CN115797388A

CN115797388A - Lane element generation method, electronic device, and program product

Info

Publication number: CN115797388A
Application number: CN202211659611.8A
Authority: CN
Inventors: 王成墨
Original assignee: Alibaba China Co Ltd
Current assignee: Alibaba China Co Ltd
Priority date: 2022-12-22
Filing date: 2022-12-22
Publication date: 2023-03-14

Abstract

The embodiment of the disclosure discloses a lane element generation method, an electronic device and a program product, wherein the method comprises the following steps: acquiring an integral center line of a first type road section, wherein the first type road section comprises at least two communicated sub-road sections, and each sub-road section comprises at least two parallel roads; determining the center point of the lane element on the whole center line according to a first preset element generation rule, and respectively mapping the center point of the lane element on the whole center line to the road center line of the corresponding road in the first type road section to obtain the center point of the lane element on the road center line of each road in the first type road section; determining the position of the lane element of each road in the first type road section according to the central point of the lane element on the road central line of each road in the first type road section; rendering a predetermined-shaped lane element at a position of the lane element of each road in the first-type section. The technical scheme can simply and quickly manufacture the lane elements on the map.

Description

Lane element generation method, electronic device, and program product

Technical Field

The present disclosure relates to the field of electronic map technologies, and in particular, to a lane element generation method, an electronic device, and a program product.

Background

Electronic maps are digital representations of the real world, and have evolved from standard definition maps (SD maps) to high definition maps (HD maps) in order to achieve effects such as rendering and guidance of roads closer to the real world. Compared with a common precise map, the high-precision map expresses more comprehensive geographic elements of the real world, for example, the high-precision map expresses lane information (such as driving directions of lanes, lane separation lines and the like) of the roads when expressing the roads. However, the manufacturing of the high-precision map needs to use a professional collection vehicle equipped with a professional collection device (such as a laser radar) to perform high-precision map data collection, and the collection cost is high and the collection cycle is long, so how to simply and quickly manufacture lane elements on the map, and achieve effects of rendering and guiding roads closer to the real world become a technical problem to be solved urgently at present.

Disclosure of Invention

In order to solve the problems in the related art, the embodiments of the present disclosure provide a lane element generation method, an electronic device, and a program product.

In a first aspect, a lane element generation method is provided in an embodiment of the present disclosure.

Specifically, the lane element generation method includes:

acquiring an integral central line of a first type road section, wherein the first type road section comprises at least two communicated sub-road sections, and each sub-road section comprises at least two parallel roads;

determining the central point of a lane element on the integral central line according to a first preset element generation rule, wherein the lane element comprises at least one element of an arrow in the line or a lane separation line;

respectively mapping the central points of the lane elements on the overall central line to the road central lines of the corresponding roads in the at least two communicated sub-road sections to obtain the central points of the lane elements on the road central lines of each road in the at least two communicated sub-road sections;

determining the position of the lane element of each road in the at least two sections of communicated sub-road sections according to the central point of the lane element on the road central line of each road in the at least two sections of communicated sub-road sections;

rendering lane elements of a predetermined shape at the location of the lane elements of each road in the connected at least two sub-segments.

In a second aspect, an embodiment of the present disclosure provides a lane element generating method, including:

acquiring a second type road section, wherein the second type road section comprises continuously-communicated target roads, and the target roads comprise roads of which included angles with adjacent roads on two sides are larger than a preset angle and roads of which the spacing distance with the adjacent roads on two sides exceeds a preset distance value;

generating a center point of a lane element of each target road in the second type road section by taking all target roads in the second type road section as a whole according to a second preset element generation rule;

rendering a predetermined-shaped lane element at a center point of the lane element of each target road.

In a third aspect, an embodiment of the present disclosure provides a lane element generation device, including:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is configured to acquire the integral central line of a first type road section, the first type road section comprises at least two connected sub-road sections, and each sub-road section comprises at least two parallel roads;

a first determining module configured to determine a center point of a lane element on the overall center line according to a first preset element generating rule, wherein the lane element comprises at least one element of an in-line arrow or a lane separation line;

the mapping module is configured to map the center points of the lane elements on the overall center line to the road center lines of corresponding roads in the at least two communicated sub-road sections respectively to obtain the center points of the lane elements on the road center lines of each road in the at least two communicated sub-road sections;

a second determining module configured to determine a position of the lane element of each road in the at least two connected sub-road sections according to a center point of the lane element on a road center line of each road in the at least two connected sub-road sections;

a first rendering module configured to render a predetermined shaped lane element at a location of a lane element of each road in the connected at least two segments of sub-road segments.

In a fourth aspect, an embodiment of the present disclosure provides a lane element generating device, including:

the second acquisition module is configured to acquire a second type road section, wherein the second type road section comprises continuously-communicated target roads, and the target roads comprise roads of which included angles with adjacent roads on two sides are larger than a preset angle and roads of which the spacing distance with the adjacent roads on two sides exceeds a preset distance value;

the generating module is configured to generate a center point of a lane element of each target road in the second type road section by taking all target roads in the second type road section as a whole according to a second preset element generating rule;

a second rendering module configured to render a predetermined-shaped lane element at a center point of the lane element of each target road.

