane line moving from the entrance point to the exit point is determined, the first lane line is not marked on a map under the condition that the first lane line is intersected with an obstacle in the intersection or the minimum distance between the first lane line and the obstacle is smaller than a preset obstacle avoidance distance, one side area is selected from two side areas of the first lane line to serve as a target obstacle avoidance area, at least one control point, the distance between the control point and the obstacle is not smaller than the preset obstacle avoidance distance, is selected in the target obstacle avoidance area, a second lane line, the minimum distance between the control point and the obstacle is not smaller than the preset obstacle avoidance distance, is determined according to the entrance point, the at least one control point and the exit point, and the second lane line is marked on the map.

In the design, the second lane line capable of safely bypassing the obstacle in the intersection is determined again under the condition that the first lane line to be determined cannot safely bypass the obstacle in the intersection, so that the second lane line with accurate obstacle avoidance capability can be directly marked in the intersection of the map through one-time marking operation, the mode does not need to depend on manual marking, manual secondary adjustment is not needed, and the marking quality and the marking efficiency of the lane line can be effectively improved. Furthermore, under the condition that the first lane line does not meet the labeling requirement, the control point, with the distance from the obstacle being larger than or equal to the preset obstacle avoidance distance, is selected in the area on one side of the first lane line and serves as a reference for determining the second lane line, the probability of determining the second lane line meeting the obstacle avoidance distance requirement can be improved, and the success rate of labeling the lane line is improved.

In one possible design, the lane line to be marked may be any lane line on a straight lane, a left-turn lane or a right-turn lane in the intersection, such as one of the lane borders on both sides, or a lane center line. In this case, the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, which may include any one of the following: if the first lane line is a lane sideline close to the obstacle, the minimum distance between the first lane line and the obstacle is smaller than the preset obstacle avoidance interval; if the first lane line is a lane sideline not close to the obstacle, the minimum distance between the first lane line and the obstacle is smaller than the sum of the preset obstacle avoiding distance and the preset lane width; or if the first lane line is the lane center line, the minimum distance between the first lane line and the obstacle is smaller than the sum of the preset obstacle avoidance interval and the preset lane width which is 1/2 times of the preset obstacle avoidance interval. The preset obstacle avoidance distance may be a real number greater than or equal to 0. The design can not only support the lane line marking device to select a proper lane line as the lane line to be marked according to actual requirements, but also set different decision conditions aiming at different lane lines, and each lane line can re-determine the second lane line only when meeting the decision conditions of the lane line, so that the accuracy of marking the lane line is facilitated while computing resources are saved.

In one possible design, the target obstacle avoidance area may satisfy at least one of the following conditions:

the first condition is that the target obstacle avoidance area is located in an obstacle avoidance area indicated by an obstacle with an intersection indication function. The condition can mark the lane line meeting the traffic regulation in the obstacle avoidance area indicated by the obstacle, and effectively reduces the violation risk of the vehicle using the map.

And secondly, under the condition that the first lane line does not intersect with the obstacle, the target obstacle avoidance area does not contain the obstacle. In this condition, the control point is better selected for the area not containing the obstacle than for the area containing the obstacle, and therefore this condition helps to improve the efficiency of subsequently selecting the control point within the target obstacle avoidance area.

And a third condition that the target obstacle avoidance area includes an obstacle area having the smallest area of the two obstacle areas divided by the first lane line, in a case where the first lane line intersects with the obstacle. According to the condition, the target obstacle avoidance area can be quickly selected by comparing the areas of the obstacle areas on the two sides.

And a fourth condition that the target obstacle avoidance area includes an obstacle area having the smallest farthest distance from the first lane line among two obstacle areas divided by the first lane line, when the first lane line intersects with the obstacle. In this condition, by using the side area where the obstacle region having the smallest farthest distance from the first lane line is located as the target obstacle avoidance region, the second lane line can be obtained by a small deformation depending on the positional relationship between the first lane line and the obstacle, which is helpful for reducing the difficulty in re-determining the second lane line. And the second lane line is drawn in the area which is farthest from the edge of the obstacle and closest to the edge of the obstacle, so that the second lane line is possibly shorter in length, the indication that the vehicle bypasses the obstacle as soon as possible through a shorter driving distance is facilitated, and the obstacle avoidance efficiency of the vehicle is improved.

In a possible design, under the condition that the first lane line intersects with the obstacle, the lane line marking device selects at least one control point, in the target obstacle avoidance area, where the distance to the obstacle is not less than a preset obstacle avoidance distance, and the method includes: the lane line marking device finds a first position point farthest away from the first lane line from the edge of the obstacle area contained in the target obstacle avoidance area, determines a second position point which is away from the first position point by a preset obstacle avoidance distance in the target obstacle avoidance area, and takes the second position point as a control point. And a connecting line of the second position point and the first position point is perpendicular to a tangent line of the first lane line or a line segment between two intersection points of the first lane line and the obstacle. According to the design, under the condition that the first lane line is intersected with the obstacle, the point on the obstacle farthest away from the first lane line is used as the obstacle critical point, the lane line critical point which just meets the obstacle avoidance requirement can be found, and the lane line critical point is used as the control point, so that the critical lane line which just can realize the obstacle avoidance capability can be drawn.

In a possible design, under the condition that the first lane line does not intersect with the obstacle, the lane line marking device selects at least one control point, in the target obstacle avoidance area, whose distance from the obstacle is not less than a preset obstacle avoidance distance, and the method includes: the lane marking device finds a third position point which is closest to the first lane line from the edge of the obstacle, determines a fourth position point which is away from the third position point by a preset obstacle-avoiding distance in the target obstacle-avoiding area, and takes the fourth position point as a control point. And a connecting line of the fourth position point and the third position point is perpendicular to a tangent line of the first lane line or perpendicular to a tangent line of the obstacle at the third position point. According to the design, under the condition that the first lane line is not intersected with the obstacle, the point on the obstacle closest to the first lane line is used as the obstacle critical point, the lane line critical point which is just capable of meeting the obstacle avoidance requirement and away from the obstacle critical point can be found, and the lane line critical point is used as the control point, so that the critical lane line which is just capable of achieving the obstacle avoidance capacity can be drawn.

In a possible design, after determining the control point according to the above design, the lane marking device may further draw a control line from the control point in a direction perpendicular to the connection line, select at least two fifth position points respectively located on two sides of the control point from the control line, and take the at least two fifth position points as the at least two control points. Therefore, safer control points beyond the critical points are obtained again by taking the critical points of the lane lines as the reference, the obstacle avoidance lane lines with certain safety margins can be drawn, and the safety performance of the marked lane lines is improved.

In one possible design, the at least two control points may include at least one of: the intersection point of the control line and the driving-in line is used as one control point, and the intersection point of the control line and the driving-out line is used as the other control point, wherein the driving-in line is a straight line formed by the driving-in point along the driving-in direction, and the driving-out line is a straight line formed by the driving-out point along the driving-out reverse direction; two points on the control line, which are away from the control point by the length of a line segment between two intersection points of the first lane line and the obstacle, are taken as two control points; two points on the control line, which are at a distance from the control point equal to the length of the first lane line inside the obstacle, are taken as control points. Therefore, two control points are uniformly selected on two sides of the control point on the control line, and the smooth second lane line can be drawn based on the three control points which are uniformly distributed.

In one possible embodiment, the lane marking device can determine the first lane line moving from the entry point to the exit point by: if the current lane is a straight lane, the lane marking device can be directly connected with the entry point and the exit point to obtain a first lane; if the current lane is a turning lane line, the lane line marking device may first obtain an entry line by extending the entry point along the entry direction, obtain a exit line by extending the exit point along a direction opposite to the exit direction, and then determine a first lane line according to the entry point, an intersection of the entry line and the exit line, and the exit point. In the design, the lane marking device can select different lane determining modes according to different types of lanes, and is favorable for drawing lane lines meeting the current lane types more finely.

In a second aspect, the present application provides a lane marking method, which is suitable for a lane marking device, where the lane marking device may be a device, or a chip with image processing capability, or may be a vehicle. The method comprises the following steps: the method comprises the steps that a lane marking device obtains an entrance point of a vehicle entering an intersection and an exit point of the vehicle exiting the intersection, at least two control points are selected from the intersection, at least two first lane lines are determined according to the entrance point, the exit point and the at least two control points, the control points used by any two first lane lines in the at least two first lane lines are different, then a target first lane line, the minimum distance between the target first lane line and an obstacle in the intersection is not less than a preset obstacle avoidance distance, is determined from the at least two first lane lines, and the target first lane line is marked on a map.

In the above design, by fitting a plurality of first lane lines in the intersection in advance, the probability that the lane line marking device directly selects the first lane line of the target which can avoid the obstacle in the intersection from the plurality of first lane lines can be improved, and the lane line can not be determined again.

In one possible design, the lane line to be marked may be any lane line on a straight lane, a left-turn lane or a right-turn lane in the intersection, such as one of the lane borders on both sides, or a lane center line. In this case, the minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance distance, and may include any one of the following: if the first lane line is a lane sideline close to the obstacle, the minimum distance between the first lane line and the obstacle is not smaller than the preset obstacle avoidance interval; if the first lane line is a lane sideline not close to the obstacle, the minimum distance between the first lane line and the obstacle is not less than the sum of the preset obstacle avoidance interval and the preset lane width; or if the first lane line is the lane central line, the minimum distance between the first lane line and the obstacle is not less than the sum of the preset obstacle avoidance interval and 1/2 times of the preset lane width. The preset obstacle avoidance distance is a real number greater than or equal to 0.

In one possible design, the lane marking device selects at least two control points in the intersection, including: the lane marking device selects at least two control points in the intersection, wherein the distance between the control points and the obstacle is larger than the preset obstacle avoidance distance. Therefore, the control point with the distance from the obstacle being larger than or equal to the preset obstacle avoidance distance is selected from the intersection to serve as the reference for determining the first lane line, and the probability of determining the first lane line meeting the obstacle avoidance distance requirement can be improved.

In one possible design, the lane marking device determines a target first lane line having a minimum distance to an obstacle in the intersection not less than a preset obstacle avoidance distance from at least two first lane lines, and includes: if the obstacle is an obstacle with a crossing indication function, the lane marking device selects a target first lane line from first lane lines in a target obstacle avoidance area indicated by the obstacle so as to meet obstacle avoidance rules indicated by the obstacle. If the obstacle is an obstacle without the intersection indication function, selecting a target first lane line from the at least two first lane lines, and when the obstacle does not have the intersection indication function, not indicating the obstacle, and selecting according to actual needs. The minimum distance between the target first lane line and the obstacle is not less than a preset obstacle avoidance distance.

In a possible design, if it is determined that the at least two first lane lines do not include a target first lane line having a minimum distance from the obstacle that is not less than a preset obstacle avoidance distance, the lane line marking device may further select a reference first lane line from the at least two first lane lines, select one of the two side areas of the reference first lane line as a target obstacle avoidance area, select at least one control point having a distance from the obstacle that is not less than the preset obstacle avoidance distance in the target obstacle avoidance area, determine a second lane line having a minimum distance from the obstacle that is not less than the preset obstacle avoidance distance according to the entry point, the at least one control point, and the exit point, and mark the second lane line on the map. In the design, the second lane line which can safely bypass the obstacles in the intersection is determined again under the condition that the plurality of first lane lines to be determined cannot safely bypass the obstacles in the intersection, so that the second lane line with accurate obstacle avoidance capability can be marked in the intersection of the map, and the marking quality and the marking efficiency of the lane lines are effectively improved.

It should be understood that, regarding the specific implementation process for re-determining the second lane line in the second aspect, reference may be directly made to the corresponding design in the first aspect, and details are not repeated here.

In a third aspect, the present application provides a lane marking device, including: the acquisition unit is used for acquiring an entrance point of a vehicle entering the intersection and an exit point of the vehicle exiting the intersection; the device comprises a determining unit, a judging unit and a judging unit, wherein the determining unit is used for determining a first lane line moving from an entrance point to an exit point, wherein the first lane line is intersected with an obstacle in a crossing, or the minimum distance between the first lane line and the obstacle is smaller than a preset obstacle avoidance distance; the selection unit is used for selecting one side area from the two side areas of the first lane line as a target obstacle avoidance area, and selecting at least one control point, the distance between which and an obstacle is not less than a preset obstacle avoidance distance, in the target obstacle avoidance area; the determining unit is further used for determining a second lane line according to the entry point, the at least one control point and the exit point, wherein the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance; and the marking unit is used for marking the second lane line on the map.

In one possible design, the lane line to be marked may be any lane line on a straight lane, a left-turn lane or a right-turn lane in the intersection, such as one of the lane borders on both sides, or a lane center line. In this case, the minimum distance between the first lane line and the obstacle is smaller than the preset obstacle avoidance distance, which may include any one of the following: if the first lane line is a lane sideline close to the obstacle, the minimum distance between the first lane line and the obstacle is smaller than the preset obstacle avoidance interval; if the first lane line is a lane sideline not close to the obstacle, the minimum distance between the first lane line and the obstacle is smaller than the sum of the preset obstacle avoidance interval and the preset lane width; or if the first lane line is the lane central line, the minimum distance between the first lane line and the obstacle is smaller than the sum of the preset obstacle avoidance interval and 1/2 times of the preset lane width. The preset obstacle avoidance distance may be a real number greater than or equal to 0.

In one possible design, the target obstacle avoidance area may satisfy at least one of the following conditions: the target obstacle avoidance area is positioned in an obstacle avoidance area indicated by an obstacle with an intersection indication function; under the condition that the first lane line does not intersect with the obstacle, the obstacle is not contained in the target obstacle avoidance area; under the condition that the first lane line intersects with the obstacle, the target obstacle avoidance area comprises an obstacle area with the smallest area in two obstacle areas divided by the first lane line; or, in the case that the first lane line intersects with the obstacle, the target obstacle avoidance area includes an obstacle area having the smallest farthest distance from the first lane line among two obstacle areas divided by the first lane line.

In a possible design, when the first lane line intersects with the obstacle, the selection unit may find a first position point farthest from the first lane line from an edge of an obstacle area included in the target obstacle avoidance area, determine a second position point having a preset obstacle avoidance distance from the first position point in the target obstacle avoidance area, and use the second position point as a control point. And a connecting line of the second position point and the first position point is perpendicular to a tangent line of the first lane line or a line segment between two intersection points of the first lane line and the obstacle.

In a possible design, under the condition that the first lane line does not intersect with the obstacle, the selection unit may find a third position point closest to the first lane line from an edge of the obstacle, determine a fourth position point in the target obstacle avoidance area, where a distance from the fourth position point to the third position point is a preset obstacle avoidance distance, and use the fourth position point as a control point. And a connecting line of the fourth position point and the third position point is perpendicular to a tangent line of the first lane line or perpendicular to a tangent line of the obstacle at the third position point.

