CN116958238A - Method, device, equipment and storage medium for generating center line of lane steering area - Google Patents
Method, device, equipment and storage medium for generating center line of lane steering area Download PDFInfo
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- CN116958238A CN116958238A CN202210630039.6A CN202210630039A CN116958238A CN 116958238 A CN116958238 A CN 116958238A CN 202210630039 A CN202210630039 A CN 202210630039A CN 116958238 A CN116958238 A CN 116958238A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30256—Lane; Road marking
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Abstract
The present disclosure relates to a center line generation method, apparatus, device, and storage medium for a lane steering area. According to the method and the device for generating the central line of the steering area, the lane lines on two sides of the lane are obtained, then the steering area contained in the lane is divided into the plurality of sub-areas which do not contain steering based on the positions of inflection points on the lane lines, finally the central lines of the sub-areas are sequentially connected to generate the central line of the steering area, and each sub-area forming the central line does not contain the steering area, so that the accuracy of generating the central line of the steering area of the lane can be improved.
Description
Technical Field
The disclosure relates to the technical field of data processing, and in particular relates to a method, a device, equipment and a storage medium for generating a center line of a lane steering area.
Background
With the rapid development of automatic driving technology, in order to improve safety, it is becoming more and more important to keep a vehicle running on a lane center line (center line between lane lines on both sides of a road).
The existing lane center line generating method has the advantages that the accuracy of the generated lane center line is good under the condition that the road is straight, but for the lanes with steering areas such as curved roads and irregular roads, the accuracy of the generated lane center line is low, for example, the situation that the distance values from the lane center line to the lane lines at two sides are large, and even the lane center line exceeds the lane lines at two sides can occur.
Disclosure of Invention
In order to solve the technical problems, the present disclosure provides a method, a device, equipment and a storage medium for generating a center line of a lane steering area.
A first aspect of an embodiment of the present disclosure provides a center line generation method of a lane steering area, the method including:
obtaining lane lines at two sides of a lane;
dividing a steering region contained in a lane into a plurality of sub-regions not containing steering based on the position of an inflection point on a lane line;
and sequentially connecting the central lines of the subareas to generate the central line of the steering area.
A second aspect of the embodiments of the present disclosure provides a center line generating apparatus of a lane steering area, the apparatus including:
the acquisition module is used for acquiring lane lines at two sides of a lane;
the dividing module is used for dividing the steering area contained in the lane into a plurality of subareas which do not contain steering based on the position of the inflection point on the lane line;
the first connecting module is used for sequentially connecting the central lines of the subareas to generate the central line of the steering area.
A third aspect of the embodiments of the present disclosure provides a computer apparatus, the vehicle including a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, can implement the method for generating a center line of a lane-turning area of the first aspect.
A fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium having a computer program stored therein, which when executed by a processor, can implement the lane-turning-area center line generation method of the first aspect described above.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
according to the method and the device for generating the central line of the steering area, the lane lines on two sides of the lane are obtained, then the steering area contained in the lane is divided into the plurality of sub-areas which do not contain steering based on the positions of inflection points on the lane lines, finally the central lines of the sub-areas are sequentially connected to generate the central line of the steering area, and each sub-area forming the central line does not contain the steering area, so that the accuracy of generating the central line of the steering area of the lane can be improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a method of centerline generation for a lane-turning area provided by an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a lane provided by an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of another lane provided by an embodiment of the present disclosure;
FIG. 4 is a schematic illustration of yet another lane provided by an embodiment of the present disclosure;
FIG. 5 is a flowchart of another method of generating a center line of a lane-turning area provided by an embodiment of the present disclosure;
FIG. 6 is a schematic illustration of yet another lane provided by an embodiment of the present disclosure;
FIG. 7 is a flowchart of yet another method of centerline generation for a lane-turning area provided by an embodiment of the present disclosure;
FIG. 8 is a schematic view of yet another lane provided by an embodiment of the present disclosure;
fig. 9 is a schematic structural view of a center line generating device of a lane steering area according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
At present, with the rapid development of automatic driving technology, in order to improve safety, it is necessary to keep a vehicle running on a lane center line (center line between lane lines on both sides of a road), and the lane center line is becoming more and more important. The existing lane center line generating method has better lane center line effect under the condition that the road is straight, but has lower accuracy of the generated lane center line for the conditions of curved roads, irregular roads and the like, for example, the condition that the distance value between the lane center line and the lane lines at two sides is larger and even the lane center line exceeds the lane lines at two sides can occur.
Aiming at the defects existing in the method for generating the central line of the lane steering area in the related art, the embodiment of the disclosure provides a method, a device, equipment and a storage medium for generating the central line of the lane steering area, which can divide the steering area contained in the lane into a plurality of subareas which do not contain steering, and finally connect the central lines of the subareas in sequence to generate the central line of the steering area.