In a fifth aspect, the disclosed embodiments provide an electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to any one of the first or second aspects.

In a sixth aspect, the disclosed embodiments provide a computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, implement the method according to any one of the first or second aspects.

In a seventh aspect, provided in embodiments of the present disclosure is a computer program product comprising computer instructions that, when executed by a processor, implement the method steps according to any one of the first or second aspects.

According to the technical scheme provided by the embodiment of the disclosure, an overall center line of a first type road section can be obtained, a center point of a lane element on the overall center line is determined according to a first preset element generation rule, then the center point of the lane element on the overall center line is respectively mapped to a road center line of a corresponding road in the first type road section, a center point of the lane element on the road center line of each road in the first type road section is obtained, and the position of the lane element of each road in the first type road section is determined according to the center point of the lane element on the road center line of each road in the first type road section; so that lane elements of a predetermined shape can be rendered at the positions of the lane elements of each road in the first type of road segment; therefore, at least one lane element in the middle arrow or lane separation line can be generated according to a preset rule only by the integral center line of the road section in the precise map database and the road center line of the road, high-precision map data do not need to be acquired, and the method is simple and rapid.

In addition, the first type road section can comprise a plurality of sub-road sections, parallel roads in the sub-road sections are all bound through an integral central line, the central points of in-line arrows and lane separation lines on the integral central line are taken as reference, the positions of the in-line arrows and the lane separation lines in all the roads of all the sub-road sections are respectively calculated, the in-line arrows and the lane separation lines in all the roads of all the sub-road sections are enabled to be connected in a front-back mode, and the integrity is better.

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

Drawings

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

fig. 1 shows a flow chart of a method of generating lane elements according to an embodiment of the present disclosure;

figure 2a shows a schematic view of a first type of road segment according to an embodiment of the present disclosure;

figure 2b shows a schematic view of a first type of road segment according to an embodiment of the present disclosure;

fig. 3 shows a flow chart of a method of generating lane elements according to an embodiment of the present disclosure;

fig. 4 is a schematic view illustrating an application scenario of a method for generating a lane element according to an embodiment of the present disclosure;

fig. 5 is a block diagram showing a configuration of a lane element generation device according to an embodiment of the present disclosure;

fig. 6 shows a block diagram of a structure of a lane element generation device according to an embodiment of the present disclosure;

FIG. 7 shows a block diagram of an electronic device, according to an embodiment of the present disclosure;

FIG. 8 shows a schematic block diagram of a computer system suitable for use in implementing a method according to an embodiment of the present disclosure.

Detailed Description

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

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

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

In the present disclosure, the acquisition of the user information or the user data is an operation that is authorized, confirmed, or actively selected by the user.

As described above, the electronic Map is a digital representation of the real world, and in order to achieve effects such as rendering and guidance of roads closer to the real world, the electronic Map is also evolving from a standard definition Map (SD Map) that is common at present to a high definition Map (HD Map). Compared with a common precise map, the high-precision map expresses more comprehensive geographic elements of the real world, for example, the high-precision map expresses lane information (such as driving directions of lanes, lane separation lines and the like) of the roads when expressing the roads. However, the manufacturing of the high-precision map needs to use a professional collection vehicle equipped with a professional collection device (such as a laser radar) to perform high-precision map data collection, and the collection cost is high and the collection cycle is long, so how to simply and quickly manufacture lane elements on the map, and achieve effects of rendering and guiding roads closer to the real world become a technical problem to be solved urgently at present.

The method can generate lane separation lines or in-line arrows on roads through road information in precise map data, does not need to acquire high-precision map data, can simply and quickly manufacture the lane separation lines or in-line arrows based on relevant data of the precise map, and achieves the effects of rendering and guiding roads closer to the real world.

Fig. 1 illustrates a flowchart of a method of generating a lane element according to an embodiment of the present disclosure. As shown in fig. 1, the method for generating the lane element includes the following steps S101 to S105:

in step S101, an overall center line of a first type road segment is obtained, where the first type road segment includes at least two connected sub-road segments, and each sub-road segment includes at least two parallel roads;

in step S102, according to a first preset element generation rule, determining a central point of a lane element on the overall center line, where the lane element includes at least one of an in-line arrow or a lane separation line;

in step S103, respectively mapping the center points of the lane elements on the overall center line to the road center lines of the corresponding roads in the at least two connected sub-road segments, so as to obtain the center points of the lane elements on the road center line of each road in the first type road segment;

in step S104, determining a position of a lane element of each road in the first type road segment according to a center point of the lane element on a road center line of each road in the at least two connected road segments;

in step S105, a lane element of a predetermined shape is rendered at the position of the lane element of each road in the connected at least two sub-segments.

In one possible embodiment, the lane element generation method is applied to a computer, a computing device, a server cluster, and the like, which can perform lane element generation.

In one possible implementation, the lane element to be generated may be a line arrow for indicating a driving direction of a road on which the line arrow is located, and may also be a line arrow and a line separation line for dividing a lane for the road on which the line arrow is located, and rendering the line arrow and/or the line separation line in a corresponding road of the electronic map may make the electronic map closer to real-world road rendering, guidance, and other effects.