In a possible design, after the selection unit determines the control point according to the above design, the selection unit may further draw a control line from the control point along a direction perpendicular to the connection line, select at least two fifth position points respectively located on two sides of the control point from the control line, and take the at least two fifth position points as the at least two control points.

In one possible design, the at least two control points may include at least one of: the intersection point of the control line and the driving-in line is used as one control point, and the intersection point of the control line and the driving-out line is used as the other control point, wherein the driving-in line is a straight line formed by the driving-in point along the driving-in direction, and the driving-out line is a straight line formed by the driving-out point along the driving-out reverse direction; two points on the control line, which are away from the control point by the length of a line segment between two intersection points of the first lane line and the obstacle, are taken as two control points; or two points on the control line, which are at a distance from the control point equal to the length of the first lane line inside the obstacle, are taken as the two control points.

In one possible embodiment, the determination unit may determine the first lane line from the entry point to the exit point by: if the current lane is a straight lane, the determining unit can directly connect the entry point and the exit point to obtain a first lane line; if the current lane is a turning lane line, the determining unit may obtain an entry line by extending from the entry point in an entry direction and obtain an exit line by extending from the exit point in a direction opposite to the exit direction, and determine the first lane line based on the entry point, an intersection of the entry line and the exit line, and the exit point.

In a fourth aspect, the present application provides a lane marking device, including: the acquisition unit is used for acquiring an entrance point of a vehicle entering the intersection and an exit point of the vehicle exiting the intersection; the selection unit is used for selecting at least two control points from the intersection; the determining unit is used for determining at least two first lane lines according to the entry point, the exit point and the at least two control points, and determining a target first lane line of which the minimum distance to an obstacle in the intersection is not less than a preset obstacle avoidance distance from the at least two first lane lines; the control points used by any two of the at least two first lane lines are different; and the marking unit is used for marking the first target lane line on the map.

In one possible design, the lane line to be marked may be any lane line on a straight lane, a left-turn lane or a right-turn lane in the intersection, such as one of the lane borders on both sides, or a lane center line. In this case, the minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance distance, which may include any one of the following: if the first lane line is a lane sideline close to the obstacle, the minimum distance between the first lane line and the obstacle is not smaller than the preset obstacle avoidance interval; if the first lane line is a lane sideline which is not close to the obstacle, the minimum distance between the first lane line and the obstacle is not less than the sum of the preset obstacle avoidance interval and the preset lane width; or if the first lane line is the lane central line, the minimum distance between the first lane line and the obstacle is not less than the sum of the preset obstacle avoidance interval and 1/2 times of the preset lane width. The preset obstacle avoidance distance may be a real number greater than or equal to 0.

In one possible design, the selection unit may select at least two control points in the intersection, the distance to the obstacle being greater than a preset obstacle avoidance distance.

In one possible design, in the case where the obstacle is an obstacle having a crossing indication function, the determination unit may select the target first lane line from first lane lines located within a target obstacle avoidance area indicated by the obstacle. The minimum distance between the target first lane line and the obstacle is not less than a preset obstacle avoidance distance.

In one possible design, in a case where the obstacle is an obstacle having no intersection indication function, the determination unit may select the target first lane line from at least two first lane lines. The minimum distance between the target first lane line and the obstacle is not less than a preset obstacle avoidance distance.

In a possible design, when the at least two first lane lines do not include a target first lane line having a minimum distance from an obstacle that is not less than a preset obstacle avoidance distance, the selection unit may further select a reference first lane line from the at least two first lane lines, select one of the side areas from the two side areas of the reference first lane line as a target obstacle avoidance area, select at least one control point having a distance from the obstacle that is not less than the preset obstacle avoidance distance in the target obstacle avoidance area, the determination unit may further determine a second lane line according to the entry point, the at least one control point, and the exit point, where the minimum distance from the second lane line to the obstacle is not less than the preset obstacle avoidance distance, and the labeling unit may further label the second lane line on the map.

It should be understood that, regarding the specific implementation process of re-determining the second lane line in the fourth aspect, reference may be directly made to the corresponding design in the first aspect, and details are not repeated here.

In a fifth aspect, the present application provides a lane marking apparatus, including a processor, a transceiver, and a memory, the processor being connected to the memory, the memory storing a computer program, which when executed by the processor, causes the lane marking apparatus to perform: the method comprises the steps of obtaining an entrance point of a vehicle entering a crossing and an exit point of the vehicle exiting the crossing, determining a first lane line moving from the entrance point to the exit point, selecting one side area from the two side areas of the first lane line as a target obstacle avoidance area instead of marking the first lane line on a map under the condition that the first lane line is intersected with an obstacle in the crossing or the minimum distance between the first lane line and the obstacle is smaller than a preset obstacle avoidance distance, selecting at least one control point of which the distance from the obstacle is not smaller than the preset obstacle avoidance distance in the target obstacle avoidance area, determining a second lane line of which the minimum distance from the obstacle is not smaller than the preset obstacle avoidance distance according to the entrance point, the at least one control point and the exit point, and marking the second lane line on the map.

In one possible design, the lane line to be marked may be any lane line on a straight lane, a left-turn lane or a right-turn lane in the intersection, such as one of the side lines of the lane on both sides, or the lane center line. In this case, the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance, which may include any one of the following: if the first lane line is a lane sideline close to the obstacle, the minimum distance between the first lane line and the obstacle is smaller than the preset obstacle avoidance interval; if the first lane line is a lane sideline not close to the obstacle, the minimum distance between the first lane line and the obstacle is smaller than the sum of the preset obstacle avoidance interval and the preset lane width; or if the first lane line is the lane central line, the minimum distance between the first lane line and the obstacle is smaller than the sum of the preset obstacle avoidance interval and 1/2 times of the preset lane width. The preset obstacle avoidance distance may be a real number greater than or equal to 0.

In one possible design, the target obstacle avoidance area may satisfy at least one of the following conditions: the target obstacle avoidance area is positioned in an obstacle avoidance area indicated by an obstacle with an intersection indication function; under the condition that the first lane line does not intersect with the obstacle, the target obstacle avoidance area does not contain the obstacle; under the condition that the first lane line intersects with the obstacle, the target obstacle avoidance area comprises an obstacle area with the smallest area in two obstacle areas divided by the first lane line; or, in the case that the first lane line intersects with the obstacle, the target obstacle avoidance area includes an obstacle area having the smallest farthest distance from the first lane line among two obstacle areas divided by the first lane line.

In one possible design, the computer program stored in the memory, when executed by the processor, causes the lane marking apparatus to perform in particular: when the first lane line is intersected with the obstacle, a first position point farthest away from the first lane line is found from the edge of an obstacle area contained in the target obstacle avoidance area, a second position point with the distance from the first position point being a preset obstacle avoidance distance is determined in the target obstacle avoidance area, and the second position point is used as a control point. And a connecting line of the second position point and the first position point is perpendicular to a tangent line of the first lane line or a line segment between two intersection points of the first lane line and the obstacle.

In one possible design, the computer program stored in the memory, when executed by the processor, causes the lane marking apparatus to perform in particular: when the first lane line does not intersect with the obstacle, a third position point closest to the first lane line is found from the edge of the obstacle, a fourth position point with the distance from the third position point being a preset obstacle avoidance distance is determined in the target obstacle avoidance area, and the fourth position point is used as a control point. And a connecting line of the fourth position point and the third position point is perpendicular to a tangent line of the first lane line or perpendicular to a tangent line of the obstacle at the third position point.

In one possible design, when the computer program stored in the memory is executed by the processor, the lane marking device further performs, after determining the control point according to the above design: and drawing a control line from the control point along a direction vertical to the connecting line, selecting at least two fifth position points respectively positioned at two sides of the control point from the control line, and taking the at least two fifth position points as at least two control points.

In one possible design, the at least two control points may include at least one of: the intersection point of the control line and the driving-in line is used as one control point, and the intersection point of the control line and the driving-out line is used as the other control point, wherein the driving-in line is a straight line formed by the driving-in point along the driving-in direction, and the driving-out line is a straight line formed by the driving-out point along the driving-out reverse direction; two points on the control line, the distance between which and the control point is equal to the length of a line segment between two intersection points of the first lane line and the obstacle, are taken as two control points; two points on the control line, which are at a distance from the control point equal to the length of the first lane line inside the obstacle, are taken as control points.

In one possible embodiment, the computer program stored in the memory, when executed by the processor, causes the lane marking device to determine a first lane line moving from the entry point to the exit point by: if the current lane is a straight lane, connecting the entry point and the exit point to obtain a first lane line; if the current lane is a turning lane line, firstly, extending the self-driving-in point along the driving-in direction to obtain a driving-in line, extending the self-driving-out point along the reverse direction of the driving-out direction to obtain a driving-out line, and then determining a first lane line according to the driving-in point, the intersection point of the driving-in line and the driving-out point.

In a sixth aspect, the present application provides a lane marking apparatus, including a processor, a transceiver, and a memory, the processor and the memory being connected, the memory storing a computer program, which when executed by the processor, causes the lane marking apparatus to perform: the method comprises the steps of obtaining an entrance point of a vehicle entering an intersection and an exit point of the vehicle exiting the intersection, selecting at least two control points from the intersection, determining at least two first lane lines according to the entrance point, the exit point and the at least two control points, determining the control points used by any two first lane lines in the at least two first lane lines, then determining a target first lane line with the minimum distance to an obstacle in the intersection not less than a preset obstacle avoidance distance from the at least two first lane lines, and marking the target first lane line on a map.

In one possible design, the lane line to be marked may be any lane line on a straight lane, a left-turn lane or a right-turn lane in the intersection, such as one of the lane borders on both sides, or a lane center line. In this case, the minimum distance between the first lane line and the obstacle is not less than the preset obstacle avoidance distance, and may include any one of the following: if the first lane line is a lane sideline close to the obstacle, the minimum distance between the first lane line and the obstacle is not smaller than the preset obstacle avoidance interval; if the first lane line is a lane sideline not close to the obstacle, the minimum distance between the first lane line and the obstacle is not less than the sum of the preset obstacle avoidance interval and the preset lane width; or if the first lane line is the lane center line, the minimum distance between the first lane line and the obstacle is not less than the sum of the preset obstacle avoidance interval and 1/2 times of the preset lane width. The preset obstacle avoidance distance is a real number greater than or equal to 0.

In one possible design, the computer program stored in the memory, when executed by the processor, causes the lane marking apparatus to perform in particular: and selecting at least two control points with the distance from the obstacle greater than the preset obstacle avoidance distance from the intersection.

In one possible design, the computer program stored in the memory, when executed by the processor, causes the lane marking apparatus to perform in particular: if the obstacle is an obstacle with an intersection indication function, selecting a target first lane line from first lane lines in a target obstacle avoidance area indicated by the obstacle; and if the obstacle is an obstacle without a traffic regulation indication function, selecting a target first lane line from at least two first lane lines. The minimum distance between the target first lane line and the obstacle is not less than a preset obstacle avoidance distance.

In one possible design, the computer program stored in the memory, when executed by the processor, causes the lane marking apparatus to further perform: if the fact that the minimum distance between the at least two first lane lines and the obstacle is not smaller than the preset obstacle avoidance distance is determined, a reference first lane line is selected from the at least two first lane lines, one side area is selected from two side areas of the reference first lane line to serve as a target obstacle avoidance area, at least one control point, the distance between the at least one control point and the obstacle is not smaller than the preset obstacle avoidance distance, is selected in the target obstacle avoidance area, a second lane line, the minimum distance between the at least one control point and the obstacle is not smaller than the preset obstacle avoidance distance, is determined according to the driving-in point, the at least one control point and the driving-out point, and the second lane line is marked on the map.

It should be understood that, regarding the specific implementation process of re-determining the second lane line in the sixth aspect, reference may be directly made to the corresponding design in the first aspect, and details are not repeated here.

In a seventh aspect, the present application provides a lane marking device, including a processor and a communication interface, where the communication interface is configured to receive a signal from a communication device other than the lane marking device and transmit the signal to the processor or send the signal from the processor to the communication device other than the lane marking device; the processor is used to implement the method as designed by any one of the above first aspect by logic circuits or executing code instructions.

In an eighth aspect, the present application provides a lane marking device, including a processor and a communication interface, where the communication interface is configured to receive signals from other communication devices except the lane marking device and transmit the signals to the processor or send the signals from the processor to other communication devices except the lane marking device; the processor is used to implement the method as designed by any one of the above second aspect by logic circuits or executing code instructions.

In a ninth aspect, the present application provides a lane marking apparatus comprising a processor coupled to a memory, the memory being configured to store a computer program, and the processor being configured to execute the computer program stored in the memory, so as to cause the lane marking apparatus to perform the method as designed in any one of the first aspect.

In a tenth aspect, the present application provides a lane marking apparatus comprising a processor coupled to a memory, the memory being configured to store a computer program, and the processor being configured to execute the computer program stored in the memory, so as to cause the lane marking apparatus to perform the method as set forth in any one of the second aspects.

In an eleventh aspect, the present application provides a lane marking apparatus comprising a processor and a memory, the memory storing computer program instructions, the processor executing the computer program instructions to implement the method as designed in any one of the first aspects above.

In a twelfth aspect, the present application provides a lane marking apparatus comprising a processor and a memory, the memory storing computer program instructions, the processor executing the computer program instructions to implement the method as set forth in any of the second aspects above.

In a thirteenth aspect, the present application provides a vehicle, where the vehicle acquires an environment image and constructs a point cloud map, and marks a lane line on the point cloud map according to the method as set forth in any one of the first aspect or the second aspect.

In a fourteenth aspect, the application provides a vehicle networking system, which includes a vehicle and a drawing device, wherein the vehicle collects an environment image and then sends the environment image to the drawing device, and the drawing device constructs a point cloud map by using the environment image and marks a lane line on the point cloud map according to the method designed in any one of the first aspect or the second aspect.

In a fifteenth aspect, the present application provides a chip, which may include a processor and an interface, the processor being configured to read instructions through the interface to perform a method as set forth in any one of the designs of the first aspect or to perform a method as set forth in any one of the designs of the second aspect.

In a sixteenth aspect, the present application provides a computer readable storage medium having stored thereon a computer program for carrying out the method as set forth in any of the above first aspects or for carrying out the method as set forth in any of the above second aspects, when the computer program is run.

In a seventeenth aspect, the present application provides a computer program product implementing the method as designed in any one of the first aspects above, or implementing the method as designed in any one of the second aspects above, when the computer program product is run on a processor.

For the beneficial effects of the designs in the second aspect to the seventeenth aspect, please refer to the technical effects that can be achieved by the corresponding design in the first aspect, and the detailed description is omitted here.