The center line generation method of the lane steering area provided by the embodiments of the present disclosure may be performed by a computer device, which may be understood as any device having processing capability and computing capability, which may include, but is not limited to, mobile terminals such as smartphones, notebook computers, personal Digital Assistants (PDAs), tablet computers (PADs), portable Multimedia Players (PMPs), vehicle-mounted terminals (e.g., vehicle-mounted navigation terminals), wearable devices, etc., and fixed electronic devices such as digital TVs, desktop computers, etc.
In order to better understand the inventive concepts of the embodiments of the present disclosure, the technical solutions of the embodiments of the present disclosure are described below in conjunction with exemplary embodiments.
Fig. 1 is a flowchart of a method for generating a center line of a lane steering area according to an embodiment of the present disclosure, as shown in fig. 1, the method for generating a center line of a lane steering area according to the present embodiment may include steps 110 to 130:
and 110, obtaining lane lines on two sides of a lane.
The lane in the embodiments of the present disclosure may be understood as a lane constituted by two side lane lines having a certain width.
In some embodiments, the computer device may establish a communication connection with an image acquisition device or a laser radar or other acquisition device, and acquire lane lines on both sides of the lane from the image acquisition device or the laser radar or other acquisition device. The image acquisition device (such as a camera, a video camera and the like) can acquire lane lines of a lane after performing image processing on the acquired road image, the laser radar and other acquisition devices can acquire lane lines of the lane after performing data processing such as data splicing on the acquired road point cloud data, and the accuracy of the lane lines acquired based on the point cloud data is higher than that of the lane lines acquired based on the road image.
In other embodiments, the computer device may obtain lane lines on both sides of the lane from the high-definition road network data. The high-definition road network data may be understood as data constituting a high-definition Map (HD Map), which is an electronic Map having higher accuracy and more data dimensions than a conventional navigation Map, and may provide road information accurate to coordinate accuracy of sub-meter level and surrounding static information related to traffic in addition to the road information. The high-precision road network data comprises road data such as lane information including positions, types, widths, gradients, curvatures and the like of lane lines, fixed object information such as traffic signs, traffic lights and the like around the lanes, lane height limits, water-level crossings, barriers and other road details, and infrastructure information such as overhead objects, protective barriers, numbers, road edge types, roadside landmarks and the like. The high-precision road network data can be constructed through a perception technology and stored in a corresponding high-precision road network data server, and the computer equipment can acquire the high-precision road network data of a corresponding lane from the high-precision road network data server according to requirements, so as to acquire lane lines at two sides of the lane from the high-precision road network data.
Step 120, dividing the steering region included in the lane into a plurality of sub-regions not including steering, based on the position of the inflection point on the lane line.
An inflection point in an embodiment of the present disclosure may be understood as a point on a lane line where a slope changes, and an inflection point on each lane line may divide the lane line into a plurality of lane line segments with different slopes.
The turning region in the embodiments of the present disclosure may be understood as a lane region including an inflection point. Specifically, the first inflection point and the last inflection point of the plurality of inflection points sequentially connected on each side of lane line can be respectively along the direction perpendicular to the lane, after the opposite side lane line is perpendicular, the lane area surrounded by the two perpendicular lines and the lane lines on the two sides is the steering area, the lane area not belonging to the steering area is the non-steering area, and the non-steering area can be understood as the straight line lane area not containing the inflection points. For example, FIG. 2 provides a schematic illustration of a lane, as shown in FIG. 2, that includes lane A and lane B,201-204 being 4 inflection points on lane A, 205-208 being 4 inflection points on lane B, 210 lane region being a steer zone, having a plurality of inflection points inside, 211 and 212 being no steer zone, and no inflection points inside.
In the disclosed embodiments, a sub-region that does not contain a turn may be understood as a lane region that does not contain an inflection point.
In the embodiment of the disclosure, after the computer device acquires the lane lines on both sides of the lane, the lane may be divided into a plurality of steering regions and non-steering regions based on the positions of the inflection points on the lane lines, and then the steering regions included in the lane may be divided into a plurality of sub-regions not including steering.
In some embodiments of the present disclosure, dividing the steering region included in the lane into a plurality of sub-regions not including steering based on the location of the inflection point on the lane line may include steps 1211-1213:
step 1211, a steering region included in the lane is determined based on the position of the inflection point on the lane line.
In this embodiment of the disclosure, after the computer device obtains the lane lines on both sides of the lane, the computer device may determine, based on the positions of the inflection points on the lane lines, a steering region included in the lane, where the steering region is defined by two perpendicular lines and lane lines on both sides after the perpendicular lines are drawn to opposite lane lines, and the first inflection point and the last inflection point of the plurality of inflection points sequentially connected on each lane line are respectively along the direction perpendicular to the lane.