In one possible embodiment, the first type of road segment refers to a road segment including at least two parallel roads, the first type of road segment is long and may include at least two sub-road segments, each of which includes at least two parallel roads, where the at least two parallel roads may be roads with attributes of up and down or main and auxiliary roads.

It should be noted that at least two parallel roads belonging to the same sub-road segment may be obtained from the upper-stream fine map database, and the front-back connection relationship of the connected sub-road segments in the first type road segment, the overall center line of the first type road segment, and the road center line of each road in the first type road segment may be obtained.

In one possible embodiment, in the real world, the white dotted lines are generally used to separate different lanes driving in the same direction, so when the lane elements to be generated include lane separation lines, the first preset element generation rule includes the length and the interval of the predetermined lane separation lines, and the center point of the lane element on the overall center line can be determined according to the length and the interval of the lane separation lines on the overall center line. When the lane element to be generated includes an in-line arrow, the first preset element generation rule includes a predetermined length and a predetermined distance of the in-line arrow, and the center point of the lane element on the overall center line may be determined on the overall center line in accordance with the length and the distance of the in-line arrow.

In a possible implementation manner, according to the position distribution of each road in the first type road section in the at least two connected sub road sections, the center points of the lane elements on the overall center line may be respectively mapped onto the road center lines of the corresponding roads in the at least two connected sub road sections, if a certain road is in the first sub road section of the first type road section, the first several center points of the lane elements on the overall center line may be correspondingly mapped onto the road center lines of the certain road, and since the sub road sections are all parallel roads, the same several center points may be mapped onto the road center lines of the parallel roads, so that the center points of the lane elements on the road center lines of each road in the at least two connected sub road sections may be obtained.

For example, fig. 2a shows a schematic diagram of a first type of road segment according to an embodiment of the present disclosure, as shown in fig. 2a, the first type of road segment 20 includes multiple connected sub-segments, such as a sub-segment 201, a sub-segment 202 \8230;, a sub-segment 203, and so on, each sub-segment includes two parallel up-and-down roads, and according to a first preset element generation rule, such as a predetermined distance and length of arrows in a row, a central point 2041 of the arrows in multiple rows may be generated on an overall centerline 204 of the first type of road segment 20, and for each road, such as the road a in fig. 2a, according to a position distribution of the road a in the first type of road segment, a central point of the arrow in a corresponding row on the overall centerline may be mapped onto a road centerline 205 of the road a in the first type of road segment, so as to obtain a central point 2051 of the arrow in a row on the road centerline of the road a.

In one possible embodiment, the position of the lane element of each road in each sub-section may be determined according to the center point of the lane element and the length of the lane element on the center line of each road in each sub-section, for example, the in-line arrow is disposed on the center line of the road, and the position of the in-line arrow on the center line of the road may be determined according to the center point of the in-line arrow on the center line of the road and the length of the in-line arrow; the lane dividing lines are arranged at the side lines of the lanes of the road, the side lines of the lanes can be determined according to the number of the lanes of the road, then the center points of the lane dividing lines on the side lines of the lanes are determined according to the center points of the lane dividing lines on the center line of the road, and then the positions of the lane dividing lines on the side lines of the lanes are determined according to the center points of the lane dividing lines on the side lines of the lanes and the lengths of the lane dividing lines.

In one possible embodiment, a lane element of a predetermined shape may be rendered at the position of the lane element of each road in the at least two connected sub-road segments, for example, the predetermined shape of the lane dividing line is a line shape, and the predetermined shape of the arrow in the row is an arrow shape.

The embodiment may obtain an overall center line of a first type road segment, determine a center point of a lane element on the overall center line according to a first preset element generation rule, then map the center point of the lane element on the overall center line to a road center line of a corresponding road in the at least two communicated sub-road segments, respectively, obtain a center point of the lane element on the road center line of each road in the at least two communicated sub-road segments, and determine a position of the lane element of each road in the at least two communicated sub-road segments according to the center point of the lane element on the road center line of each road in the at least two communicated sub-road segments; so that lane elements of a predetermined shape can be rendered at the position of the lane element of each road in the at least two connected sub-road segments; therefore, at least one lane element in the middle arrow or lane separation line can be generated according to a preset rule only by marking the whole center line of the road section and the road center line of the road in the map database, high-precision map data do not need to be acquired, and the method is simple and quick.

In addition, the first type road section can comprise a plurality of sub-road sections, parallel roads in the sub-road sections are all bound through an integral central line, the central points of in-line arrows and lane separation lines of the integral central line are taken as reference, and the positions of in-line arrows and lane separation lines in each road of each sub-road section are respectively calculated, so that the in-line arrows and the lane separation lines in each road of each sub-road section are connected in a front-back mode, and the integration is better; meanwhile, the alignment effect of the arrow in the row and the lane separation line in the parallel road is achieved.

In a possible implementation manner, in the above lane element generation method, the acquiring the overall center line of the first type road segment may include:

acquiring an initial center line of the first type road section, a road center line of each road in a first section sub-road section of the first type road section and a road center line of each road in a tail section sub-road section;

and extending the initial center line based on the road center line of each road in the first sub-road section and the road center line of each road in the last sub-road section to obtain the integral center line.