Drawings

FIG. 1 illustrates a schematic diagram of one possible system architecture to which embodiments of the present application are applicable;

fig. 2 schematically illustrates a flow chart of a lane marking method provided in an embodiment of the present application;

fig. 3 is a schematic diagram illustrating a situation of an intersection of an entry point and an exit point provided by an embodiment of the present application;

fig. 4 schematically illustrates a flow chart of a lane marking method provided in the second embodiment of the present application;

fig. 5 is a schematic drawing flow chart of a left-turn lane line provided in an embodiment of the present application;

fig. 6 schematically illustrates a flow chart of a lane marking method provided in the third embodiment of the present application;

fig. 7 is a schematic drawing flow chart of a left-turn lane line provided in an embodiment of the present application;

FIG. 8 is a schematic diagram illustrating a flow chart for marking a turning lane line in an intersection according to an embodiment of the present application;

fig. 9 is a schematic flow chart for marking a turning lane line in an intersection according to an embodiment of the present application;

fig. 10 is a schematic flow chart illustrating a straight lane marking in an intersection according to an embodiment of the present disclosure;

fig. 11 is a schematic flow chart illustrating another method for marking a straight lane line in an intersection according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram schematically illustrating a lane marking device according to an embodiment of the present disclosure;

fig. 13 is a schematic structural diagram schematically illustrating another lane marking device provided in an embodiment of the present application.

Detailed Description

It should be noted that the lane marking scheme in the embodiment of the present application may be applied to a vehicle networking, such as vehicle-to-all (V2X), long term evolution-vehicle (LTE-V) for vehicle-to-vehicle (vehicle-to-vehicle), and the like. For example, the method can be applied to a vehicle with a lane marking function, or other devices with a lane marking function in the vehicle. Such other devices include, but are not limited to: the lane marking method comprises the following steps that a vehicle can pass through other sensors such as the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted unit, the vehicle-mounted radar or the vehicle-mounted camera, and the vehicle can pass through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the vehicle-mounted camera to implement the lane marking method. Of course, the lane marking scheme in the embodiment of the present application may also be used in other intelligent terminals with a lane marking function besides a vehicle, or be arranged in a component of the intelligent terminal. The intelligent terminal can be other terminal equipment such as intelligent transportation equipment, intelligent home equipment and robots. Including but not limited to, for example, a smart terminal or other sensor such as a controller, chip, radar or camera within a smart terminal, and other components.

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described below are only a few embodiments of the present application, and not all embodiments. In the following description, the drawing apparatus may also be replaced by another device having a lane marking function, or a component or a chip in another device, which is not specifically limited in this embodiment of the present application.

Fig. 1 is a schematic diagram of a possible system architecture to which an embodiment of the present application is applicable, and the system architecture shown in fig. 1 includes an acquisition vehicle 110 and a mapping device 120. The capture vehicle 110 refers to a vehicle having an image capture function, and the image capture function may be implemented by a sensor component such as a vehicle-mounted camera or a vehicle-mounted radar provided thereon. The drawing device 120 may refer to an apparatus, a device, or a chip having an image processing function, and may include a physical device such as a host or a processor, a virtual device such as a virtual machine or a container, and a chip or an integrated circuit. Of course, the vehicle may also be used, for example, the capturing vehicle 110 autonomously completes the whole process of image capturing and mapping. In the car networking, mapping device 120 may generally be a car networking server, which is also referred to as a cloud server, a cloud end server, or a cloud end controller, and the car networking server may be a single server, or a server cluster formed by multiple servers, which is not limited specifically.

It should be understood that the embodiment of the present application does not limit the number of the collection vehicles 110 and the number of the mapping devices 120 in the system architecture. Generally, one mapping device 120 may be connected to multiple collection vehicles 110 at the same time (e.g., connected to 3 collection vehicles 110 at the same time as illustrated in fig. 1), so that the mapping device 120 can efficiently create a global high-precision map using different loop data collected by the multiple collection vehicles 110 in parallel. In addition, besides the collection vehicle 110 and the mapping device 120, the system architecture applicable to the embodiment of the present application may further include other devices, such as a core network device, a wireless relay device, a wireless backhaul device, and the like, which is not limited in this embodiment of the present application. Furthermore, the drawing device 120 in the embodiment of the present application may integrate all functions into one independent physical device, or may deploy different functions onto a plurality of independent physical devices, which is not limited to this embodiment of the present application.

In implementation, mapping device 120 may combine collection vehicle 110 to produce a high-precision map for guiding vehicle traffic. In implementation, a surveying and mapping staff drives or remotely controls the collection vehicle 110 to run along all the loops in the city, the collection vehicle 110 calls a vehicle-mounted camera to shoot the surrounding environment in the running process to obtain camera data, calls a laser radar to sense the surrounding environment to obtain laser radar data, and reports the camera data and the laser radar data to the mapping device 120 together. The drawing device 120 projects the camera data onto the lidar data, refines the lidar data to remove abnormal values caused by meteorological information such as light in the camera data, constructs a point cloud map by using a three-dimensional modeling algorithm in combination with the processed camera data, and marks structural information of traffic entities such as lanes, traffic markers, traffic lights and virtual lane lines on the point cloud map to obtain a high-precision map. The virtual lane line marked on the point cloud map may include one or two of the two side lines of the lane, or may include a line located between and parallel to the two side lines of the lane, such as a center line of the lane. By marking the virtual lane lines on the point cloud map, vehicles using the high-precision map can be driven in the center of the lane as much as possible in the passing process, the road boundary or the lane boundary is prevented from being touched, and the driving safety distance is maintained as much as possible.

In an automatic lane line labeling scheme, the drawing device 120 first calls drawing software to automatically label lane lines according to entry points and exit points on a point cloud map, and then displays the lane lines for an adjuster to check, and the adjuster artificially adjusts the lane lines to be non-intersected when finding that the automatically labeled lane lines are intersected with obstacles. It can be seen that although the automatic labeling scheme can mark an accurate lane line, at least two steps of drawing software labeling and manual adjustment need to be executed before labeling, which is not beneficial to improving the efficiency of marking the lane line. That is to say, the automatic labeling scheme cannot give consideration to the labeling efficiency and the labeling quality of the lane line at the same time.

The lane marking method in the embodiment of the application is used for automatically marking the lane lines which can directly avoid obstacles in the intersection in the point cloud map without manual participation in the intersection, so that the marking efficiency and the marking quality of the lane lines are considered at the same time. The present application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific methods of operation in the method embodiments may also be applied in the apparatus embodiments or the system embodiments. In the description of the present application, "at least one" means one or more, where a plurality means two or more. In view of this, a plurality may also be understood as "at least two" in the embodiments of the present application. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" generally indicates that the preceding and succeeding related objects are in an "or" relationship, unless otherwise specified.

It should be understood that the terms "first" and "second," and the like, in the description of the present application are used for descriptive purposes only and are not intended to indicate or imply relative importance. For example, the "first lane line" is a lane line to be determined, and the "second lane line" is a lane line re-determined when the distance between the first lane line and the obstacle does not satisfy the preset obstacle avoidance distance, where the two lane lines are only two lane lines determined successively in the process of marking the lane line, and it cannot be understood that the priority or importance degree of the two lane lines is different.

In addition, it should be understood that, in the following description, only the "label" is actually drawn on the point cloud map, and the "connection", "fitting", "drawing", "extension", or "reverse extension" and the like are not actually drawn, but are only preprocessing steps for the final "label". Also, in the following description, "fitting" refers to connecting a series of points on a plane with a smooth curve, and common fitting methods include, but are not limited to: least square curve fitting method, polynomial curve fitting method, interpolation curve fitting method, bezier curve fitting method or spline curve fitting method, etc.

[ EXAMPLES one ]

Fig. 2 schematically illustrates a flow chart of a lane marking method provided in an embodiment of the present application, where the method is applied to a mapping apparatus, such as the mapping apparatus 120 illustrated in fig. 1. As shown in fig. 2, the process includes the following steps:

step 201, the drawing device obtains an entry point of a vehicle entering the intersection and an exit point of the vehicle exiting the intersection.

In the embodiment of the present application, the entry point and the exit point may be specific to an intersection, for example, fig. 3 illustrates several possible situations of an entry point and an exit point provided in the embodiment of the present application: as shown in fig. 3 (a), the current intersection is an intersection, the entry point I may be an entry point for collecting the vehicle entering the intersection, and the exit point may be an exit point for collecting the vehicle exiting the intersection, such as a straight exit point O₁Or left-turn exit point O₂Or may be a right-turn exit point O₃(ii) a As shown in fig. 3 (B), the current intersection is a Y-shaped intersection, and the entry point may be an entry point for collecting the vehicle entering the Y-shaped intersection, for example, an entry point I on the left branch of the Y-shape₁Or may be Y-shaped and branch at the entry point I₂The exit point O can be an exit point of the collected vehicle exiting the Y-shaped intersection; alternatively, as shown in fig. 3 (C), the current intersection is an L-shaped intersection, and the entry point I may be a point where the vehicle is collected to enter the L-shaped intersectionThe entry point of the type crossing, the exit point O can be the exit point of the L-shaped crossing for collecting the vehicle to exit; alternatively, as shown in fig. 3 (D), the current intersection is a T-shaped intersection, the entry point I may be an entry point at which the collection vehicle enters the T-shaped intersection, and the exit point I may be an exit point at which the collection vehicle exits the T-shaped intersection, for example, a straight exit point O₁Or right-turn exit point O₃(ii) a Or, as shown in fig. 3 (E), the current intersection is a zigzag intersection, the entry point I may be an entry point where the collection vehicle enters the zigzag intersection, and the exit point O may be an exit point where the collection vehicle exits the zigzag intersection; still alternatively, as shown in fig. 3 (F), the current intersection is a 180 ° sharp intersection, the entry point I may be an entry point where the vehicle is collected to enter the 180 ° sharp intersection, and the exit point O may be an exit point where the vehicle is collected to exit the 180 ° sharp intersection. It should be understood that there are many possible situations where the entry point and the exit point are in different intersection scenarios, and they are not listed here.

It should be understood that, although the entry point and the exit point in the embodiment of the present application are directed to an intersection, the lane marking scheme shown in the present application may also be applied to a non-intersection, for example, a certain section of lane, and the present application is not limited to this.

In step 202, the mapping device determines a first lane line that moves from the entry point to the exit point.

In step 202, the first lane line may correspond to one of the two side lane boundaries, or to any one of the lane lines in the area formed by the two side lane boundaries, such as the lane center line. In an implementation, the mapping device may determine one or more first lane lines from the entry point and the exit point, and each of the one or more first lane lines may be determined by:

in a first mode, when the exit direction coincides with the entrance direction, the current lane may be a straight lane at the intersection as shown in (a) in fig. 3 or (D) in fig. 3, and the mapping device may directly connect the entrance point and the exit point by a straight line to obtain a first lane line, where the first lane line is a straight lane line.

In a second mode, when the exit direction is parallel to but not coincident with the entry direction, the current lane may be a right-turn sharp-turn lane as illustrated in (E) of fig. 3 or a left-turn sharp-turn lane as illustrated in (F) of fig. 3, and the mapping device may directly connect the entry point and the exit point by a straight line or a curved line to obtain a first lane line, which is a straight lane line or a curved lane line at this time. For example, considering that a straight line connecting the entry point and the exit point may cause the first lane line to intersect the lane boundary, resulting in the first lane line being unusable, the entry point and the exit point may preferably be connected by a curve located inside the lane to reduce the probability of the first lane line intersecting the lane boundary.

In a third mode, when the exit direction is not parallel to the entrance direction, the current lane may be a left-turn lane or a right-turn lane as illustrated in fig. 3 (a), 3 (B), 3 (C), or 3 (D), and the vehicle turns left or right in the current lane. Taking the intersection left-turn scene illustrated in fig. 3 (a) as an example, the drawing device may first extend the self-entry point I along the entry direction to obtain the virtual entry line (L)₁) Self-driving out point O₂The virtual outgoing line (L) is obtained by extending along the direction opposite to the outgoing direction₂) Determining a virtual driving-in line L₁And a virtual outgoing line L₂According to the entry point I, the intersection point P and the exit point O₂And fitting to obtain a first lane line. Wherein, the fitting method includes but is not limited to: at an entry point I, an intersection point P and an exit point O₂Randomly drawing straight lines or curves in the formed area; according to the entry point I, the intersection point P and the exit point O₂Drawing a second-order Bezier curve or a second-order spline curve; at entry point I, intersection point P and exit point O₂Randomly selecting W control points in the formed area according to the entry point I, the W control points and the exit point O₂And drawing a W +1 order Bessel curve or a W +1 order spline curve, wherein W is a positive integer. Preferably, the W control points may be selected as many as possible to be points outside the obstacle, so as to increase the probability that the first lane line does not intersect with the obstacle.

It should be noted that the above descriptions only describe some exemplary ways of determining the first lane line, and all ways of determining one or more first lane lines moving from the entry point to the exit point according to the entry point and the exit point are within the scope of the present application, and are not listed in the present application.

In step 203, the drawing device determines whether the minimum distance between the first lane line and the obstacle in the intersection is greater than or equal to a preset obstacle avoidance distance, if not, step 204 is executed, and if so, step 206 is executed.

In step 203, the mapping apparatus may calculate a minimum distance between each of the determined one or more first lane lines and the obstacle, and when there is at least one first lane line in the one or more first lane lines and the obstacle, it means that there is a target first lane line in the one or more first lane lines that can safely avoid the obstacle, so the mapping apparatus may mark the target first lane line on the map in the following manner in step 206, and when the distances between all the one or more first lane lines and the obstacle are not greater than or equal to the preset obstacle avoiding distance, it means that none of the one or more first lane lines can safely avoid the obstacle, so the mapping apparatus may redetermine a second lane line that can safely avoid the obstacle in the following manners in steps 204 to 205.

In the embodiment of the present application, the minimum distance between one first lane line and an obstacle is greater than or equal to a preset obstacle avoidance distance, and may include any one of the following: when the first lane line is a lane sideline (also called a critical sideline) close to one side of the obstacle, the minimum distance between the first lane line and the obstacle is larger than or equal to a preset minimum obstacle avoidance interval; when the first lane line is a lane sideline far away from one side of the obstacle, the minimum distance between the first lane line and the obstacle is larger than or equal to the sum of the preset minimum obstacle avoidance interval and the preset lane width; when the first lane line is the lane center line, the minimum distance between the first lane line and the obstacle is greater than or equal to the sum of the preset minimum obstacle avoidance interval and 1/2 times of the preset lane width. The preset minimum obstacle avoidance distance is used for indicating the minimum distance between the vehicle and the obstacle in the driving process, and can be set to be a value larger than or equal to 0. When the preset minimum obstacle avoidance distance is 0, that is, the map requires that the driving area and the obstacle do not intersect. When the preset minimum obstacle avoidance distance is larger than 0, namely, the map requires that the driving area and the obstacle do not intersect, and also requires that a certain safety distance is reserved between a critical sideline of the driving area and the obstacle.