And 1212, on the steering region, making a perpendicular line to the opposite lane line along the direction perpendicular to the lane line based on the position of the inflection point on the lane line, and determining the perpendicular line as a parting line of the steering region.
In the embodiment of the disclosure, after determining the steering area included in the lane, the computer device may determine the perpendicular line as a dividing line of the steering area on the steering area by making the perpendicular line to the opposite lane line in a direction perpendicular to the lane from a position of the inflection point on the lane line on either side.
Step 1213, dividing the steering region into a plurality of sub-regions not including steering based on the dividing line.
In the embodiment of the disclosure, after determining the dividing line of the steering region, the computer device may divide the steering region into a plurality of sub-regions that do not include steering based on the dividing line.
For example, fig. 3 provides a schematic view of a lane, as shown in fig. 3, in fig. 2, in a lane line a of a steering area 210, from inflection points 201 to 204, respectively, a perpendicular line is drawn to a lane line B along a direction perpendicular to the lane, so as to obtain 4 dividing lines of the steering area; in the lane line B of the steering region 210, 4 dividing lines of the steering region are obtained by making a perpendicular line to the lane line a in a direction perpendicular to the lane from the inflection points 205 to 208, respectively, and 8 dividing lines divide the steering region 210 into 7 sub-regions 301 to 307 not including steering.
Therefore, the vertical line of each inflection point on the lane line along the lane direction can be used as a dividing line, the steering area is divided into a plurality of subareas which do not contain steering, and the accuracy of generating the center line of the lane can be improved.
In other embodiments of the present disclosure, dividing the steer zone included in the lane into a plurality of sub-zones that do not include steer based on the location of the inflection point on the lane line may comprise steps 1221-1222:
step 1221, calculating the angle of the inflection point according to the inflection point on the lane line, wherein the angle is the minimum included angle between two adjacent lane lines of the inflection point.
In the embodiment of the disclosure, after the computer equipment obtains the lane lines on two sides of the lane, the angle of the inflection point can be calculated according to the inflection points on the lane lines, the angle can be understood as the minimum included angle between two adjacent lane lines of the inflection point, the larger the angle of the inflection point, the smaller the deformation of the two adjacent lane lines of the inflection point is illustrated, the smaller the angle of the inflection point, the smaller the influence on the accuracy of the lane center line is, the larger the deformation of the two adjacent lane lines of the inflection point is illustrated, and the larger the influence on the accuracy of the lane center line is illustrated.
Step 1222, dividing the steering area contained in the lane into a plurality of sub-areas not containing steering based on the position of the inflection point with the angle smaller than the preset angle threshold.
In the embodiment of the disclosure, after obtaining the angle of the inflection point, the computer device may select the position of the inflection point with the angle smaller than the preset angle threshold value, and divide the steering area included in the lane into a plurality of sub-areas not including steering. The preset angle threshold may be set according to actual needs, and is not specifically limited herein.
Therefore, the turning area contained in the lane can be divided into a plurality of subareas which do not contain turning through the inflection points with angles smaller than the preset angle threshold value in the inflection points on the lane line, and the accuracy of generating the center line of the lane can be improved.
And 130, sequentially connecting the central lines of the subareas to generate the central line of the steering area.
The center line in the embodiments of the present disclosure may be understood as a straight line composed of several points having equal distances to the lane lines on both sides.
In the embodiment of the disclosure, after dividing the steering area included in the lane into a plurality of sub-areas not including steering, the computer device may determine a center line of each sub-area, and then sequentially connect the center lines of the sub-areas to generate the center line of the steering area. For example, fig. 4 provides a schematic view of a lane, as shown in fig. 4, on the basis of fig. 3, the centerlines of 7 sub-areas that do not include steering are determined 301-307, respectively, and the centerlines of 7 sub-areas are sequentially connected to generate a centerline 401 of the steering area 210.
In some embodiments, sequentially connecting the centerlines of the sub-regions to generate a centerline of the steer zone may include steps 131-135:
Step 131, determining the positions of a preset number of equal-distance equal-division points on the lane lines at each side according to the lane lines at both sides of each sub-region.
In the embodiment of the disclosure, the computer device may divide each side lane line into a preset number of lane line segments with equal distances by a preset number of equal points for the lane lines on both sides of each sub-region, and determine the positions of the equal points on each side lane line. The preset number may be set according to actual needs, and is not particularly limited herein.
Step 132, determining the arrangement sequence of the equal division points on each side of the lane line based on the direction of the lane.
In the embodiment of the disclosure, after determining the positions of the preset number of equal-distance equal-dividing points on each side lane line, the computer device may determine the arrangement sequence of the equal-dividing points on each side lane line according to the direction of the lane.