In this embodiment, since at least two parallel roads may be misaligned, the initial center line of the first type road segment obtained from the database may not completely cover the corresponding road. For example, fig. 2b shows a schematic diagram of a first type road segment according to an embodiment of the present disclosure, as shown in fig. 2b, the first type road segment 30 includes multiple connected sub-segments, such as a head sub-segment 301, a head sub-segment 8230; \8230;, a tail sub-segment 302, and so on, each sub-segment includes two parallel roads, which are up and down, and as can be seen from fig. 2b, the two parallel roads, i.e., road 1 and road 2, in the head sub-segment 301 are not aligned, and the two parallel roads, i.e., road 3 and road 4, in the tail sub-segment 302 are also not aligned, and since the parallel roads are not aligned, there may be a situation where the initial centerline 303 of the first type road segment obtained from the summary database cannot cover all the roads, as shown in fig. 2 b. In this case, in order to solve the problem that the initial center line cannot cover the entire road, the initial center line may be extended.

In this embodiment, as can be seen from fig. 2b, the roads in the middle sub-segment of the first type segment are all covered by the initial centerline, only the roads in the first sub-segment 301 and the roads in the last sub-segment 302 in the first type segment exceed the initial centerline, so that the centerline of each road in the first sub-segment and the centerline of each road in the last sub-segment can be obtained, the initial centerline is extended from the head point of the initial centerline according to the centerline of each road in the first sub-segment, so that the extended centerline can completely cover the centerline of each road in the first sub-segment, the initial centerline is extended from the tail point of the initial centerline according to the centerline of each road in the last sub-segment, so that the extended centerline can completely cover the centerline of each road in the last sub-segment, so that the overall centerline can be obtained.

In a possible implementation manner, in the above lane element generating method, the extending the initial centerline based on the road centerline of each road in the first sub-segment and the road centerline of each road in the last sub-segment to obtain the overall centerline may include:

determining a head point, a tail point, a head direction and a tail direction of the initial central line, wherein the head direction is the direction of the initial central line at the head point, and the tail direction is the direction of the initial central line at the tail point;

determining a first projection point of a first point of a road center line of each road in the first sub-road section in the first direction, and extending the first point of the initial center line to the first direction in the reverse direction to the first direction to a first projection point farthest away from the first point of the initial center line;

determining a tail projection point of a tail point of a road center line of each road in the tail sub-road section in the tail direction, and extending the tail point of the initial center line to the tail direction in the reverse direction to the tail direction to a tail projection point farthest from the tail point of the initial center line.

In this embodiment, as shown in fig. 2B, a leading point a, a trailing point B, a leading direction x1, and a trailing direction y1 of the initial centerline 303 may be determined, wherein the points on the initial centerline 303 are sorted by position, the leading direction x1 may be a direction from the leading point a of the initial centerline 303 to a next point of the initial centerline 303, and the trailing direction y1 may be a direction from the trailing point a of the initial centerline 303 to a previous point of the initial centerline 303.

In this embodiment, as shown in fig. 2b, two parallel roads in the first sub-road segment 301 are road 1 and road 2, a first projection point A1 of a first point of a road centerline of the road 1 in the first direction is determined, and a first projection point A2 of a first point of a road centerline of the road 2 in the first direction is determined, at this time, the first point a of the initial centerline may be extended to a first projection point A1 farthest from the first point according to a reverse direction x2 of the first direction x 1; of course, if the first projection point A1 and the first projection point A2 are both located in the first direction x1, and there is no first projection point located on the reverse extension line of the first direction x1, there is no need to extend the first point of the initial center line.

In this embodiment, as shown in fig. 2B, two parallel roads in the end sub-road segment 302 are road 3 and road 4, an end projection point B1 of an end point of a road centerline of the road 3 in the end direction and an end projection point B2 of an end point of a road centerline of the road 4 in the end direction are determined, and at this time, the end point B of the initial centerline may be extended to a target head projection point B2 farthest from the end point B according to a reverse direction of the end direction y1, that is, y 2; of course, if the tail projection point B1 and the tail projection point B2 are both located in the tail direction y1, and there is no tail projection point located on the reverse extension line of the tail direction y1, there is no need to extend the tail point of the initial centerline.

Thus, a line segment with the overall center line between A1-B2 can be obtained.

In a possible embodiment, when at least one sub-road segment further includes an intersection, the determining a center point of the lane element on the overall center line according to the first preset element generation rule includes:

acquiring an integral mapping interval of all road center lines of the same road attribute road in the first type road section on the integral center line;

acquiring common mapping sections of different overall mapping sections corresponding to different road attributes;

and determining the central point of the lane element on the integral central line according to a first preset element generation rule, wherein the first preset element generation rule comprises that the lane elements corresponding to the central point of the lane element on the integral central line are all positioned in the common mapping interval.