Corresponding to the above, the minimum distance between one first lane line and the obstacle is not greater than or equal to the preset obstacle avoidance distance, and may include any one of the following: under the condition that the preset minimum obstacle avoidance distance is 0, the first lane line is intersected with the obstacle; or the first lane line intersects with the obstacle under the condition that the preset obstacle avoidance distance is larger than 0, or the first lane line does not intersect with the obstacle but the minimum distance between the first lane line and the obstacle is smaller than the preset obstacle avoidance distance.

For example, with reference to fig. 3 (a), assuming that the preset minimum obstacle avoidance interval is 30cm and the preset lane width is 750 cm, when the left side of the obstacle at the intersection is avoided: the right side lane sideline of the left-turn lane is a critical sideline, the minimum distance between the right side lane sideline and the obstacle is more than or equal to 30cm, and if the first right side lane sideline to be determined is intersected with the obstacle or the distance between the first right side lane sideline and the obstacle is less than 30cm, the second right side lane sideline needs to be determined again; the minimum distance between the left lane borderline and the obstacle should be greater than or equal to 780 cm (i.e. 30cm +750 cm), if the first left lane borderline to be determined intersects with the obstacle or is less than 780 cm away from the obstacle, the second left lane borderline needs to be re-determined; the minimum distance of the center lane line from the obstacle should be greater than or equal to 405 cm (i.e., 30cm +750/2 cm), and if the first center lane line to be determined intersects the obstacle or is less than 405 cm from the obstacle, the second center lane line needs to be re-determined. In the case of avoidance of the right side of an obstacle in an intersection: the left lane sideline of the left-turn lane is a critical sideline, namely the minimum distance between the left lane sideline and the obstacle is more than or equal to 30cm, if the first left lane sideline to be determined is intersected with the obstacle or the distance between the first left lane sideline and the obstacle is less than 30cm, the second left lane sideline needs to be determined again; the minimum distance between the right side lane borderline and the obstacle should be greater than or equal to 780 cm (i.e. 30cm +750 cm), if the first right side lane borderline to be determined intersects with the obstacle, or the distance from the obstacle is less than 780 cm, the second right side lane borderline needs to be determined again; the minimum distance of the center lane line from the obstacle should be greater than or equal to 405 cm (i.e., 30cm +750/2 cm), and if the first center lane line to be determined intersects the obstacle, or is less than 405 cm away from the obstacle, the second center lane line needs to be re-determined.

And 204, selecting one side area from the areas on the two sides of the first lane line as a target obstacle avoidance area by the drawing equipment, selecting at least one control point with the distance from the obstacle being not less than the preset obstacle avoidance distance in the target obstacle avoidance area, determining a second lane line according to the entry point, the at least one control point and the exit point, wherein the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance.

In step 204, the target obstacle avoidance area may be randomly selected from two side areas of the first lane line, or may be a side of the two side areas of the first lane line, which is farther from the obstacle, so as to quickly determine the second lane line again on the side where the first lane line is deviated, or may be indicated by the obstacle, which is not limited specifically. The points with the distance from the obstacle larger than the preset obstacle avoidance distance are selected as the control points in the intersection, so that the success probability of determining the second lane line meeting the obstacle avoidance requirement at one time is improved, and the frequency of re-determining the second lane line is reduced. For a specific implementation process of determining the second lane line, please refer to the following third embodiment, which will not be described in detail herein.

It should be understood that the selection of a control point in the intersection to re-determine the second lane line is an alternative embodiment. In another optional implementation manner, the drawing device may further offset the first lane line toward a certain side area of the first lane line until the minimum distance between the offset first lane line and the obstacle is not less than a preset obstacle avoidance distance, and use the offset first lane line as the second lane line. The first lane line may be the entire first lane line between the entry point and the exit point, or only the first lane line that intersects with the obstacle or has a distance smaller than a preset obstacle avoidance distance on the first lane line, which is not specifically limited.

Step 205, the drawing device marks a second lane line on the map.

For example, after determining the second lane line, the mapping device may further determine other lane borders or lane center lines other than the second lane line according to a preset lane width, and mark the second lane line, the other lane borders, and the lane center lines on the map. For example, as shown in fig. 3 (a), assuming that the second lane line is a lane center line, after determining the second lane line, the mapping apparatus may further translate (and make some adjustment) the second lane line to the left of the second lane line by 1/2 times of the preset lane width to obtain a left lane boundary, translate (and make some adjustment) the second lane line to the right of the second lane line by 1/2 times of the preset lane width to obtain a right lane boundary, and label the second lane line, the left lane boundary, and the right lane boundary on the map. Or, under the condition that the second lane line is obtained by re-fitting according to the one or more control points, the mapping device may further translate the one or more control points to the left by 1/2 times of the preset lane width to obtain the one or more control points corresponding to the left lane line, fit the left lane line according to the entry point, the one or more control points and the exit point corresponding to the left lane line, determine the one or more control points corresponding to the right lane line by translating the one or more control points to the right by 1/2 times of the preset lane width, fit the right lane line according to the entry point, the one or more control points and the exit point corresponding to the right lane line, and label the first lane line, the left lane line and the right lane line on the map.

Step 206, the mapping device marks a first lane line on the map.

In step 206, when at least two first lane lines of the one or more first lane lines determined by the mapping device have minimum distances to the obstacle that are greater than or equal to the preset obstacle avoidance distance, the mapping device may select one of the at least two first lane lines as a target first lane line randomly or according to a certain rule, determine other lane lines or lane center lines according to the target first lane line and the preset lane width, and label the target first lane line, the other lane lines, and the lane center lines on the map together. For a specific implementation process of selecting the target first lane line, reference is made to the following second embodiment, which will not be described here.

In the first embodiment, the second lane line capable of safely bypassing the obstacle is re-determined under the condition that the first lane line to be determined cannot safely bypass the obstacle, so that the second lane line with accurate obstacle avoidance capability can be directly marked on the map, and the marking quality and marking efficiency of the lane line can be effectively improved without depending on manual marking or manual secondary adjustment. Furthermore, under the condition that the first lane line does not meet the labeling requirement, the control point, with the distance from the obstacle being larger than or equal to the preset obstacle avoidance distance, is selected in the area on one side of the first lane line and serves as a reference for determining the second lane line, the probability of determining the second lane line meeting the obstacle avoidance distance requirement can be improved, and the success rate of labeling the lane line is improved.

It should be noted that the above embodiment is only described by taking a common obstacle as an example. In another alternative embodiment, the obstacle may also be an obstacle having an intersection indication function, and the obstacle having the intersection indication function indicates that the vehicle avoids the obstacle on the side of the target obstacle avoidance area. That is, the lane line marked on the map needs to be located on one side of the target obstacle avoidance area. In this case, the drawing device may further complete the lane marking scheme in the first embodiment in combination with the type of the obstacle, and the specific implementation process includes any one of the following:

according to the first scheme, the drawing equipment firstly identifies the type of an obstacle, and if the obstacle is an obstacle with a rule crossing indication function: determining a first lane line at one side of a target obstacle avoidance area indicated by an obstacle with an intersection indication function, re-determining a second lane line at one side of the target obstacle avoidance area, wherein the minimum distance between the second lane line and the obstacle is greater than or equal to the preset obstacle avoidance distance, and marking the second lane line on a map when the first lane line is intersected with the obstacle or the minimum distance between the first lane line and the obstacle is less than the preset obstacle avoidance distance; and when the minimum distance between the first lane line and the obstacle is greater than or equal to the preset obstacle avoidance distance, directly marking the first lane line on the map. If the obstacle is a common obstacle: and randomly determining a first lane line, judging whether the first lane line is intersected with the obstacle or not or whether the minimum distance between the first lane line and the obstacle is smaller than a preset obstacle avoidance distance or not, if yes, re-determining a second lane line, the minimum distance between the second lane line and the obstacle is larger than or equal to the preset obstacle avoidance distance, in one of the two side areas of the first lane line, marking the second lane line on the map, and if not, directly marking the first lane line on the map.

According to the second scheme, the drawing equipment randomly fits the first lane line, then identifies the type of the obstacle, and if the obstacle is an obstacle with a crossing indication function, the following steps are performed: and judging whether the first lane line is positioned on one side of the target obstacle avoidance area and the minimum distance between the first lane line and the obstacle is greater than or equal to the preset obstacle avoidance distance, if so, marking the first lane line on the map, otherwise, redetermining the second lane line, the minimum distance between the second lane line and the obstacle is greater than or equal to the preset obstacle avoidance distance, on one side of the target obstacle avoidance area, and marking the second lane line on the map. If it is a common obstacle: and judging whether the minimum distance between the first lane line and the obstacle is greater than or equal to the preset obstacle avoidance distance or not, if not, re-determining a second lane line with the minimum distance between the first lane line and the obstacle being greater than or equal to the preset obstacle avoidance distance in one of the two side areas of the first lane line, marking the second lane line on the map, and if so, marking the first lane line on the map.

Taking the above-mentioned scheme two as an example, a specific implementation process of the lane marking method is further described based on the second embodiment and the third embodiment.

[ example two ]

Fig. 4 schematically illustrates a flow chart of a lane marking method provided in embodiment two of the present application, where the method is applied to a mapping device, such as the mapping device 120 illustrated in fig. 1. As shown in fig. 4, the process includes the following steps:

step 401, the drawing device obtains an entry point of a vehicle entering the intersection and an exit point of the vehicle exiting the intersection.

Step 402, the drawing device selects at least two control points in the intersection, and determines Q first lane lines moving from the entry point to the exit point according to the entry point, the exit point and the at least two control points, wherein Q is an integer greater than or equal to 2, and any two of the Q first lane lines use different control points.

For example, the drawing device may randomly select Q control points from the intersection, and draw a second-order bezier curve or a second-order spline curve according to the entry point, each of the Q control points, and the exit point to obtain Q first lane lines. The control points can be selected as many as possible, for example, 5 or more than 5 points are selected at one time, and points with the distance from the edge of the obstacle larger than or equal to the preset obstacle avoidance distance can be selected as much as possible, so that a first lane line meeting the preset obstacle avoidance distance requirement can be fitted as much as possible, and the marking efficiency of the lane line is improved. In addition, considering that the finally marked lane lines are matched with the types of the obstacles, the Q first lane lines can be uniformly distributed in the areas on two sides of the obstacles as much as possible, so that the probability of selecting the first target lane line meeting the target obstacle avoidance area indicated by any type of obstacle from the Q first lane lines is improved, the probability of re-determining the second lane line is reduced, and the marking efficiency of the lane lines is further improved.

For example, fig. 5 exemplarily illustrates a drawing flow diagram of a left-turn lane line provided in an embodiment of the present application, and as shown in fig. 5, the left-turn lane line in this example corresponds to a right lane borderline of a left-turn lane. In practice, the drawings are drawnThe device can first draw a virtual entry line L from the entry point I in the entry direction₁Drawing a virtual outgoing line L from the outgoing point O in the opposite direction of the outgoing direction₂Will virtually drive into line L₁And a virtual outgoing line L₂The intersection point P is used as a control point, and a first lane line K is drawn according to the entry point I, the control point P and the exit point O₁₁. The mapping device may then follow the first lane line K₁₁Randomly selecting control points on both sides of the drawing line, e.g. from the first track line K₁₁Randomly selecting three control points on the left side, and respectively drawing a first lane line K according to the entry point I, the three control points and the exit point O₁₂First lane line K₁₃And a first lane line K₁₄From the first lane line K₁₁Randomly selecting two control points on the right side, and respectively drawing a first lane line K according to the entry point I, the two control points and the exit point O₁₅And a first lane line K₁₆. So far, the drawing equipment draws 6 first lane lines K₁₁～K₁₆。

Step 403, the mapping device determines the type of obstacle in the intersection:

if the obstacle in the intersection is an obstacle with a crossing instruction function, executing step 404;

if the obstacle at the intersection is an obstacle having no crossing instruction function, step 405 is executed.

In step 404, the drawing device determines whether a target first lane line, which is located in a target obstacle avoidance area indicated by an obstacle having an intersection indication function and has a distance to the obstacle not less than a preset obstacle avoidance distance, exists in the Q first lane lines, if so, step 406 is executed, and if not, step 407 is executed.

In the

above steps

403 and 404, the obstacle having the traffic rule indicating function may include, for example, a traffic circle, a sentry box, a donut or a rotary island. For example, a carrousel typically indicates that a vehicle to turn left turns left on the left side of the carrousel, indicates that a vehicle to turn right turns right on the right side of the carrousel: if the first lane line corresponds to a left-turn lane line, the drawing device may select, as a target first lane line, a first lane line that is located on the left side of the obstacle and has a minimum distance from the obstacle that is greater than or equal to a preset obstacle avoidance distance from the Q first lane lines; if the first lane line corresponds to a right-turn lane line, the drawing device may select, as the target first lane line, a first lane line that is located on the right side of the obstacle and has a minimum distance from the obstacle that is greater than or equal to a preset obstacle avoidance distance from the Q first lane lines. For another example, the roundabout indicates that the vehicle unidirectionally travels around the roundabout to the exit in the counterclockwise direction to exit, so that whether the first lane line is a left-turn lane line, a right-turn lane line, or a straight lane line, the drawing device needs to select, as the target first lane line, a first lane line that is located on the right side of the obstacle and has a minimum distance to the obstacle greater than or equal to a preset obstacle avoidance distance from the Q first lane lines.

Illustratively, with continued reference to FIG. 5, of the 6 first lane lines, a first lane line K₁₁First lane line K₁₂And a first lane line K₁₅The three first lane lines are intersected with the obstacle, and the minimum distance between the three first lane lines and the obstacle is necessarily smaller than the preset obstacle avoidance distance, so that the drawing equipment can eliminate the three lane lines firstly. Among the remaining three first lane lines, the first lane line K₁₃And a first lane line K₁₄On the left side of the obstacle, a first lane line K₁₆On the right side of the obstacle, assuming a first lane line K₁₃The minimum distance between the obstacle and the first lane line K is less than the preset obstacle avoidance distance₁₄And a first lane line K₁₆The minimum distance between the obstacle and the obstacle is greater than the preset obstacle avoidance distance, then: when the obstacle is a traffic lane, since the first lane line is a left-turn lane line, the drawing device may draw the first lane line K located on the left side of the obstacle₁₃And a first lane line K₁₄The first lane line K with the minimum distance from the obstacle larger than the preset obstacle avoidance distance is selected₁₄As a target first lane line; when the obstacle is a roundabout, the drawing device may be configured to set a first lane line K, which is located on the right side of the obstacle and has a minimum distance to the obstacle greater than a preset obstacle avoidance distance₁₆As a target first lane line.

Step 405, the drawing device determines whether a target first lane line whose distance from the obstacle is not less than a preset obstacle avoidance distance exists in the Q first lane lines, if so, step 406 is executed, and if not, step 407 is executed.