And 133, connecting the equal dividing points with the same arrangement sequence on the lane lines at the two sides to generate a preset number of connecting lines.
In the embodiment of the disclosure, after determining the arrangement sequence of the equal division points on each side lane line, the computer device may connect the equal division points with the same arrangement sequence on the lane lines on both sides to generate a preset number of connection lines. For example, in one lane, lane line 1 includes 3 equal-distance bisectors, lane line 2 includes 3 equal-distance bisectors, after determining the arrangement order of the equal-distance bisectors on each lane line based on the direction of the lane, the first equal-distance bisectors in lane line 1 are connected to the first equal-distance bisectors in lane line 2, the second equal-distance bisectors in lane line 1 are connected to the second equal-distance bisectors in lane line 2, and the third equal-distance bisectors in lane line 1 are connected to the third equal-distance bisectors in lane line 2, so as to generate 3 connecting lines.
Step 134, connecting the midpoints of the connecting lines in sequence to generate the center line of the subarea.
In the embodiment of the disclosure, after generating the preset number of connection lines, the computer device may determine the midpoints of each connection line, and then sequentially connect the midpoints of each connection line to generate the center line of the sub-region.
It will be appreciated that the greater the preset number, the more bisectors are divided, the more connecting lines are generated, and the greater the accuracy of the center line of the sub-region generated.
And 135, sequentially connecting the central lines of the sub-areas to generate the central line of the steering area.
In the embodiment of the disclosure, after generating the center line of the sub-region, the computer device may sequentially connect the center lines of the sub-regions to generate the center line of the steering region.
According to the method and the device for generating the central line of the steering area, the lane lines on two sides of the lane are obtained, then the steering area contained in the lane is divided into the plurality of sub-areas which do not contain steering based on the positions of inflection points on the lane lines, finally the central lines of the sub-areas are sequentially connected to generate the central line of the steering area, and each sub-area forming the central line does not contain the steering area, so that the accuracy of generating the central line of the steering area of the lane can be improved.
In some embodiments of the present disclosure, after sequentially connecting the centerlines of the sub-areas to generate the centerlines of the steering areas, the computer device may also determine the centerlines of the non-steering areas on the lane, and the specific method may refer to the content of the steps 131 to 135, which are not described herein, and then sequentially connecting the centerlines of the non-steering areas and the centerlines of the steering areas on the lane to generate the centerlines of the lanes.
Fig. 5 is a flowchart of still another method for generating a center line of a lane-turning area according to an embodiment of the present disclosure, as shown in fig. 5, the method for generating a center line of a lane-turning area according to the present embodiment may include steps 510-570:
and 510, obtaining lane lines on two sides of a lane.
The content of the embodiments of the present disclosure may refer to step 110, which is not described herein.
Step 520, determining a steering area contained in the lane based on the position of the inflection point on the lane line.
The content of the embodiments of the present disclosure may refer to step 1211 described above, and will not be described herein.
And 530, on the steering area, making a perpendicular line to the opposite lane line along the direction perpendicular to the lane based on the position of the inflection point on the lane line.
In the embodiment of the disclosure, after determining the steering area included in the lane, the computer device may make a perpendicular to the opposite lane line in a direction perpendicular to the lane from a position of an inflection point on the lane line on either side of the steering area.
Step 540, judging whether an inflection point exists in the opposite side lane line within a preset distance range of the foot drop point of the vertical line.
In the embodiment of the disclosure, after the perpendicular line is drawn to the opposite side lane line, the computer device may first determine the position of the foot point of the perpendicular line, and then determine whether the opposite side lane line has an inflection point within a preset distance range of the foot point of the perpendicular line, where the preset distance range may be set according to actual needs, and is not specifically limited herein.
If so, step 550 is performed to connect the inflection point on the side lane line with the inflection point through which the vertical line passes, and a division line of the steering region is generated.
In some embodiments of the present disclosure, if there is an inflection point in the opposite lane line within a preset distance range of the foot drop point of the vertical line, the computer device may connect the inflection point on the opposite lane line with the inflection point through which the vertical line passes, generating a division line of the steering region. If the opposite side lane line does not have an inflection point within a preset distance range of the foot drop point of the vertical line, the vertical line is used as a dividing line of the steering area.
In other embodiments of the present disclosure, if there are a plurality of inflection points of the opposite lane line within a preset distance range of the foot point of the vertical line, the computer device may connect the inflection point closest to the foot point on the opposite lane line with the inflection point through which the vertical line passes, generating the division line of the steering region.
In further embodiments of the present disclosure, if there is an inflection point in the preset distance range of the perpendicular to the opposite lane line, the computer device may determine whether the inflection point in the preset distance range has been connected with other inflection points to generate a parting line, and if the inflection point in the preset distance range has not been connected with other inflection points to generate a parting line, connect the inflection point on the opposite lane line with the inflection point through which the perpendicular passes to generate a parting line of the steering region; if the inflection point within the preset distance range is connected with other inflection points to generate a dividing line, the vertical line is used as the dividing line of the steering area.