In this embodiment, if at least one sub-road segment further includes an intersection, in order to avoid generating lane elements in the intersection region, and simultaneously avoid the influence on the map display effect caused by the misalignment of the arrows and lane separation lines in the row between the parallel roads such as the up-down road and the main-auxiliary road; when the central point of the lane element on the overall center line is determined, the overall mapping interval of all the center lines of the roads with the same road attribute (such as all ascending roads, all descending roads, all main roads or all auxiliary roads) on the overall center line in the first type of road section may be obtained first, and the roads with different road attributes may have different overall mapping intervals, for example, the overall mapping interval of all the center lines of the ascending roads on the overall center line is 0% -90% of the overall center line, and the overall mapping interval of all the center lines of the ascending roads on the overall center line is 8% -100% of the overall center line, and so on. The common mapping interval of different overall mapping intervals corresponding to different road attributes can be obtained, roads with different road attributes can be mapped into the common mapping interval of the overall center line, the common mapping interval is used for aligning the areas of the lane elements in the roads with different road attributes, the lanes of the roads with different road attributes can be arranged in the areas corresponding to the common mapping interval, meanwhile, the common mapping interval is only the mapping interval of the roads, the mapping interval of intersections is not included, and the lane elements are also prevented from being generated in the intersection areas. Thus, according to a first preset element generation rule, the center point of the lane element on the whole center line is determined, wherein the first preset element generation rule can limit that the lane elements corresponding to the center point of the lane element on the whole center line are all located in the common mapping interval, so that the lane element is only generated on the road, no lane element is generated in the area beyond the road, such as the area where the intersection is located, and meanwhile, the common mapping area on the whole center line is used as a reference, the parallel roads with different road properties are transversely bound at the common mapping area on the whole center line, so that the positions of the arrow and the lane separation line in the row are aligned and unified.

In a possible implementation manner, the mapping the center point of the lane element on the overall center line to the road center line of the corresponding road in the at least two connected sub-segments respectively to obtain the center point of the lane element on the road center line of each road in the at least two connected sub-segments includes:

aiming at the same road attribute road in the at least two sections of communicated sub-road sections, determining a point with the minimum distance between the center line of the road of the same road attribute road and the center point of each lane element on the whole center line;

and determining the point with the minimum distance as the central point of the lane element on the road center line of the same road attribute road in the at least two connected sub-road sections.

In this embodiment, when the center points of the lane elements on the overall center line are respectively mapped to the road center lines of the corresponding roads in the at least two connected sub-road segments, a point with the smallest distance between the center line of all roads of the same road attribute road (such as an ascending road, a descending road, a main road or a subsidiary road) and the center point of each lane element on the overall center line may be calculated, and the point with the smallest distance is the center point of the lane element mapped to the road center line of the same road attribute road. When the sub-road sections comprise parallel loop roads, the mapping can solve the problem that the generated in-line arrows and lane separation lines are not aligned due to the fact that the outer circle of the loop is longer, the inner circle of the loop is shorter, and lane elements are arranged on the parallel lanes in different lengths.

In this embodiment, for the same road attribute road, the center point of the lane element on the road center line of each road in the same road attribute road can be obtained by mapping according to the above method, and thus, for each road with the same road attribute, the center point of the lane element on the road center line of each road in the at least two connected sub-links can be obtained by mapping.

In a possible embodiment, the determining the position of the lane element of each road in the at least two connected sub-road segments according to the center point of the lane element on the road center line of each road in the at least two connected sub-road segments includes:

when the lane elements comprise in-line arrows, determining the position and the direction of the in-line arrows of each road in the at least two connected sub-road sections according to the center points of the in-line arrows on the road center lines of each road in the at least two connected sub-road sections and the directions of the roads at the center points;

and when the lane elements comprise lane separation lines, determining the position of the lane separation line of each road in the at least two communicated sub-road sections according to the central point of the lane separation line on the road central line of each road in the at least two communicated sub-road sections and the number of lanes of each road.

In this embodiment, when the lane element includes an arrow in a row, the direction of the arrow in the row is used to indicate the direction of the road at the position, so it is necessary to determine the position and direction of the arrow in the row of each road in each sub-section, the position of the arrow in the row may be determined according to the center point of the arrow in the row on the center line of the road, and the direction of the arrow in the row is the direction of the road at the center point, and the direction is the passing direction of the road.

In this embodiment, when the lane elements include lane dividing lines, the lane dividing lines are used for dividing lanes on the road, and the dividing lines may be divided according to the number of lanes on the road, so that the positions of the lane dividing lines of each road in each sub-section may be determined according to the central point of the lane dividing line on the road central line of each road in each sub-section and the number of lanes on each road.

Fig. 3 illustrates a flowchart of a method of generating lane elements according to an embodiment of the present disclosure. As shown in fig. 3, the method for generating the lane element includes the following steps S301 to S303:

in step S301, a second type road segment is obtained, where the second type road segment includes continuously connected target roads, and the target roads include roads whose included angles with adjacent roads on both sides are greater than a preset angle and roads whose distance between adjacent roads on both sides exceeds a preset distance value;

in step S302, according to a second preset element generation rule, taking all the target roads in the second type road segment as a whole, generating a center point of a lane element of each target road in the second type road segment;

in step S303, a lane element of a predetermined shape is rendered at a center point of the lane element of each target road.