In the

above steps

403 and 405, the obstacles without the intersection indication function may include, for example, a general obstacle obstructing the vehicle from traveling, a center circle prohibiting the vehicle from traveling, a road marking, a high-speed fence, or the like, and the vehicle only needs to go around these obstacles during traveling, regardless of the direction of the detouring. In this case, with continued reference to FIG. 5, the mapping device may first exclude the first lane line K intersecting the obstacle₁₁、K₁₂And K₁₅And calculating the remaining three first lane lines K₁₃、K₁₄And K₁₆And the minimum distance between the obstacle and the first lane line K is found by comparing the calculated three minimum distances with the preset obstacle avoidance distance₁₄Minimum distance to obstacle and first lane line K₁₆The minimum distance between the first lane line K and the obstacle is larger than the preset obstacle avoidance distance₁₃The minimum distance to the obstacle is less than the preset obstacle avoidance distance, so that the drawing equipment can draw from the first lane line K₁₄And a first lane line K₁₆To select a target first lane line.

Step 406, the mapping device marks the target first lane line on the map.

In step 406, as shown in fig. 5, the determined target lane line is assumed to be the first lane line K₁₄If the target lane line actually corresponds to the right lane sideline of the left-turn lane, the drawing device may further map the first lane line K to mark the most detailed and comprehensive lane line in the map₁₄Translating the preset lane width to the left side to obtain a left lane sideline (not shown in figure 5) of the left-turn lane, and then connecting the left lane sideline with the first lane line K₁₄Are marked on the map. Or the drawing equipment can also be used for drawing according to the left lane sideline and the first lane line K₁₄Determining the central lane line of the left-turn lane, and arranging the side line of the left lane and the first laneLine K₁₄And the center lane line are marked on the map.

In an optional implementation manner, if at least two first lane lines with a minimum distance greater than or equal to a preset obstacle avoidance distance exist in the target obstacle avoidance area in step 404, or at least two first lane lines with a minimum distance greater than or equal to a preset obstacle avoidance distance exist in the Q first lane lines in step 405, the drawing device may select a suitable first lane line from the at least two first lane lines as the target first lane line. Among them, the selection methods include but are not limited to: selecting a first lane line with the shortest route so that the vehicle can bypass the obstacle as soon as possible; selecting a first lane line furthest from the obstacle to further reduce the risk of the vehicle colliding with the obstacle during the vehicle passing by the obstacle; selecting a first lane line closest to the obstacle to reduce the probability that the vehicle collides with the vehicle on the same side or the opposite side in the process of bypassing the obstacle; randomly selecting a first lane line; select a first lane line in the middle, etc. It should be understood that the present application is not limited to the above selection modes, and in actual operation, the mapping device may also determine which selection mode to use according to a specific traffic condition. For example, when a left-turn lane line is marked at an intersection of two-way lanes in a map, the mapping device may further select a first lane line located on the right side of the obstacle as a second lane line as much as possible, so as to reduce the probability that the vehicle collides with an opposite-side straight-going vehicle in the left-turn process, and improve the safety of left-turn.

Step 407, the drawing device re-determines a second lane line, and marks the second lane line on the map, wherein the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance.

In implementation, if there is no first lane line in the target obstacle avoidance area in step 404, or all first lane lines in the target obstacle avoidance area in step 404 intersect with the obstacle, or the minimum distance from the target obstacle avoidance area to the obstacle is smaller than the preset obstacle avoidance distance, or Q first lane lines in step 405 intersect with the obstacle, or the minimum distance from the target obstacle avoidance area to the obstacle is smaller than the preset obstacle avoidance distance, the mapping device may use any one of the Q first lane lines as a reference first lane line, and redetermine the second lane line depending on the reference first lane line. The first reference lane line can be selected as far as possible from the first reference lane line with the poor condition, so that the effective referential performance of the first reference lane line is improved. For the implementation process of re-determining the second lane line, please refer to the third embodiment below, which will not be described first.

In the second embodiment, the probability that the drawing equipment directly selects the target first lane line meeting the requirement from the plurality of first lane lines can be improved by fitting the plurality of first lane lines in advance, the second lane line can not be determined again, the mode not only contributes to improving the efficiency of marking the lane lines, but also can mark the target first lane line with the obstacle avoidance function in the map, and the quality and the accuracy of marking the lane lines are effectively improved. In addition, different marking methods are adopted for different types of obstacles, so that the target first lane line marked on the map can meet the obstacle avoidance requirements of the corresponding obstacles, and the accuracy of map marking is effectively improved.

[ EXAMPLE III ]

Fig. 6 schematically illustrates a flowchart of a lane marking method provided in the third embodiment of the present application, where the method is applied to a mapping apparatus, such as the mapping apparatus 120 illustrated in fig. 1. As shown in fig. 6, the process includes the following steps:

step 601, the drawing device obtains an entry point of a vehicle entering the intersection and an exit point of the vehicle exiting the intersection.

In step 602, the mapping device determines a first lane line moving from an entry point to an exit point.

In step 602, the mapping device may only fit a first lane line. Fig. 7 exemplarily shows a drawing flow chart of a left-turn lane line provided by an embodiment of the present application, as shown in fig. 7 (a) and fig. 7 (B), a first lane line in this example corresponds to a right lane borderline of a left-turn lane. In one embodiment, the drawing device can initially move from the entry point I in the entry directionDrawing a virtual driving line L₁Drawing a virtual exit line L from the exit point O in the direction opposite to the exit direction₂Based on the entry point I and the virtual entry line L₁And a virtual outgoing line L₂Drawing a second-order Bezier curve or a second-order spline curve by the intersection point P and the driving-out point O to obtain a first lane line K₁. It should be noted that, when the position of the obstacle is different, the first lane line K is different₁The positional relationship with the obstacle may also be different, for example: obstacle J shown in FIG. 7 (A)₁Compared with the obstacle J illustrated in (B) of FIG. 7₂To the left, this results in the same first lane line K₁And an obstacle J schematically shown in FIG. 7 (A)₁Intersect with the obstacle J shown in FIG. 7 (B)₂Are not intersected.

Step 603, the drawing device determines the type of the obstacle in the intersection:

if the obstacle in the intersection is an obstacle without the intersection specification indicating function, executing step 604;

if the obstacle in the intersection is an obstacle having a traffic regulation indicating function, step 606 is executed.

Step 604, the drawing device determines whether the minimum distance between the first lane line and the obstacle is smaller than a preset obstacle avoidance distance, if so, step 605 is executed, and if not, step 609 is executed.

In step 604, when the preset obstacle avoidance distance is 0, the minimum distance between the first lane line and the obstacle is smaller than the preset obstacle avoidance distance, which means that: the first lane line intersects the obstacle as shown in fig. 7 (a). When the preset obstacle avoidance distance is greater than 0 (for example, 30 cm), the minimum distance between the first lane line and the obstacle is smaller than the preset obstacle avoidance distance, which means that: the first lane line intersects the obstacle, as shown in fig. 7 (a); alternatively, the first lane line does not intersect the obstacle but the minimum distance is less than 30cm, as shown in fig. 7 (B).

Step 605, the drawing device selects one side area as a target obstacle avoidance area in the two side areas of the first lane line, and then step 607 is executed.

In step 605, the drawing device may select the target obstacle avoidance area by any one of the following manners:

in a first mode, under the condition that the first lane line intersects with the obstacle, the obstacle is divided into two obstacle regions by the first lane line, and the drawing device can select a region where the obstacle region with the minimum farthest distance from the first lane line is located from the regions on the two sides of the first lane line as a target obstacle avoidance region. The realization process is as follows: continuing to refer to fig. 7 (a), assume a first lane line K₁Left side region of D₁Right region is D₂First lane line K₁With obstacle J₁Is point E₁And point E₂First lane line K₁Barrier J₁Divided into an obstacle region S and an obstacle region R, the drawing device can first find a distance line segment E on the edge of the obstacle region S₁E₂(in this context, line segment E₁E₂May refer to being located at point E₁And point E₂The first track line therebetween can also be referred to as a connection point E₁And point E₂Resulting straight line segment, not specifically limited) to the farthest point M_SSuppose point M_SAnd line segment E₁E₂Is point F, the obstacle area S and the first lane line K₁Is line segment M_SThe length of F. Correspondingly, the drawing apparatus can find the distance line segment E on the edge of the obstacle region R₁E₂Furthest point M_RSuppose point M_RAnd line segment E₁E₂Is point G, the obstacle region R and the first lane line K₁Is line segment M_RThe length of G. Due to line segment M_SF is shorter than line segment M_RG, so that the barrier region S is the first lane line K of the two barrier regions₁The drawing device draws the obstacle region from the first lane line K₁Two side regions D of₁And D₂One side region D where the target obstacle region S is selected₁And the target obstacle avoidance area is obtained.

In the first mode, the side area where the obstacle area with the minimum farthest distance from the first lane line is located is used as the target obstacle avoidance area, the second lane line can be obtained through a small deformation depending on the position relation between the first lane line and the obstacle, and the difficulty in refitting the second lane line is reduced. And the second lane line is drawn in the area which is farthest from the edge of the obstacle and closest to the edge of the obstacle, so that the second lane line is possibly shorter in length, the indication that the vehicle bypasses the obstacle as soon as possible through a shorter driving distance is facilitated, and the obstacle avoidance efficiency of the vehicle is improved.

In a second mode, under the condition that the first lane line does not intersect with the obstacle but the minimum distance is smaller than the preset obstacle avoidance distance, the drawing device may use, as the target obstacle avoidance area, an area that does not include the obstacle in the areas on both sides of the first lane line, for example, an area D illustrated in (B) in fig. 7₁。

It should be noted that the above description is only exemplary of two alternative embodiments. In other optional embodiments, the mapping device may also randomly select one side area from the two side areas of the first lane line as the target obstacle avoidance area, or may also use the one side area with the smallest area of the obstacle area included in the two side areas of the first lane line as the target obstacle avoidance area, or may also adopt different strategies according to a specific traffic scene. For example, considering that a straight-ahead vehicle is likely to collide with an opposite straight-ahead vehicle when the straight-ahead vehicle dodges on the left side of an obstacle, the drawing apparatus may also use the right area of the second lane line as the target obstacle avoidance area so as to mark the second lane line dodged around the right side of the obstacle in the map, thereby reducing the probability of the straight-ahead vehicle colliding with the opposite straight-ahead vehicle.

In step 606, the drawing device determines whether the first lane line is located in a target obstacle avoidance area indicated by an obstacle having an intersection indication function and the minimum distance between the first lane line and the obstacle is not less than a preset obstacle avoidance distance, if not, step 607 is executed, and if yes, step 609 is executed.

Illustratively, continuing to refer to (A) in FIG. 7, assume an obstacle J₁Is a traffic circle, then: the current correspondence is left-turn lane, and traffic circle indicatesShowing the vehicle waiting for left turn to turn left on the left side of the traffic circle, i.e. the target obstacle avoidance area indicated by the traffic circle is an obstacle J₁Left side area of, first lane line K₁Is not located at the obstacle J₁Instead of the left area of (c) with the obstacle J₁Intersect, thus the first lane line K₁The target is not positioned in the target obstacle avoidance area; and, the first lane line K₁With obstacle J₁Intersect, thus the first lane line K₁With obstacle J₁The minimum distance of the first lane line is smaller than the preset obstacle avoidance distance, and the drawing equipment needs to determine the second lane line again. Continuing to refer to fig. 7 (B), assume that obstacle J₂Is a rotary island, then: the current corresponding lane is a left-turn lane, the rotary island indicates that vehicles move to an exit position along the counterclockwise direction of the rotary island in a one-way mode, and therefore the target obstacle avoidance area indicated by the rotary island is an obstacle J₂And the first lane line K₁At the obstacle J₂Left side area of, thus the first lane line K₁Is not located in the target obstacle avoidance area, and therefore, even the first lane line K₁With obstacle J₂Without intersection, the mapping facility would also re-determine the second lane line.

And step 607, selecting at least one control point, the minimum distance of which to the obstacle is not less than the preset obstacle avoidance distance, from the target obstacle avoidance area by the mapping equipment, and fitting according to the entry point, the at least one control point and the exit point to obtain a second lane line.

In the above step 607, at least one control point may be: the drawing equipment draws a second-order Bezier curve or a second-order spline curve according to the entry point, the control point and the exit point to obtain a second lane line; or the drawing equipment draws a high-order Bezier curve or a high-order spline curve according to the entry point, the at least two control points and the exit point to obtain a second lane line.

In an alternative embodiment, continuing to refer to FIG. 7 (A), when the first lane line K is present₁Left side area D of₁When the target obstacle avoidance area is set, the drawing equipment can be firstly positioned in the target obstacle avoidance area D₁Finding the inner obstacle region STo the first lane line K₁Furthest point M_S(i.e., the first location point), and find point M_STo the first lane line K₁Foot F, point M_SStart to extend the line segment M in the opposite direction_SF to point N (i.e., the second location point), and let line segment M_SThe length of N is just equal to the preset obstacle avoidance distance. Through the steps, the drawing equipment is separated from the first lane line K on the barrier area S₁Furthest point M_SFor reference, an obstacle J is found₁Is exactly equal to the point N of the preset obstacle avoidance distance. Then, the mapping device may fit a second lane line based on the entry point I, the point N, and the exit point O in any one of the following manners:

in the first mode, the drawing equipment can directly take the point N as a control point, and draw a second-order Bezier curve or a second-order spline curve according to the entry point I, the control point N and the exit point O to obtain a second lane line.

Mode two, with continued reference to fig. 7 (a), the drawing device may draw a straight line L perpendicular to the line segment FN from the point N in both side directions₃(i.e., control line) of the line L₃And a virtual driving line L₁Has a cross point of C₁(a fifth position point) with the virtual outgoing line L₂Has a cross point of C₂(another fifth location point). The drawing device may draw point C₁Point N and point C₂As three control points, according to the entry point I and the control point C₁Control point N and control point C₂And fitting the driving-out point O to obtain a second lane line. For example, the control point C can be directly determined according to the entry point I and the control point C₁Control point N and control point C₂Drawing a fourth-order Bezier curve or a fourth-order spline curve with the driving-out point O to obtain a second lane line, or drawing a fourth-order Bezier curve or a fourth-order spline curve according to the driving-in point I and the control point C₁And drawing a second-order Bezier curve or a second-order spline curve as a first section of a second lane line according to the control point N and the control point C₂And drawing a second-order Bezier curve or a second-order spline curve as a second section of the second lane line by using the driving-out point O.