For example, fig. 6 provides a schematic diagram of a lane, as shown in fig. 6, after the inflection points 201-208 in the steering region 210 are set to the opposite lane line along the direction of the lane, it is determined whether the inflection point 207 and 208 exist in the preset distance range of the vertical foot point in the lane line B, if the inflection point 201 exists in the preset distance range of the foot point in the lane line B, then the connection between the inflection point 201 and the inflection point 206 can be determined as a parting line of the steering region, and the inflection point 202 exists in the preset distance range of the foot point in the lane line B as an inflection point 206 and 207, but at this time, the connection between the inflection point 202 and the inflection point 207 can be determined as a parting line of the steering region, and therefore, the connection between the inflection point 203 and the inflection point 207 can exist in the preset distance range of the lane line B as an inflection point 207 and the vertical foot point 208, but at this time, the inflection point 203 can be determined as a parting line of the steering region, and the inflection point 203 does not exist in the preset distance range of the lane line B as an inflection point 205. Thus, in FIG. 6, the steer zone 210 is divided by 5 split lines into 4 sub-zones 601-604 that do not contain steer.
Step 560, dividing the steering region into a plurality of sub-regions not including steering based on the dividing line.
In the embodiment of the disclosure, after determining the dividing line of the steering region, the computer device may divide the steering region into a plurality of sub-regions that do not include steering based on the dividing line.
Step 570, sequentially connecting the center lines of the sub-regions to generate the center line of the steering region.
The content of the embodiments of the present disclosure may refer to the above step 130, and will not be described herein.
According to the method, the lane lines on two sides of a lane are obtained, the turning area contained in the lane is determined based on the positions of inflection points on the lane lines, then on the turning area, the opposite side lane lines are perpendicular to the lane lines along the direction perpendicular to the lane lines based on the positions of the inflection points on the lane lines, whether the inflection points exist in the preset distance range of the perpendicular to the opposite side lane lines or not is judged, if yes, the inflection points on the opposite side lane lines are connected with the inflection points where the perpendicular passes through to generate a dividing line of the turning area, the turning area is divided into a plurality of sub-areas which do not contain turning based on the dividing line, finally the center lines of the sub-areas are sequentially connected to generate the center line of the turning area, the connecting line between the inflection points on the lane lines on one side and the inflection points on the opposite side lane lines serves as the dividing line, the turning area is divided into the sub-areas which do not contain turning, operation resources can be saved, and the speed and the accuracy of the center line generation of the lane turning area are improved.
Fig. 7 is a flowchart of still another method for generating a center line of a lane-turning area according to an embodiment of the present disclosure, as shown in fig. 7, the method for generating a center line of a lane-turning area according to the present embodiment may include steps 710 to 770:
and 710, obtaining lane lines on two sides of the lane.
The content of the embodiments of the present disclosure may refer to step 110, which is not described herein.
Step 720, determining a steering area contained in the lane based on the position of the inflection point on the lane line.
The content of the embodiments of the present disclosure may refer to step 1211 described above, and will not be described herein.
And 730, calculating the angle of the inflection point on the inflection region according to the inflection point on the lane line at any side, wherein the angle is the minimum included angle between two adjacent lane lines of the inflection point.
And 740, based on the position of the inflection point with the angle smaller than the preset angle threshold, making a perpendicular to the opposite lane line along the direction perpendicular to the lane.
In the embodiment of the disclosure, after determining the angle of the inflection point on the lane line on either side, the computer device may draw a perpendicular to the lane line on the opposite side in a direction perpendicular to the lane, starting from a position of the inflection point where the angle is smaller than the preset angle threshold.
And 750, judging whether an inflection point exists in the opposite side lane line within a preset distance range of the foot drop point of the vertical line.
In the embodiment of the disclosure, after the perpendicular line is drawn to the opposite side lane line, the computer device may first determine the position of the foot point of the perpendicular line, and then determine whether the opposite side lane line has an inflection point within a preset distance range of the foot point of the perpendicular line, where the preset distance range may be set according to actual needs, and is not specifically limited herein.
Step 760, if the inflection point exists, calculating the angle of the inflection point, and connecting the inflection point on the opposite lane line, the angle of which is smaller than the preset angle threshold, with the inflection point through which the vertical line passes, so as to generate a dividing line of the steering region.
In some embodiments of the present disclosure, if there is an inflection point in the opposite lane line within a preset distance range of the foot drop point of the vertical line, the computer device may calculate an angle of the inflection point, connect the inflection point on the opposite lane line having an angle smaller than a preset angle threshold with the inflection point through which the vertical line passes, and generate the parting line of the steering region. If the opposite side lane line does not have an inflection point within a preset distance range of the foot drop point of the vertical line, the vertical line is used as a dividing line of the steering area.