In a possible embodiment, the second type of road segment refers to a road segment including all target roads, the target road refers to a road other than the roads in each sub-segment of the first type of road segment, that is, the target road is a road that is not parallel to other roads, the target road may be a road whose included angle with the adjacent roads on both sides is greater than a preset angle (such as 30 degrees or more than 30 degrees), at this time, the target road may form an intersection with the adjacent roads on both sides, the road relationship between the target road and the adjacent roads on both sides does not belong to the road relationship between an uplink road and a downlink road or a main and auxiliary road, the target road may also be a road whose separation distance from the adjacent roads on both sides exceeds a preset distance value (such as 20m or more), at this time, the target road is far away from the adjacent roads on both sides, and even if the target road and the target road are approximately parallel to each other, the included angle is smaller than the preset angle, the road relationship between the uplink road and the uplink road or the main and auxiliary road does not exist. Adjacent target roads in the second type of road segment may each be directly connected.

In one possible embodiment, the second preset element generation rule refers to a rule of the generated lane elements, such as a rule of lengths, intervals, and positions of the lane elements on the road, and when the lane elements to be generated include lane separation lines, the second preset element generation rule includes generating center points of the lane separation lines at lane boundary lines of the road according to the predetermined lengths and intervals of the lane separation lines. When the lane element to be generated includes an in-line arrow, the second preset element generation rule includes generating a center point of the in-line arrow at the center line in the road at a predetermined length and pitch of the in-line arrow.

In a possible implementation manner, when the center point of the lane element of each target road is generated, all the target roads in the second-type road segment need to be taken as a whole, and the front-back connection relationship of all the target roads in the second-type road segment is considered, so that the connection of the lane element generated by the center point of the lane element in the second-type road segment can be ensured to be smoother, and the center point has better integrity.

In a possible embodiment, a lane element of a predetermined shape may be rendered at a corresponding position of each target road according to a center point of the lane element of each target road and a length and a shape of the lane element. For example, when the lane element is an in-line arrow, the position of the in-line arrow may be determined according to the center point and the length of the in-line arrow, so that the arrow shaped in-line arrow may be rendered at the position of the in-line arrow; when the lane element is a lane separation line, the position of the lane separation line can be determined according to the center point and the length of the lane separation line, so that a linear lane separation line can be rendered at the position of the lane separation line.

The embodiment can acquire a second type road section comprising a plurality of continuously connected target roads, and generate the central point of the lane element of each target road in the second type road section by taking all target roads in the second type road section as a whole according to a second preset element generation rule; rendering a predetermined-shaped lane element at a center point of the lane element of each target road. Therefore, at least one lane element of the middle arrow or the lane separation line can be generated according to a preset rule only according to the target road included in the road section in the precise map database, high-precision map data do not need to be acquired, and the method is simple and rapid.

In addition, the second type section may include a plurality of target roads, and when the center point of the lane element of each target road in the second type section is generated, all the target roads in the second type section are generated as a whole, so that the in-line arrows and the lane separation lines of each target road in the second type section are connected in front and back, and the second type section has better integrity.

In a possible implementation manner, in the above method, the obtaining the second type road segment includes:

acquiring any unsearched target road as an initial search road;

and respectively searching target roads or intersections forwards and backwards in sequence by taking the initial search road as a starting point, when an intersection is searched, selecting one target road from the target roads which are not searched and connected with the intersection as the searched target road to continue searching until the searched target road or the searched road is not the target road, and obtaining a second type road section, wherein the second type road section comprises the initial search road and the target roads or intersections searched before and after the initial search road.

In this embodiment, initially, all the target roads are the target roads which are not searched, any one of the target roads which are not searched can be selected as the initial search road, the initial search road is taken as the starting point, the target roads can be searched forward and backward respectively, if the target road connected with the initial search road is not searched before, the search is continued, if the intersection is searched, one of the target roads which are not searched and connected with the intersection is selected as the searched target road to continue the search, and the search is stopped until the searched road is not the target road or the searched target road is searched before, so that a second type of road segment can be obtained, wherein the second type of road segment comprises the initial search road and the searched target roads or intersections before and after the initial search road segment.

In this embodiment, after obtaining a section of the second-type road segment, any object road that is not searched for may be continuously selected as the initial searched road and the search may be continued to obtain a next section of the second-type road segment, so that all the second-type road segments in the road network may be obtained, where each of the second-type road segments includes one or more object roads, and some of the second-type road segments may include one or more intersections.

In a possible implementation manner, when an intersection is searched, selecting one target road from the unsearched target roads connected to the intersection as the searched target road to continue searching, including:

when an intersection is searched, selecting a target road meeting a search condition from at least two unsearched target roads connected with the intersection as a search road, wherein the search condition comprises the target road with the smallest included angle with the current searched road and the included angle meeting a preset angle threshold.

In this embodiment, when searching for an intersection from the searched target roads, if the intersection connects only one target road that is not searched except the searched target road, the intersection directly continues to search for the target road that is not searched, and if two or more target roads are connected, it is necessary to select one target road that satisfies the search condition as the search road from the at least two target roads that are not searched, where the search condition includes a target road that has the smallest direction angle with the current searched road and has an angle smaller than a predetermined angle threshold, for example, 90 degrees.

In a possible implementation manner, when the second type of road segment includes an intersection, the generating a center point of the lane element of each target road in the second type of road segment by using all the target roads in the second type of road segment as a whole according to the second preset element generation rule includes:

acquiring the whole length intervals of all target roads in the second type road section;

and determining the center point of the lane element of each target road in the second type road section by taking all the target roads in the second type road section as a whole according to a second preset element generation rule, wherein the second preset element generation rule comprises that the lane element corresponding to the center point of the lane element of each target road is positioned in the whole length section.