Mode three, a straight line L perpendicular to the line segment NF is made by the method in mode two₃The drawing apparatus may then proceed from line L₃Two points V respectively positioned at two sides of the point N are selected₁And point V₂(two fifth position points), point V₁Point N and point V₂As three control points, according to the entry point I and the control point V₁Control point N and control point V₂Drawing a fourth-order Bezier curve or a fourth-order spline curve by the driving point O to obtain a second lane line, or according to the driving point I and the control point V₁And drawing a second-order Bezier curve or a second-order spline curve as a first section of a second lane line according to the control point N and the control point V₂And drawing a second-order Bezier curve or a second-order spline curve as a second section of the second lane line by using the exit point O. Wherein the control point V₁And a control point V₂Can be uniformly selected from two sides of the point N, namely ensuring the line segment V₁N is equal to the length of the line segment V₂N, so that the mapping device can map a smoother second lane line based on the three control points that are distributed more evenly. Illustratively, the uniformly chosen manner may include, but is not limited to: straight line segment L from left side of control point N₃The distance from the upper selection to the control point N is exactly equal to the line segment E₁E₂The point of the length is taken as a control point V₁Straight line segment L from right side of control point N₃The distance from the upper selection to the control point N is exactly equal to the line segment E₁E₂The point of length is taken as a control point V₂(ii) a Selecting a line segment NC₁Is taken as a control point V₁Selecting a line segment NC₂Is taken as a control point V₂. Other options are of course possible and are not listed here.

Mode four, selecting control points V on both sides of the point N by the method in mode three₁And a control point V₂Then, if the smoothness of the second lane line is not considered, the smoothness can be determined according to the entry point I and the control point C₁And a control point V₁Drawing a second-order Bezier curve or a second-order spline curve as a first section of a second lane line, and controlling the point V₁Control point N and control point V₂Is taken as a second section of the second lane line according to the control point V₂Control point C₂And drawing a second-order Bezier curve or a second-order spline curve as a third section of the second lane line by using the driving-out point O. This way a second lane line can be obtained where the curved section is combined with the straight section.

In another alternative embodiment, continuing to refer to FIG. 7 (B), when the first lane line K is present₁Left side area D of₁When the obstacle avoidance area is the target, the drawing equipment can firstly get away from the obstacle J₂On find the first lane line K₁Nearest point M_U(i.e., third location point), and find point M_UTo the first lane line K₁Is perpendicular to foot X, self point M_UStart to extend the line segment M in the opposite direction_UX to point N (i.e., the fourth location point), and line segment M is drawn_UThe length of N is just equal to the preset obstacle avoidance distance. By the above steps, the drawing apparatus draws an obstacle J₂Upper distance first lane line K₁Nearest point M_UFor reference, find the obstacle J₂The distance of (a) is just equal to the point N of the preset obstacle avoidance distance, and then the mapping device may fit to obtain the second lane line based on the entry point I, the point N, and the exit point O in any of the above manners.

It should be noted that the above description is only exemplary of several possible fitting manners, and the application is not limited to using only these fitting manners. For example, in another possible fitting, continuing to refer to FIG. 7 (A), the charting device may also select from line segment FM_SAnd point M on the extension line_SA point (e.g., T in fig. 7) having a distance greater than the preset obstacle avoidance distance is used as the control point N in the above four cases, and the second lane line is drawn according to one of the above four cases. Alternatively, in another possible fitting manner, the drawing device may also directly select the entry point I and the control point M from the entry point I and the control point M_SAnd randomly selecting one or more control points with the distance to the obstacle larger than or equal to the preset obstacle avoidance distance in the area formed by the driving-out point O to draw a second lane line. There are many possible fitting ways, which are not listed here.

Step 608, the mapping device marks a second lane line on the map.

For example, with continued reference to fig. 7 (a), the currently determined second lane line corresponds to a right lane sideline of the left-turn lane, the mapping device may further determine at least one control point corresponding to the left lane sideline according to a preset lane width and at least one control point corresponding to the second lane line, and draw the left lane sideline by using the entry point, the at least one control point, and the exit point corresponding to the left lane sideline. The preset lane width may be a lane width of an entering lane or a lane width of an exiting lane, or may be a gradual change amount gradually changing from the lane width of the entering lane to the lane width of the exiting lane, so that the marked lane line can be applied to the lane after the vehicle exits.

And step 609, marking the first lane line on the map by the drawing equipment.

In the third embodiment, when the first lane line does not meet the marking requirement, the control point, the distance from which to the obstacle is greater than or equal to the preset obstacle avoidance distance, is selected in the area on one side of the first lane line and used as the reference for fitting the second lane line, so that the probability of fitting the second lane line meeting the obstacle avoidance distance requirement can be improved, and the success rate of marking the lane line is improved. In addition, different target obstacle avoidance areas are selected for different types of obstacles, the second lane line can be located in the area corresponding to the obstacle as much as possible, and accuracy of marking the lane line is effectively improved.

Some applications of the lane marking method are exemplarily described below based on different intersection situations. It is assumed hereinafter that the obstacles in the intersection are all common obstacles.

Crossroad situation one

Fig. 8 is a schematic diagram illustrating a flow chart of marking a turning lane line in an intersection according to an embodiment of the present application, as shown in fig. 8, in this example, a blank area represents the intersection, a strip area represents a crosswalk, and a rectangular obstacle exists at the lower right of the intersection:

in one case, the example can be seen as labeling the lane lines for left turns, i.e., vehicles entering the intersection from the left side of the figure and exiting the intersection from above the figure. In the implementation of the method, the first step of the method,the drawing device can firstly drive into the lane according to the left side of the drawing₁₁And an exit point B illustrating an upper exit lane₂₁Drawing a right side lane boundary L of the left-turn lane as illustrated in FIG. 8 (A)₁₁And according to the driving point B of the left driving lane in the figure₁₂And an exit point B illustrating an upper exit lane₂₂Drawing a left side lane boundary line L of the left-turn lane as illustrated in FIG. 8 (A)₁₂The comparison shows that the right side lane boundary L₁₁Left side lane boundary line L intersecting with obstacle₁₂Does not intersect with the obstacle and has a right side lane boundary L₁₁For the critical borderline in this case, the drawing device can therefore draw the right lane borderline L₁₁As a first lane line. Further, according to the obstacle by the first lane line L₁₁The areas of the two separated barrier regions are known and are located on the first lane line L₁₁The area of the obstacle region on the left side is smaller than the area of the obstacle region located on the right side of the first lane line, so the drawing apparatus determines the first lane line L₁₁The left area of the road is a target obstacle avoidance area and is arranged from a first lane line L₁₁At least one control point (not shown in fig. 8) with the minimum distance to the obstacle not less than the preset obstacle avoidance distance (e.g. 30 cm) is selected from the left area of (a), and the left driving lane is driven to the driving point B according to the figure₁₁At least one control point and an exit point B for exiting the lane above the diagram₂₁A second lane line L is drawn as illustrated in FIG. 8B₂₁The second lane line L₂₁Corresponding to the right lane borderline of the left-turn lane. Then, the right side lane boundary L is used₂₁Corresponding at least one control point, and the width of the entering lane or the width of the exiting lane, determining at least one control point corresponding to the left lane borderline of the left-turn lane, and utilizing the entering point B of the left entering lane shown in the figure₁₂At least one control point corresponding to the left lane boundary and an exit point B of the exit lane above the diagram₂₂A left side lane boundary line L is drawn as illustrated in FIG. 8 (B)₂₂. The right side lane edge L in this example₂₁And left side lane boundary line L₂₂Can indicate a left-turning vehicle to avoid the obstacle on the left side of the obstacleA compound (I) is provided.

In another case, the example can also be viewed as marking a right-turn lane line, i.e., a vehicle enters the intersection from above the diagram and exits the intersection from the left side of the diagram. In one embodiment, the mapping device can first enter the lane according to the entry point B above the representation₂₁And an exit point B illustrating a left exit lane₁₁Drawing a left side lane boundary L of the right-turn lane as illustrated in FIG. 8 (A)₁₁And according to the driving point B above the figure₂₂And an exit point B illustrating a left exit lane₁₂Drawing a right side lane boundary L of the right-turn lane as illustrated in FIG. 8 (A)₁₂The comparison shows that the left lane sideline L₁₁Right side lane boundary line L intersecting with obstacle₁₂Does not intersect with the obstacle, so that the left lane boundary L can be formed₁₁As a first lane line. According to the first lane line L of the obstacle₁₁The areas of the two separated barrier regions are known and are located on the first lane line L₁₁The area ratio of the right obstacle region is located on the first lane line L₁₁The area of the obstacle region on the left side is small, so the drawing apparatus determines the first lane line L₁₁The right area of (2) is a target obstacle avoidance area from a first lane line L₁₁Selecting at least one control point with the minimum distance to the obstacle not less than the preset obstacle avoidance distance in the right side area, and driving into the lane according to the driving point B above the graph₂₁At least one control point and an exit point B of the left exit lane of the figure₁₁A second lane line L is drawn as illustrated in fig. 8 (B)₂₁The second lane line L₂₁Corresponding to the left lane sideline of the right-turn lane. Then, the left side lane boundary L is used₂₁At least one control point corresponding to the lane width of the right turn lane or the lane width of the left turn lane is determined, and at least one control point corresponding to the right side lane boundary of the right turn lane is determined according to the entry point B of the left turn lane above the graph₂₂At least one control point corresponding to the right side lane boundary and an exit point B of the left exit lane shown in the figure₁₂A right side lane boundary L is drawn as illustrated in fig. 8 (B)₂₂. Left side lane boundary L in this example₂₁And the right side lane boundary line L₂₂A right-turning vehicle can be instructed to avoid the obstacle on the right side of the obstacle.

Situation of intersection two

Fig. 9 is a schematic diagram illustrating another exemplary flow chart for marking a turning lane line in an intersection according to an embodiment of the present application, as shown in fig. 9, in which a blank area in the example indicates the intersection, a strip area indicates a crosswalk, and a rectangular obstacle exists at a position above the center of the intersection:

in one case, the example can be viewed as labeling the lane lines for left turns, i.e., vehicles entering the intersection from the left side of the illustration and exiting the intersection from above the illustration. In one embodiment, the drawing device can first of all be driven into the lane according to the left-hand drive-in point B of the drawing₁₁And an exit point B for the exit lane above the figure₂₁Drawing a right side lane boundary L of the left-turn lane as illustrated in FIG. 9 (A)₁₁And according to the driving point B of the left driving lane in the figure₁₂And an exit point B illustrating an upper exit lane₂₂Drawing a left side lane boundary line L of the left-turn lane as illustrated in FIG. 9 (A)₁₂The comparison shows that the left side of the lane sideline L₁₂Right side lane boundary L intersecting the obstacle₁₁Left side lane boundary L not intersecting with obstacle₁₂For the critical borderline in this case, the drawing apparatus can thus draw the left lane borderline L₁₂As a first lane line. Further, according to the obstacle by the first lane line L₁₂The areas of the two separated barrier regions are known and are located on the first lane line L₁₂The area ratio of the right obstacle region is located on the first lane line L₁₂The area of the obstacle region on the left side is small, so the drawing apparatus determines the first lane line L₁₂The right area of the target obstacle avoidance area is an entrance point B of the left entrance lane according to the figure₁₂From the first lane line L₁₂And an exit point B of the exit lane above the figure₂₂A second lane line L is drawn as illustrated in fig. 9 (B)₂₂The second lane line L₂₂Corresponding to the left lane sideline of the left turn lane. Then, the left side lane boundary L is used₂₂Corresponding controlDetermining a control point corresponding to the right side lane sideline of the left-turn lane according to the point and the preset lane width, and according to the driving point B of the left driving lane shown in the figure₁₁A control point corresponding to the right side lane boundary and a driving-out point B of the driving-out lane above the figure₂₁A right side lane boundary L is drawn as illustrated in fig. 9 (B)₂₁. The right side lane edge L in this example₂₁And left side lane boundary line L₂₂A left-turning vehicle can be instructed to avoid the obstacle on the right side of the obstacle.

In another case, the example can also be viewed as marking a right-turn lane line, i.e., a vehicle enters the intersection from above the diagram and exits the intersection from the left side of the diagram. In one embodiment, the mapping device can first enter the lane according to the entry point B above the representation₂₁And an exit point B illustrating a left exit lane₁₁Drawing a left side lane boundary line L of the right-turn lane as illustrated in FIG. 9 (A)₁₁And according to the driving point B above the figure₂₂And an exit point B illustrating a left exit lane₁₂Drawing a right side lane boundary L of the right-turn lane as illustrated in FIG. 9 (A)₁₂The comparison shows that the right side lane boundary L₁₂Left side lane boundary line L intersecting with obstacle₁₁Does not intersect with the obstacle, so that the right side lane boundary L can be formed₁₂As a first lane line. According to the first lane line L of the obstacle₁₂The areas of the two separated barrier regions are known and are located on the first lane line L_{12 left side}Is located on the first lane line L₁₂The area of the obstacle region on the right side is small, so the drawing apparatus determines the first lane line L₁₂The left area of the figure is a target obstacle avoidance area, and the left area of the figure is an entrance point B of an entrance lane above the figure₂₂From the first lane line L₁₂And an exit point B illustrating a left-side exit lane₁₂A second lane line L is drawn as illustrated in fig. 9 (B)₂₂The second lane line L₂₂Corresponding to the right lane sideline of the right turn lane. Then, the right side lane boundary L is used₂₂Determining the left lane of the right-turn lane according to the corresponding at least one control point and the preset lane widthThe control point corresponding to the sideline is the driving point B of the driving lane above the graph₂₁Control point corresponding to right side lane sideline and exit point B of left exit lane shown in figure₁₁A left side lane boundary line L is drawn as illustrated in FIG. 9 (B)₂₁. Left side lane boundary L in this example₂₁And the right side lane boundary line L₂₂The right-turning vehicle can be instructed to avoid the obstacle on the left side of the obstacle.