In other embodiments of the present disclosure, if there are a plurality of inflection points in the opposite lane line within the preset distance range of the foot drop point of the vertical line and the angle of each inflection point on the opposite lane line is smaller than the preset angle threshold, the computer device may connect the inflection point on the opposite lane line, which is smaller than the preset angle threshold and is closest to the foot drop point, with the inflection point through which the vertical line passes, generating the dividing line of the steering region.
In further embodiments of the present disclosure, if there is an inflection point in the opposite lane line within a preset distance range of the foot drop point of the vertical line, the computer device may determine whether the inflection point in the preset distance range has been connected with other inflection points to generate a parting line, if the inflection point in the preset distance range has not been connected with other inflection points to generate a parting line, the computer device may calculate an angle of the inflection point, and connect the inflection point on the opposite lane line having an angle smaller than a preset angle threshold with the inflection point through which the vertical line passes to generate a parting line of the steering region; if the inflection point within the preset distance range is connected with other inflection points to generate a dividing line, the vertical line is used as the dividing line of the steering area.
Step 770, dividing the steering region into a plurality of sub-regions not including steering based on the dividing line.
In the embodiment of the disclosure, after determining the dividing line of the steering region, the computer device may divide the steering region into a plurality of sub-regions that do not include steering based on the dividing line.
For example, FIG. 8 provides a schematic view of a lane, which is composed of lane line C and lane line D, as shown in FIG. 8, where 801-804 are inflection points on lane line C, 805-808 are inflection points on lane line D, angles of inflection points 801-802 are smaller than a preset angle threshold, angles of inflection points 803-804 are all larger than a preset angle threshold, angles of inflection points 805-808 are all smaller than a preset angle threshold, and thus, a perpendicular line can be drawn to the opposite lane line D in a direction perpendicular to the lane, based on positions of inflection points 801-802, perpendicular lines can be drawn to the opposite lane line C in a direction perpendicular to the lane, based on positions of inflection points 805-808, respectively, inflection points 805 and 806 exist in a preset distance range of a foot drop in the opposite lane line D, and angles of inflection points 805 and 806 are both smaller than the preset angle threshold, the line of the inflection point 805 closest to the drop point and the inflection point 801 may be determined as a division line of the turning region, the inflection point 802 has the inflection points 805 and 806 within a preset distance range of the drop point in the opposite lane line D, and angles of both the inflection points 805 and 806 are smaller than a preset angle threshold, but at this time the inflection point 805 has been connected with the inflection point 801 to generate a division line, and therefore, the line of the inflection point 802 and the inflection point 806 may be determined as a division line of the turning region, the inflection point 807 has the inflection points 803 and 804 within a preset distance range of the drop point in the opposite lane line C, but angles of the inflection points 803 and 804 are larger than a preset angle threshold, and therefore, a vertical line corresponding to the inflection point 807 may be taken as a division line of the turning region, the inflection point 808 has the inflection point 804 within a preset distance range of the drop point in the opposite lane line C, but the angle of the inflection point 804 is larger than the preset angle threshold, therefore, the perpendicular line corresponding to the inflection point 808 can be used as the dividing line of the turning region. Thus, in fig. 8, the steering region 800 is divided into 3 sub-regions including no steering by 4 dividing lines 809 to 811.
And 780, sequentially connecting the central lines of the subareas to generate the central line of the steering area.
The content of the embodiments of the present disclosure may refer to the above step 130, and will not be described herein.
According to the method, the lane lines on two sides of a lane are obtained, then the turning area contained in the lane is determined based on the positions of the turning points on the lane lines, the angles of the turning points are calculated for the turning points on the lane lines on any side in the turning area, the opposite side lane lines are perpendicular to each other along the direction perpendicular to the lane based on the positions of the turning points with angles smaller than the preset angle threshold, whether the turning points exist in the preset distance range of the perpendicular to the opposite side lane lines is judged, if yes, the angles of the turning points are calculated, the turning points with angles smaller than the preset angle threshold on the opposite side lane lines are connected with the turning points through which the perpendicular passes, a dividing line of the turning area is generated, the turning area is divided into a plurality of sub-areas which do not contain turning, the center lines of the sub-areas are sequentially connected to generate the center line of the turning area, the turning area is divided into the plurality of sub-areas which do not contain turning points according to the preset angle threshold and the preset distance range on the lane lines, calculation resources can be further saved, and the speed and the accuracy of the center line of the turning area are improved.