In this embodiment, the second type of segment includes a plurality of target roads and intersections, and the lengths of the plurality of target roads and the intersection length may be calculated, where the length of each target road may be the length of the road center line of the target road, the length of the intersection may be the average direction of the directions of the target roads in front of and behind the intersection, and the projection length of the intersection in the average direction is calculated, so that the entire length section of all the target roads in the second type of segment may be calculated, and the entire length section may include a plurality of divided length sections due to the existence of the intersection.

In this embodiment, if the second type of link includes an intersection, in order to avoid generating a lane element in the intersection region, when determining the center point of the lane element of each target road in the second type of link, the lane element corresponding to the center point of the lane element of each target road needs to be located in the overall length section. For example, the center point of the lane element of each target road may be calculated by calculating the center point of the lane element in the entire second type road segment according to the predetermined length and distance of the lane element, and then removing the center point corresponding to the lane element located in the overall length section, so that the lane element corresponding to the center point of the lane element of each target road may be located in the overall length section; of course, other calculation methods are possible, and are not illustrated here.

In a possible embodiment, the generating the center point of the lane element of each target road in the second type road segment includes:

when the target road is a one-way road, generating a central point of an arrow in a row of the target road and a central point of a lane separation line;

and when the target road is a bidirectional road, generating a central point of a lane separation line of the target road.

In this embodiment, if the target road is a one-way road and the target road has only 1 direction, a line arrow and a lane separation line may be set on the target road, and the line arrow is used to indicate the direction of the target road, and at this time, a center point of the line arrow and a center point of the lane separation line of the target road may be generated.

In this embodiment, if the target road is a bidirectional road, the target road has 2 directions, and at this time, if the arrow in the line is set, the user may be confused, so that only the lane separation line may be set without setting the arrow in the line, and at this time, the center point of the lane separation line of the target road may be generated.

Fig. 4 is a schematic view illustrating an application scenario of a lane element generation method according to an embodiment of the present disclosure. As shown in fig. 4, the map making server 401 may obtain the road map data such as the whole center line of the first type road segment and the center line of each road in the first type road segment and/or each target road in the second type road segment from the road map database 402, and render the predetermined shaped lane elements such as the in-line arrows and/or the lane dividing lines at the corresponding positions of each road in the first type road segment and/or the second type road segment after processing them by the above lane element generating method, and the map making server 401 may provide the made map data containing the lane elements to the navigation server 403. The navigation server 403 can provide services such as road rendering, navigation, path planning and the like for a location service terminal 404, such as a navigation terminal on a vehicle, according to the map data.

Fig. 5 shows a block diagram of the structure of a lane element generation device according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of both. As shown in fig. 5, the lane element generation device includes:

a first obtaining module 501 configured to obtain an overall center line of a first type road segment, where the first type road segment includes at least two connected sub-road segments, and each sub-road segment includes at least two parallel roads;

a first determining module 502 configured to determine a center point of a lane element on the overall center line according to a first preset element generating rule, where the lane element includes at least one of an in-line arrow or a lane separation line;

a mapping module 503 configured to map the center points of the lane elements on the overall center line to the road center lines of the corresponding roads in the at least two connected sub-road segments, respectively, so as to obtain the center points of the lane elements on the road center lines of each road in the at least two connected sub-road segments;

a second determining module 504 configured to determine a position of a lane element of each road in the at least two connected sub-segments according to a center point of the lane element on a road center line of each road in the at least two connected sub-segments;

a first rendering module 505 configured to render lane elements of a predetermined shape at a location of a lane element of each road in the connected at least two sub-road segments.

In a possible implementation, the first obtaining module 501 is configured to:

and extending the initial center line based on the road center line of each road in the first sub-section and the road center line of each road in the tail sub-section to obtain the integral center line.

In a possible implementation manner, the first obtaining module 501 extends the initial centerline based on the road centerline of each road in the first sub-segment and the road centerline of each road in the last sub-segment to obtain the overall centerline, and is configured to:

determining a first projection point of a first point of a road center line of each road in the first sub-road section in the first direction, and extending the first point of the initial center line in the reverse direction of the first direction until the first projection point which is farthest away from the first point of the initial center line is extended;

and determining tail projection points of tail points of the road center line of each road in the tail sub-road section in the tail direction, and extending the tail points of the initial center line in the tail direction until the tail projection points which are farthest away from the tail points of the initial center line are extended.

In one possible implementation, when at least one sub-segment further includes an intersection, the first determining module 502 is configured to:

In one possible implementation, the mapping module 503 is configured to:

In one possible implementation, the second determining module 504 is configured to:

when the lane elements comprise in-line arrows, determining the position and the direction of the in-line arrow of each road in the at least two connected sub-sections according to the center point of the in-line arrow on the road center line of each road in the at least two connected sub-sections and the direction of the road at the center point;

Fig. 6 shows a block diagram of the structure of a lane element generation device according to an embodiment of the present disclosure. The apparatus may be implemented as part or all of an electronic device through software, hardware, or a combination of both. As shown in fig. 6, the lane element generation device includes:

a second obtaining module 601, configured to obtain a second type road segment, where the second type road segment includes continuously connected target roads, and the target roads include roads whose included angles with adjacent roads on two sides are greater than a preset angle and roads whose separation distances with adjacent roads on two sides exceed a preset distance value;

a generating module 602, configured to generate a center point of a lane element of each target road in the second type road segment by taking all target roads in the second type road segment as a whole according to a second preset element generating rule;

a second rendering module 603 configured to render a predetermined shaped lane element at a center point of the lane element of each target road.