Situation of intersection three

Fig. 10 is a schematic flow chart illustrating marking a straight lane line in an intersection according to an embodiment of the present application, as shown in fig. 10, a blank area in this example represents the intersection, a strip area represents a crosswalk, two adjacent straight lanes exist in the intersection, and a rectangular obstacle exists in the center of the intersection:

in one case, the example can be viewed as labeling two straight lane lines indicating travel from left to right, i.e., vehicles entering the intersection from the left side of the figure and exiting the intersection from the right side of the figure. When drawing a straight lane line of a straight lane below the graphic representation, the drawing device may first enter point B on the left side of the graphic representation₁₁And a right-hand drive-out point B₂₁Drawing a right side lane boundary line L of the straight lane as illustrated in FIG. 10 (A)₁₁From the figure, left entry point B₁₂And a right-hand drive-out point B₂₂Drawing a left side lane boundary line L of the straight lane as illustrated in FIG. 10 (A)₁₂In contrast, although the right side lane boundary L is found₁₁And left side lane boundary line L₁₂All intersect the obstacle, but: if the obstacle is avoided at the left side of the obstacle, the right side lane sideline L₁₁Is a critical sideline, the right side lane sideline L₁₁Maximum distance to left obstacle is D₁If the obstacle is avoided on the right side of the obstacle, the left lane sideline L₁₂Is a critical sideline, a left side lane sideline L₁₂Maximum distance to right obstacle is D₂Obviously, D₁Greater than D₂Based on the principle that the minimum side of the maximum distance is the target obstacle avoidance area, the drawing equipment can make the left lane sideline L₁₂As a first track line,a first lane line L₁₂Is used as a target obstacle avoidance area, and a left entry point B is shown according to the figure₁₂From the first lane line L₁₂And the right-hand exit point B of the figure₂₂A second lane line L is drawn as illustrated in fig. 10 (B)₂₂₁The second lane line L₂₂₁Corresponding to the left side lane boundary line L of the lower straight lane₂₂₁Further, a right side lane boundary L of the lower straight lane as illustrated in fig. 10 (B) is drawn according to the preset lane width₂₁. When drawing a straight lane line of a straight lane above the graphic representation, the drawing device may first enter point B on the left side of the graphic representation₁₂And right exit point B₂₂Drawing a right side lane boundary line L of the straight lane as illustrated in FIG. 10 (A)₁₂From the left entry point B of the figure₁₃And right exit point B₂₃Drawing a left side lane boundary line L of the straight lane as illustrated in FIG. 10 (A)₁₃The comparison shows that the right side lane sideline L₁₂Left side lane boundary line L intersecting with obstacle₁₃Does not intersect with the obstacle, so that the drawing apparatus can draw the right side lane boundary L₁₂As a first lane line. According to the first lane line L of the obstacle₁₂The areas of the two separated barrier regions are known and are located on the first lane line L₁₂The area ratio of the left obstacle region is located on the first lane line L₁₂The area of the obstacle region on the right side is small, so the drawing apparatus determines the first lane line L₁₂The left area of the target obstacle avoidance area is an entrance point B of the left entrance lane according to the figure₁₂From the first lane line L₁₂And a driving-out point B illustrating a right-side driving-out lane₂₂Drawing a second lane line L as illustrated in FIG. 10B₂₂₂Corresponds to the right side line of the upper straight lane, and further draws the left side line L of the upper straight lane as indicated by (B) in fig. 10 according to the preset lane width₂₃。

Alternatively, the example can also be seen as labeling two straight lane lines indicating driving from right to left, i.e. the vehicle is driven from the figureThe right side is shown entering the intersection and the left side is shown exiting the intersection. When drawing a straight lane line of a straight lane below the graphic representation, the drawing device may first enter point B on the right side of the graphic representation₂₁And a left-hand exit point B₁₁Drawing a left side lane boundary line L of the straight lane as illustrated in FIG. 10 (A)₁₁According to the drawing, right entry point B₂₂And left exit point B₁₂Drawing a right side lane boundary line L of the straight lane as illustrated in FIG. 10 (A)₁₂In contrast, the left lane boundary line L is found₁₁And the right side lane boundary line L₁₂All intersect the obstacle, but: if the obstacle is avoided on the right side of the obstacle, the left lane sideline L₁₁Is a critical sideline, a left side lane sideline L₁₁Maximum distance to right obstacle is D₁If the obstacle is avoided on the left side of the obstacle, the right lane sideline L₁₂Is a critical sideline, the right side lane sideline L₁₂Maximum distance to left obstacle is D₂Obviously, D₁Greater than D₂Based on the principle that the minimum side of the maximum distance is the target obstacle avoidance area, the drawing equipment can make the right side lane sideline L₁₂As the first lane line, the first lane line L₁₂Is used as a target obstacle avoidance area, and enters a point B from the right side according to the figure₂₂From the first lane line L₁₂And the illustrated left-side exit point B₁₂A second lane line L is drawn as illustrated in fig. 10 (B)₂₂₁The second lane line L₂₂₁Corresponding to the right side lane boundary L of the lower straight lane₂₂₁Further, a left lane boundary L of the lower straight lane as illustrated in fig. 10 (B) is drawn according to the preset lane width₂₁. When drawing a straight lane line of a straight lane above the graphic representation, the drawing device may first enter point B on the right side of the graphic representation₂₂And a left-hand exit point B₁₂Drawing a left side lane boundary line L of the straight lane as illustrated in FIG. 10 (A)₁₂According to the drawing, right entry point B₂₃And left exit point B₁₃Drawing a right side lane boundary line L of the straight lane as illustrated in FIG. 10 (A)₁₃Comparison ofFind the left side lane boundary L₁₂Right side lane boundary L intersecting the obstacle₁₃Does not intersect with the obstacle, so the drawing apparatus can make the left side lane boundary L₁₂As a first lane line. According to the first lane line L of the obstacle₁₂The areas of the two separated barrier regions are known and are located on the first lane line L₁₂The area ratio of the right obstacle region is located on the first lane line L₁₂The area of the obstacle region on the left side is small, so the drawing apparatus determines the first lane line L₁₂The right side area of the target obstacle avoidance area is an entrance point B of a right side entrance lane according to the figure₂₂From the first lane line L₁₂And an exit point B of the illustrated left exit lane₁₂Drawing a second lane line L as illustrated in FIG. 10 (B)₂₂₂Corresponds to the left side line of the upper straight lane, and further draws the right side line L of the upper straight lane as indicated by (B) in fig. 10 according to the preset lane width₂₃。

The above example enables vehicles in two adjacent straight lanes to avoid the obstacle on both sides of the obstacle, respectively.

Crossing situation four

Fig. 11 is a schematic flow chart illustrating another example of marking a straight lane line in an intersection according to the present invention, as shown in fig. 11, a blank area in this example represents the intersection, a strip area represents a crosswalk, two adjacent straight lanes exist in the intersection, and a rectangular obstacle exists at a position below the center of the intersection:

in one case, this example can be seen as labeling two straight lane lines indicating travel from left to right, i.e., a vehicle entering the intersection from the left side of the figure and exiting the intersection from the right side of the figure. When drawing a straight lane line of a straight lane below the graphic representation, the drawing device may first enter point B on the left side of the graphic representation₁₁And a right-hand drive-out point B₂₁Drawing a right side lane boundary L of the straight lane as illustrated in FIG. 11 (A)₁₁From the left entry point B of the figure₁₂And right exit point B₂₂Is drawn as shown in the figure11 left side lane boundary L of straight lane indicated by (a)₁₂In contrast, the right side lane boundary L is found₁₁And left side lane boundary line L₁₂All intersect the obstacle, but: if the obstacle is avoided on the left side of the obstacle, the right lane sideline L₁₁Is a critical sideline, the right side lane sideline L₁₁Maximum distance to left obstacle is D₃If the obstacle is avoided on the right side of the obstacle, the left lane sideline L₁₂Is a critical sideline, a left side lane sideline L₁₂Maximum distance to right obstacle is D₄Obviously, D₃Is less than D₄Based on the principle that the minimum side of the maximum distance is the target obstacle avoidance area, the drawing equipment can make the right side lane sideline L₁₁As the first lane line, the first lane line L₁₁The left area of the target area is used as a target obstacle avoidance area, and a left entry point B is entered according to the figure₁₁From the first lane line L₁₁And the right-hand driving-out point B of the figure₂₁A second lane line L is drawn as illustrated in fig. 11 (B)₂₁The second lane line L₂₁Corresponding to the right side line of the lower straight lane, and drawing a left side line L of the lower straight lane as indicated by (B) in fig. 11 according to the preset lane width₂₂. When drawing a straight lane line of a straight lane above the graphic representation, the drawing device may first enter point B on the left side of the graphic representation₁₂And right exit point B₂₂Drawing a right side lane boundary L of the straight lane as illustrated in FIG. 11 (A)₁₂From the left entry point B of the figure₁₃And a right-hand drive-out point B₂₃Drawing a left side lane boundary line L of the straight lane as illustrated in FIG. 11 (A)₁₃The comparison shows that the right side lane sideline L₁₂Left side lane boundary line L intersecting with obstacle₁₃Does not intersect with the obstacle, so the drawing apparatus can draw the right side lane boundary L₁₂As a first lane line. According to the first lane line L of the obstacle₁₂The areas of the two separated barrier regions are known and are located on the first lane line L₁₂The area ratio of the left obstacle region is located on the first lane line L₁₂The area of the obstacle region on the right side is small, and therefore the drawing device determines the first lane line L₁₂The left area of (2) is a target obstacle avoidance area. Since the lower straight lane line adjacent to the upper straight lane line is also located on the left side of the obstacle, the right lane borderline of the upper straight lane line can directly refer to the left lane borderline L of the drawn lower straight lane line₂₂. On the basis, the drawing equipment can directly draw the left lane sideline L₂₂Determining the control point corresponding to the left side lane boundary of the upper straight lane according to the control point and the preset lane width, and according to the access point B of the left side access lane shown in the figure₁₃The determined control point and an exit point B of the right exit lane of the diagram₂₃Drawing a left side lane boundary line L of the upper straight lane as illustrated in FIG. 11 (B)₂₃。

In another case, the example can also be seen as labeling two straight lane lines indicating driving from right to left, i.e., the vehicle enters the intersection from the right side of the figure and exits the intersection from the left side of the figure. When drawing a straight lane line of a straight lane below the graphic representation, the drawing device may first enter point B on the right side of the graphic representation₂₁And a left-hand exit point B₁₁Drawing a left side lane boundary line L of the straight lane as illustrated in FIG. 11 (A)₁₁From the right entry point B of the figure₂₂And left exit point B₁₂Drawing a right side lane boundary L of the straight lane as illustrated in FIG. 11 (A)₁₂In contrast, the left lane boundary line L is found₁₁And the right side lane boundary line L₁₂All intersect the obstacle, but: if the obstacle is avoided on the right side of the obstacle, the left lane sideline L₁₁Is a critical sideline, a left side lane sideline L₁₁Maximum distance to right obstacle is D₃If the obstacle is avoided on the left side of the obstacle, the right lane sideline L₁₂Is a critical sideline, the right side lane sideline L₁₂Maximum distance to left obstacle is D₄Obviously, D₃Is less than D₄Based on the principle that the side with the minimum maximum distance is the target obstacle avoidance area, the drawing equipment can make the side line L of the left lane₁₁As the first lane line, the first lane line L₁₁The right area of the target area is used as a target obstacle avoidance area, and a right entry point B is arranged according to the figure₂₁From the first lane line L₁₁And the left exit point B of the figure₁₁A second lane line L is drawn as illustrated in FIG. 11 (B)₂₁The second lane line L₂₁Corresponding to the left side line of the lower straight lane, and drawing a right side line L of the lower straight lane as indicated by (B) in fig. 11 according to the preset lane width₂₂. When drawing a straight lane line of a straight lane above the graphic representation, the drawing device may first enter point B on the right side of the graphic representation₂₂And left exit point B₁₂Drawing a left side lane boundary line L of the straight lane as illustrated in FIG. 11 (A)₁₂From the right entry point B of the figure₂₃And a left-hand exit point B₁₃Drawing a right side lane boundary L of the straight lane as illustrated in FIG. 11 (A)₁₃The comparison shows that the left lane sideline L₁₂Right side lane boundary L intersecting the obstacle₁₃Does not intersect with the obstacle, so the drawing apparatus can make the left side lane boundary L₁₂As a first lane line. According to the first lane line L of the obstacle₁₂The areas of the two separated barrier regions are known and are located on the first lane line L₁₂The area ratio of the right obstacle region is located on the first lane line L₁₂The area of the obstacle region on the left side is small, so the drawing apparatus determines the first lane line L₁₂The right area of the target is a target obstacle avoidance area. Since the lower straight lane line adjacent to the upper straight lane line is also located on the right side of the obstacle, the left lane borderline of the upper straight lane line can directly refer to the right lane borderline L of the drawn lower straight lane line₂₂. On the basis, the drawing equipment can directly draw the right lane sideline L₂₂Determining the control point corresponding to the right side lane boundary of the upper straight lane according to the control point used in the process and the preset lane width, and according to the driving point B of the right driving lane shown in the figure₂₃The determined control point and a departure point B of the left departure lane of the diagram₁₃Is plotted as followsThe right side lane boundary L of the upper straight lane illustrated in FIG. 11B₂₃。

The above example enables vehicles in two adjacent straight lanes to avoid the obstacle on the same side of the obstacle.

It should be noted that, the above describes only some exemplary ways of marking obstacle avoidance lane lines in an intersection, and in an actual traffic scene, there may be more intersection situations, which are not listed in this application.

In addition, it should be noted that the above embodiments are only described by taking the case where one obstacle exists in a lane or an intersection as an example, and in a real scene, a plurality of obstacles may exist in the lane or the intersection. In this case, the drawing device may directly select a point where the minimum distances to the plurality of obstacles are all greater than or equal to the preset obstacle avoidance distance as the control point to draw the second lane line, or may draw the second lane line on the basis of one obstacle, determine whether the second lane line meets the obstacle avoidance requirements of other obstacles, mark the second lane line when the second lane line meets the obstacle avoidance requirements, draw a new second lane line on the basis of the second lane line when the second lane line does not meet the obstacle avoidance requirements, repeat the above process until a target second lane line meeting the obstacle avoidance requirements of all obstacles is found, and mark the target second lane line on the map. The obstacle selected first may be selected randomly from a plurality of obstacles or sequentially selected according to a position order, or may be the obstacle having the most severe position relationship, and is not limited in particular.

It should be noted that the names of the above-mentioned information are merely examples, and as the communication technology evolves, the names of the above-mentioned arbitrary information may change, but the meaning of the above-mentioned information is the same as that of the above-mentioned information of the present application, regardless of the change in the names, and the information falls within the scope of the present application.

The above mainly introduces the scheme provided by the present application from the perspective of interaction between network elements. It is to be understood that the above-described implementation of each network element includes, in order to implement the above-described functions, a corresponding hardware structure and/or software module for performing each function. Those of skill in the art will readily appreciate that the invention is capable of being implemented as hardware or a combination of hardware and computer software in connection with the exemplary elements and algorithm steps described in connection with the embodiments disclosed herein. Whether a function is performed in hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

Fig. 12 exemplarily shows a schematic structural diagram of a lane marking device provided in an embodiment of the present application according to the foregoing method, and as shown in fig. 12, the device may be a drawing apparatus, or may also be a chip or a circuit, such as a chip or a circuit that may be disposed in the drawing apparatus, and may exemplarily be the drawing apparatus as shown in any one of fig. 1 to fig. 11.

As shown in fig. 12, the lane marking device 1201 may include a processor 1202, a memory 1204, and a transceiver 1203, and may further include a bus system, where the processor 1202, the memory 1204, and the transceiver 1203 may be connected by the bus system.

It is to be understood that the processor 1202 may be a chip. For example, the processor 1202 may be a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), a system on chip (SoC), a Central Processing Unit (CPU), a Network Processor (NP), a digital signal processing circuit (DSP), a Microcontroller (MCU), a Programmable Logic Device (PLD), or other integrated chips.

In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 1202. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor, or in a combination of hardware and software modules within the processor 1202. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 1204, and the processor 1202 reads the information in the memory 1204, and performs the steps of the above method in combination with the hardware thereof.