Fig. 9 is a schematic structural diagram of a center line generating device for a lane steering area according to an embodiment of the present disclosure, which may be understood as part of the functional modules of the above-described computer apparatus. As shown in fig. 9, the center line generating device 900 of the lane steering area may include:
an acquiring module 910, configured to acquire lane lines on two sides of a lane;
a dividing module 920, configured to divide a steering region included in the lane into a plurality of sub-regions that do not include steering, based on a location of an inflection point on the lane line;
the first connection module 930 is configured to sequentially connect the centerlines of the sub-areas to generate a centerline of the steering area.
According to the embodiment of the disclosure, the lane lines on two sides of a lane are obtained through the obtaining module; the segmentation module segments a steering region contained in a lane into a plurality of subregions which do not contain steering based on the position of an inflection point on the lane line; the first connecting module sequentially connects the central lines of the subareas to generate the central line of the steering area, so that the accuracy of the central line generation of the lane can be improved.
Optionally, the dividing module 920 may include:
the first determining submodule is used for determining a steering area contained in a lane based on the position of an inflection point on the lane line;
The first plumb line making sub-module is used for making a plumb line to an opposite lane line along a direction perpendicular to a lane based on the position of an inflection point on the lane line on the steering area and determining the plumb line as a dividing line of the steering area;
the first dividing submodule is used for dividing the steering region into a plurality of subareas which do not contain steering based on the dividing line.
Optionally, the dividing module 920 may further include:
a second determination submodule for determining a steering region included in the lane based on a position of an inflection point on the lane line;
the second vertical drawing submodule is used for drawing a vertical line to the opposite lane line along the direction perpendicular to the lane on the basis of the position of the inflection point on the lane line in the steering area;
the judging submodule is used for judging whether an inflection point exists in a preset distance range of the foot drop point of the perpendicular line on the opposite side lane line;
the first connecting sub-module is used for connecting the inflection point on the opposite side lane line with the inflection point through which the vertical line passes if the inflection point exists in the preset distance range of the foot drop point of the vertical line, so as to generate a dividing line of the steering area;
and the second dividing sub-module is used for dividing the steering region into a plurality of sub-regions which do not contain steering based on the dividing line.
Optionally, the dividing module 920 may further include:
a third determining submodule, configured to determine whether an inflection point within a preset distance range has been connected with another inflection point to generate a parting line;
the second connecting submodule is used for connecting the inflection point on the opposite side lane line with the inflection point through which the vertical line passes to generate a dividing line of the steering region if the inflection point in the preset distance range is not connected with other inflection points to generate the dividing line;
and the fourth determination submodule is used for taking the vertical line as the dividing line of the steering area if the inflection point in the preset distance range is connected with other inflection points to generate the dividing line.
Optionally, the dividing module 920 may further include:
the calculating submodule is used for calculating the angle of the inflection point aiming at the inflection point on the lane line, wherein the angle is the minimum included angle between two adjacent lane lines of the inflection point;
and the third segmentation submodule is used for segmenting the steering region contained in the lane into a plurality of subregions which do not contain steering based on the position of the inflection point with the angle smaller than the preset angle threshold value.
Optionally, the connection module 930 may include:
a fifth determining submodule, configured to determine, for lane lines on two sides of each sub-region, positions of a preset number of equal-distance equally dividing points on each side lane line;
A sixth determining submodule for determining the arrangement sequence of the equal division points on each side lane line based on the direction of the lane;
the first generation submodule is used for connecting equally dividing points with the same arrangement sequence on the lane lines at two sides to generate a preset number of connecting lines;
the second generation submodule is used for sequentially connecting the midpoints of the connecting lines to generate a center line of the subarea;
and the third generation submodule is used for sequentially connecting the central lines of all the subregions to generate the central line of the steering region.
Optionally, the lane steering area center line generating apparatus 900 may further include:
the second connecting module is used for sequentially connecting the center line of the non-steering area on the lane with the center line of the steering area to generate the center line of the lane.
The method described in any one of the foregoing embodiments can be executed by the center line generating device for a lane steering area according to the present embodiment, and the execution manner and the beneficial effects of the method are similar, and are not repeated here.
The embodiment of the disclosure further provides a computer device, which may include a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the method for generating the center line of the lane steering area in any of the foregoing embodiments may be implemented, and the implementation manner and the beneficial effects of the method are similar, and are not repeated herein.
A computer device in embodiments of the present disclosure may be understood as any device having processing and computing capabilities, which may include, but is not limited to, mobile terminals such as smartphones, notebook computers, personal Digital Assistants (PDAs), tablet computers (PADs), portable Multimedia Players (PMPs), vehicle terminals (e.g., vehicle navigation terminals), wearable devices, etc., as well as stationary electronic devices such as digital TVs, desktop computers, etc.