In a possible implementation, the second obtaining module 601 is configured to:

acquiring any unsearched target road as an initial search road;

In a possible implementation manner, when an intersection is searched, selecting one target road from the target roads which are not searched and connected to the intersection as the searched target road to continue searching in the second obtaining module 601 includes:

In one possible implementation, when the second type of segment includes an intersection, the generating module 602 is configured to:

acquiring the whole length interval of all target roads in the second type road section;

In one possible implementation, the portion of the generation module that generates the center point of the lane element of each target road in the second-type road segment is configured to:

Technical terms and technical features mentioned in the embodiment of the device are the same or similar, and for explanation and description of technical terms and technical features mentioned in the embodiment of the device, reference can be made to the explanation of the above method embodiment, and detailed description is omitted here.

The present disclosure also discloses an electronic device, and fig. 7 shows a block diagram of the electronic device according to an embodiment of the present disclosure.

As shown in fig. 7, the electronic device 700 comprises a memory 701 and a processor 702, wherein the memory 701 is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 702 to implement a method according to an embodiment of the present disclosure.

As shown in fig. 8, the computer system 800 includes a processing unit 801 which can execute various processes in the above-described embodiments according to a program stored in a Read Only Memory (ROM) 802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the computer system 800 are also stored. The processing unit 801, ROM 802, and RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, a mouse, and the like; an output section 807 including components such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 808 including a hard disk and the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. A drive 810 is also connected to the I/O interface 805 as necessary. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as necessary, so that a computer program read out therefrom is mounted on the storage section 808 as necessary. The processing unit 801 may be implemented as a CPU, a GPU, a TPU, an FPGA, an NPU, or other processing units.

In particular, the methods described above may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising computer instructions that, when executed by a processor, implement the method steps described above. In such embodiments, the computer program product may be downloaded and installed from a network via communications portion 809 and/or installed from removable media 811.

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

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

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

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

Claims

1. A lane element generation method, comprising:

respectively mapping the center points of the lane elements on the overall center line to the road center lines of the corresponding roads in the at least two communicated sub-road sections to obtain the center points of the lane elements on the road center lines of each road in the at least two communicated sub-road sections;

determining the position of the lane element of each road in the at least two sections of communicated sub-sections according to the central point of the lane element on the road central line of each road in the at least two sections of communicated sub-sections;

2. The method of claim 1, wherein the obtaining an overall centerline for a first type of segment comprises:

3. The method of claim 2, wherein the extending the initial centerline based on the road centerline of each road in the head sub-segment and the road centerline of each road in the tail sub-segment to obtain the overall centerline comprises:

determining a head projection point of a head point of a road center line of each road in the head sub-road section in the head direction, and extending the head point of the initial center line to the head direction in the reverse direction to the head direction to a head projection point farthest away from the head point of the initial center line;

4. The method according to claim 1, when at least one sub-segment further includes an intersection, said determining a center point of a lane element on the overall center line according to a first preset element generation rule comprises:

5. The method of claim 1, wherein the mapping the center points of the lane elements on the overall center line to the road center lines of the corresponding roads in the at least two connected sub-segments respectively to obtain the center points of the lane elements on the road center lines of each road in the at least two connected sub-segments comprises:

determining a point with the minimum distance between the center line of the road with the same road attribute and the center point of each lane element on the whole center line aiming at the same road attribute road in the at least two sections of communicated sub-road sections;

6. The method of claim 1, wherein the determining the location of the lane element for each road in the connected at least two sub-segments from the center point of the lane element on the road centerline of each road in the connected at least two sub-segments comprises:

and when the lane elements comprise lane separation lines, determining the position of the lane separation line of each road in the at least two sections of communicated sub-road sections according to the central point of the lane separation line on the road central line of each road in the at least two sections of communicated sub-road sections and the number of lanes of each road.

7. A lane element generation method, comprising:

8. The method of claim 7, wherein the obtaining the second type of segment comprises:

acquiring any unsearched target road as an initial search road;

9. The method of claim 8, wherein when an intersection is searched, selecting one target road from the unsearched target roads connected to the intersection as the searched target road to continue the search comprises:

10. The method according to claim 8, wherein when the second type of road segment includes an intersection, the generating a center point of the lane element of each target road in the second type of road segment as a whole from all target roads in the second type of road segment according to a second preset element generation rule comprises:

11. The method of claim 7, wherein the generating the center point of the lane element for each target road in the second type of segment comprises:

12. An electronic device comprising a memory and a processor; wherein the memory is to store one or more computer instructions that are executed by the processor to implement the method steps of any one of claims 1 to 11.

13. A computer program product comprising computer instructions which, when executed by a processor, carry out the method steps of any of claims 1 to 11.