It should be noted that the processor 1202 in the present embodiment may be an integrated circuit chip having signal processing capability. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor described above may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

It will be appreciated that the memory 1204 in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), SLDRAM (synchronous DRAM), and direct rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

In the case that the lane marking device 1201 corresponds to a mapping apparatus, the lane marking device may include a processor 1202, a transceiver 1203, and a memory 1204. The memory 1204 is configured to store instructions, and the processor 1202 is configured to execute the instructions stored by the memory 1204 to implement a solution related to the mapping apparatus in any one or any plurality of corresponding methods shown in fig. 1 to fig. 11, or to execute a method executed by the mapping apparatus in any one of the first to third embodiments.

When the lane marking device 1201 is a mapping device and performs embodiment one: the transceiver 1203 may receive an environment image reported by a collected vehicle, the processor 1202 may construct a point cloud map according to the environment image, acquire an entry point at which the vehicle enters the intersection and an exit point at which the vehicle exits the intersection on the point cloud map, determine a first lane line moving from the entry point to the exit point, select one of two side areas of the first lane line as a target obstacle avoidance area when the first lane line intersects with an obstacle in the intersection or a minimum distance between the first lane line and the obstacle is smaller than a preset obstacle avoidance distance, select at least one control point having a distance to the obstacle not smaller than the preset obstacle avoidance distance in the target obstacle avoidance area, determine a second lane line having a minimum distance to the obstacle not smaller than the preset obstacle avoidance distance according to the entry point, the at least one control point and the exit point, and mark the second lane line on the map.

When the lane marking device 1201 is a mapping device and performs the second embodiment: the transceiver 1203 may receive an environment image reported by an acquired vehicle, the processor 1202 may construct a point cloud map according to the environment image, acquire a driving-in point at which the vehicle drives into an intersection and a driving-out point at which the vehicle drives out of the intersection on the point cloud map, select at least two control points in the intersection, determine at least two first lane lines according to the driving-in point, the driving-out point and the at least two control points, where any two of the at least two first lane lines use different control points, then determine a target first lane line, from the at least two first lane lines, whose minimum distance from an obstacle in the intersection is not less than a preset obstacle avoidance distance, and mark the target first lane line on the map.

For the concepts, explanations, and detailed descriptions and other steps related to the technical solution of the mapping device provided in the embodiment of the present application, reference is made to the description about these contents in the foregoing method or other embodiments, which is not described herein again.

Based on the above embodiments and the same concept, fig. 13 exemplarily shows a schematic structural diagram of another lane marking device provided in the embodiments of the present application, as shown in fig. 13, the lane marking device 1301 may be a drawing device, exemplarily may be the drawing device shown in any one of fig. 1 to fig. 11, and may also be a chip or a circuit, for example, a chip or a circuit that may be disposed in the drawing device. The lane marking device may implement the steps executed by the mapping device in any one or more corresponding methods shown in fig. 1 to 11, or implement the method executed by the mapping device in any one of the first to third embodiments. As shown in fig. 13, the lane marking device 1301 may include an obtaining unit 1302, a determining unit 1303, a selecting unit 1304, and a marking unit 1305.

When the lane marking device 1301 is a drawing apparatus and performs the first embodiment: the obtaining unit 1302 may obtain an entry point at which a vehicle enters the intersection and an exit point at which the vehicle exits the intersection, the determining unit 1303 may determine a first lane line moving from the entry point to the exit point when the first lane line intersects with an obstacle in the intersection, or when a minimum distance between the first lane line and the obstacle is smaller than a preset obstacle avoidance distance, the selecting unit 1304 may select one of the two side areas of the first lane line as a target obstacle avoidance area, select at least one control point in the target obstacle avoidance area, where a distance from the obstacle is not smaller than the preset obstacle avoidance distance, and the determining unit 1303 may further determine a second lane line according to the entry point, the at least one control point, and the exit point, where a minimum distance from the second lane line to the obstacle is not smaller than the preset obstacle avoidance distance, and then mark the second lane line on the map by the marking unit 1305.

When the lane marking device 1301 is a drawing device and performs the second embodiment: the obtaining unit 1302 may obtain an entry point at which a vehicle enters the intersection and an exit point at which the vehicle exits the intersection, the selecting unit 1304 may select at least two control points from the intersection, the determining unit 1303 may determine at least two first lane lines according to the entry point, the exit point and the at least two control points, and determine a target first lane line having a minimum distance from an obstacle in the intersection that is not less than a preset obstacle avoidance distance from the at least two first lane lines, where control points used by any two first lane lines of the at least two first lane lines are different, and then the labeling unit 1305 labels the target first lane line on the map.

It should be understood that the above division of the unit of the lane marking device 1301 is only a division of a logic function, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. For the concepts, explanations, details and other steps related to the technical solution provided in the embodiment of the present application related to the lane marking device 1301, reference is made to the foregoing methods or descriptions related to these contents in other embodiments, which are not described herein again.

According to the method provided by the embodiment of the present application, the present application further provides a computer program product, which includes: computer program code which, when run on a computer, causes the computer to perform the method of any one of the embodiments shown in figures 1 to 11.

According to the method provided by the embodiment of the present application, the present application further provides a computer-readable storage medium storing program code, which when run on a computer, causes the computer to execute the method of any one of the embodiments shown in fig. 1 to 11.

According to the method provided by the embodiment of the application, the application further provides a vehicle, and the vehicle can acquire an environment image, construct a point cloud map based on the environment image, and then execute the steps executed by the mapping equipment in any one or more corresponding methods shown in fig. 1 to 11, so as to mark a lane line capable of avoiding an obstacle on the point cloud map.

According to the method provided by the embodiment of the application, the application further provides a vehicle networking system which comprises the vehicle and the drawing equipment, the vehicle can acquire the environment image and then send the environment image to the drawing equipment, the drawing equipment can construct the point cloud map based on the environment image, and the steps executed by the drawing equipment in any one or more corresponding methods shown in the figures 1 to 11 are executed so as to mark the lane lines capable of avoiding the obstacles on the point cloud map.

The above-described embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Video Disk (DVD)), or a semiconductor medium (e.g., a Solid State Drive (SSD)), among others.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A lane marking method is characterized by comprising the following steps:

acquiring an entrance point of a vehicle entering the intersection and an exit point of the vehicle exiting the intersection;

determining a first lane line moving from the entry point to the exit point, wherein the first lane line intersects with an obstacle in the intersection, or a minimum distance between the first lane line and the obstacle is less than a preset obstacle avoidance distance;

selecting one side area from the areas on the two sides of the first lane line as a target obstacle avoidance area;

selecting at least one control point in the target obstacle avoidance area, wherein the distance between the control point and the obstacle is not less than the preset obstacle avoidance distance;

determining a second lane line according to the entry point, the at least one control point and the exit point, wherein the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance;

and marking the second lane line on a map.

2. The method of claim 1, wherein the target obstacle avoidance area satisfies at least one of the following conditions:

the obstacle avoidance area is positioned in an obstacle avoidance area indicated by the obstacle with the intersection indication function;

in the case where the first lane line does not intersect the obstacle, not including the obstacle;

in a case where the first lane line intersects the obstacle, including an obstacle region whose area is the smallest of two obstacle regions divided by the first lane line;

or,

in a case where the first lane line intersects the obstacle, including an obstacle region whose farthest distance from the first lane line is smallest among two obstacle regions divided by the first lane line.

3. The method of claim 1 or 2, wherein when the first lane line intersects the obstacle:

the selecting at least one control point in the target obstacle avoidance area, where the distance between the control point and the obstacle is not less than the preset obstacle avoidance distance, includes:

finding a first position point farthest from the first lane line from an edge of an obstacle area contained in the target obstacle avoidance area;

determining a second position point, the distance between which and the first position point is the preset obstacle avoidance distance, in the target obstacle avoidance area, wherein the connecting line of the second position point and the first position point is perpendicular to the tangent line of the first lane line or the line segment between two intersection points of the first lane line and the obstacle;

and taking the second position point as one control point.

4. The method of claim 1 or 2, wherein when the first lane line does not intersect the obstacle:

the selecting at least one control point in the target obstacle avoidance area, the distance between which and the obstacle is not less than the preset obstacle avoidance distance, includes:

finding a third position point closest to the first lane line from an edge of the obstacle;

determining a fourth position point in the target obstacle avoidance area, wherein the distance between the fourth position point and the third position point is the preset obstacle avoidance distance, and a connecting line of the fourth position point and the third position point is perpendicular to a tangent line of the first lane line or perpendicular to a tangent line of the obstacle at the third position point;

and taking the fourth position point as one control point.

5. The method of claim 3 or 4, further comprising:

drawing a control line from the control point in a direction perpendicular to the connecting line;

selecting at least two fifth position points which are respectively positioned at two sides of the control point from the control line;

and taking the at least two fifth position points as at least two control points.

6. The method of claim 5, wherein the at least two of the control points comprise at least one of:

the intersection point of the control line and the entry line and the intersection point of the control line and the exit line, wherein the entry line is a straight line drawn from the entry point along an entry direction, and the exit line is a straight line drawn from the exit point along an exit opposite direction;

two points on the control line that are a distance from the control point equal to a length of a line between two intersections of the first lane line and the obstacle;

or,

the distance on the control line from the control point is equal to two points of the first lane line length inside the obstacle.

7. The method of any of claims 1-6, wherein the determining a first lane line moving from the entry point to the exit point comprises:

extending the driving point along the driving direction to obtain a driving line;

extending the exit point along the opposite direction of the exit direction to obtain an exit line;

and determining the first lane line according to the entry point, the intersection point of the entry line and the exit point.

8. A lane marking method is characterized by comprising the following steps:

selecting at least two control points from the intersection;

determining at least two first lane lines according to the entry point, the exit point and the at least two control points; the control points used by any two first lane lines in the at least two first lane lines are different;

determining a target first lane line of which the minimum distance to an obstacle in the intersection is not less than a preset obstacle avoidance distance from the at least two first lane lines;

and marking the target first lane line on a map.

9. The method of claim 8, wherein said selecting at least two control points in said intersection comprises:

and selecting the at least two control points with the distance from the obstacle greater than the preset obstacle avoidance distance from the intersection.

10. The method of claim 8 or 9, wherein determining a target first lane line from the at least two first lane lines, the target first lane line having a minimum distance from an obstacle in the intersection that is not less than a preset obstacle avoidance distance, comprises:

if the obstacle is an obstacle with a traffic regulation indication function, selecting a target first lane line from first lane lines in a target obstacle avoidance area indicated by the obstacle;

if the obstacle does not have a crossing indication function, selecting the target first lane line from the at least two first lane lines;

and the minimum distance between the target first lane line and the obstacle is not less than the preset obstacle avoidance distance.

11. The method of any of claims 8 to 10, further comprising:

if the at least two first lane lines do not include a target first lane line, the minimum distance between which and the obstacle is not less than a preset obstacle avoidance distance, then:

selecting a reference first lane line from the at least two first lane lines;

selecting one side area from the two side areas of the reference first lane line as a target obstacle avoidance area;

and marking the second lane line on a map.

12. A lane marking device, comprising:

the acquisition unit is used for acquiring an entrance point of a vehicle entering the intersection and an exit point of the vehicle exiting the intersection;

the determining unit is used for determining a first lane line moving from the entry point to the exit point, wherein the first lane line intersects with an obstacle in the intersection, or the minimum distance between the first lane line and the obstacle is smaller than a preset obstacle avoidance distance;

the selection unit is used for selecting one side area from the two side areas of the first lane line as a target obstacle avoidance area, and selecting at least one control point, the distance between which and the obstacle is not less than the preset obstacle avoidance distance, in the target obstacle avoidance area;

the determining unit is further configured to determine a second lane line according to the entry point, the at least one control point, and the exit point, where a minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance;

and the marking unit is used for marking the second lane line on the map.

13. The apparatus of claim 12, wherein the target obstacle avoidance area satisfies at least one of the following conditions:

the obstacle avoidance system is positioned in an obstacle avoidance area indicated by the obstacle with the intersection indication function;

in a case where the first lane line does not intersect the obstacle, excluding the obstacle;

or,

in a case where the first lane line intersects the obstacle, an obstacle region whose farthest distance from the first lane line is smallest among two obstacle regions divided by the first lane line is included.

14. The apparatus according to claim 12 or 13, characterized in that, in case the first lane line intersects the obstacle, the selection unit is specifically configured to:

finding a first position point farthest from the first lane line from an edge of an obstacle area included in the target obstacle avoidance area;

and taking the second position point as one control point.

15. The apparatus according to claim 12 or 13, characterized in that, in the case where the first lane line does not intersect the obstacle, the selection unit is specifically configured to:

and taking the fourth position point as one control point.

16. The apparatus according to claim 14 or 15, wherein the selection unit is further configured to:

selecting at least two fifth position points respectively positioned at two sides of the control point from the control line;

17. The apparatus of claim 16, wherein the at least two of the control points comprise at least one of:

or,

the distance between the control line and the control point is equal to two points of the length of the first lane line in the obstacle.

18. The apparatus according to any one of claims 12 to 17, wherein the determining unit is specifically configured to:

19. A lane marking device, comprising:

the selection unit is used for selecting at least two control points in the intersection;

the determining unit is used for determining at least two first lane lines according to the entry point, the exit point and the at least two control points, and determining a target first lane line, of which the minimum distance to an obstacle in the intersection is not less than a preset obstacle avoidance distance, from the at least two first lane lines; the control points used by any two first lane lines in the at least two first lane lines are different;

and the marking unit is used for marking the first target lane line on the map.

20. The apparatus as claimed in claim 19, wherein said selection unit is specifically configured to:

21. The apparatus according to claim 19 or 20, wherein the determining unit is specifically configured to:

if the obstacle is an obstacle without a traffic regulation indication function, selecting the target first lane line from the at least two first lane lines;

22. The apparatus according to any one of claims 19 to 21, wherein when a target first lane line having a minimum distance to the obstacle not less than a preset obstacle avoidance distance is not included in the at least two first lane lines:

the selection unit is further configured to: selecting a reference first lane line from the at least two first lane lines, selecting one side area from the two side areas of the reference first lane line as a target obstacle avoidance area, and selecting at least one control point, the distance between which and the obstacle is not less than the preset obstacle avoidance distance, in the target obstacle avoidance area;

the determination unit is further configured to: determining a second lane line according to the entry point, the at least one control point and the exit point, wherein the minimum distance between the second lane line and the obstacle is not less than the preset obstacle avoidance distance;

the labeling unit is further configured to: and marking the second lane line on a map.

23. A lane marking apparatus comprising a processor and a memory, the memory storing a computer program, the processor running the computer program to implement the method of any one of claims 1 to 7 or the method of any one of claims 8 to 11.

24. A computer-readable storage medium, characterized in that it stores a computer program which, when executed, implements the method of any of claims 1 to 7, or implements the method of any of claims 8 to 11.