The embodiments of the present disclosure further provide a computer readable storage medium, in which a computer program is stored, where when the computer program is executed by a processor, the method for generating a center line of a lane steering area in any of the foregoing embodiments may be implemented, and the implementation manner and the beneficial effects of the method are similar, and are not repeated herein.
The computer readable storage media described above can employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer programs described above may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer device, partly on the user's device, as a stand-alone software package, partly on the user's computer device and partly on a remote computer device or entirely on the remote computer device or server.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A center line generation method of a lane steering area, comprising:
obtaining lane lines at two sides of a lane;
dividing a steering region contained in the lane into a plurality of sub-regions not containing steering based on the position of the inflection point on the lane line;
and sequentially connecting the central lines of the subareas to generate the central line of the steering area.
2. The method of claim 1, wherein the dividing the turn region included in the lane into a plurality of sub-regions that do not include turns based on the location of the inflection point on the lane line comprises:
determining a steering region contained on the lane based on a location of an inflection point on the lane line;
on the steering region, based on the position of an inflection point on the lane line, making a perpendicular to an opposite lane line in a direction perpendicular to the lane, and determining the perpendicular as a dividing line of the steering region;
based on the dividing line, the steering region is divided into a plurality of sub-regions not including steering.
3. The method of claim 1, wherein the dividing the turn region contained in the lane into a plurality of sub-regions that do not contain turns based on the location of the inflection point on the lane line, further comprises:
Determining a steering region contained on the lane based on a location of an inflection point on the lane line;
on the steering region, making a perpendicular to an opposite lane line in a direction perpendicular to the lane based on a position of an inflection point on the lane line;
judging whether an inflection point exists in the opposite side lane line within a preset distance range of the foot drop point of the vertical line or not;
if the turning point exists, connecting the turning point on the opposite side lane line with the turning point through which the vertical line passes, and generating a dividing line of the turning region;
based on the dividing line, the steering region is divided into a plurality of sub-regions not including steering.
4. The method of claim 3, wherein the connecting the inflection point on the contralateral lane line with the inflection point through which the perpendicular line passes, before generating the split line for the turn region, further comprises:
determining whether an inflection point within the preset distance range has been connected with other inflection points to generate a parting line;
if not, connecting the inflection point on the opposite side lane line with the inflection point through which the vertical line passes, and generating a dividing line of the steering region;
if so, the vertical line is taken as a dividing line of the turning area.
5. The method of claim 1, wherein the dividing the turn region included in the lane into a plurality of sub-regions that do not include turns based on the location of the inflection point on the lane line comprises:
calculating the angle of the inflection point aiming at the inflection point on the lane line, wherein the angle is the minimum included angle between two adjacent lane lines of the inflection point;
and dividing the steering region contained in the lane into a plurality of sub-regions which do not contain steering based on the position of the inflection point of which the angle is smaller than a preset angle threshold.
6. The method of claim 1, wherein sequentially connecting the centerlines of the sub-regions to generate the centerline of the steer zone comprises:
determining the positions of a preset number of equal-distance equally dividing points on the lane lines at each side aiming at the lane lines at two sides of each sub-region;
determining the arrangement sequence of the equal dividing points on each side of the lane line based on the direction of the lane;
connecting the equally divided points with the same arrangement sequence on the lane lines at both sides to generate a preset number of connecting lines;
sequentially connecting the midpoints of the connecting lines to generate the central line of the subarea;
And sequentially connecting the central lines of the sub-areas to generate the central line of the steering area.
7. The method of claim 1, wherein the sequentially connecting the centerlines of the sub-regions, after generating the centerlines of the steer zones, further comprises:
and sequentially connecting the central line of the non-steering area on the lane with the central line of the steering area to generate the central line of the lane.
8. A center line generation device of a lane steering area, the device comprising:
the acquisition module is used for acquiring lane lines at two sides of a lane;
the dividing module is used for dividing the steering area contained in the lane into a plurality of subareas which do not contain steering based on the position of the inflection point on the lane line;
the first connecting module is used for sequentially connecting the central lines of the subareas to generate the central line of the steering area.
9. A computer device, comprising:
a memory and a processor, wherein the memory has stored therein a computer program which, when executed by the processor, implements the lane-turning area center line generation method according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when executed by a processor, implements the center line generation method of a lane-turning area according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210630039.6A CN116958238A (en) | 2022-06-06 | 2022-06-06 | Method, device, equipment and storage medium for generating center line of lane steering area |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210630039.6A CN116958238A (en) | 2022-06-06 | 2022-06-06 | Method, device, equipment and storage medium for generating center line of lane steering area |
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| CN116958238A true CN116958238A (en) | 2023-10-27 |
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| CN202210630039.6A Pending CN116958238A (en) | 2022-06-06 | 2022-06-06 | Method, device, equipment and storage medium for generating center line of lane steering area |
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| CN (1) | CN116958238A (en) |
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