CN117109612A

CN117109612A - Road reference line generation method, device, equipment and medium

Info

Publication number: CN117109612A
Application number: CN202310982326.8A
Authority: CN
Inventors: 李长春
Original assignee: Beijing Jidu Technology Co Ltd
Current assignee: Beijing Jidu Technology Co Ltd
Priority date: 2023-08-04
Filing date: 2023-08-04
Publication date: 2023-11-24

Abstract

The method, the device, the equipment and the medium for generating the road reference line can acquire the current position of a vehicle, an initial navigation route for planning the vehicle traveling through a vehicle-mounted map and a traveling task, and a high-precision map, determine a local high-precision map comprising an area where the initial navigation route is located from the high-precision map, determine a plurality of sections of sub-lanes of a road matched with the initial navigation route from the local high-precision map based on the current position and the initial navigation route, determine a lane reference line of at least one lane in the road matched with the initial navigation route based on lane information of the plurality of sections of sub-lanes and the local high-precision map, firstly introduce the initial navigation route to screen the high-precision map to obtain the local high-precision map, help reduce data processing amount, and then search the sub-lanes in the local high-precision map based on the current position and the initial navigation route, thereby obtain the lane reference line, help reduce time consumption and improve the efficiency of determining the lane reference line.

Description

Road reference line generation method, device, equipment and medium

Technical Field

The disclosure relates to the technical field of vehicles, and in particular relates to a method, a device, equipment and a medium for generating a road reference line.

Background

With the continuous development of society, the degree of urban motorization is higher and higher, in order to improve the driving convenience of a driver, a planned route can be provided for the driver in real time based on a map, a departure place and a destination so as to meet the motion and dynamic constraint of an automobile, and meanwhile, safe and comfortable driving guidance is provided for drivers and passengers.

In the process of planning a route, because road network information in a map is complex, the data processing amount is extremely huge, and a large amount of time can be consumed, so that the driving experience of a driver is influenced, and the intelligence and timeliness of vehicle travel are influenced.

Disclosure of Invention

The embodiment of the disclosure at least provides a method, a device, equipment and a medium for generating a road reference line.

The embodiment of the disclosure provides a method for generating a road reference line, which comprises the following steps:

acquiring the current position of a vehicle, an initial navigation route planned for the travel of the vehicle through a vehicle-mounted map and a travel task, and a high-precision map;

determining a local high-precision map comprising the area where the initial navigation route is located from the high-precision map;

Determining a plurality of sections of sub-lanes of a road adapted to the initial navigation route from the local high-precision map based on the current position and the initial navigation route;

and determining a lane reference line of at least one lane in the road adapted to the initial navigation route based on the determined lane information of the multiple sections of sub-lanes and the local high-precision map.

In an alternative embodiment, the determining, based on the current location and the initial navigation route, a plurality of sub-lanes of the road adapted to the initial navigation route from the local high-precision map includes:

determining a first sub-lane where the current position is located from the local high-precision map based on the current position;

and traversing at least one section of sub-lane of each road of a plurality of roads on the initial navigation route from the first sub-lane according to the initial navigation route and the lane topology information in the local high-precision map, wherein a plurality of sections of sub-lanes corresponding to the plurality of roads comprise the first sub-lane.

In an alternative embodiment, the determining, based on the determined lane information of the multiple sub-lanes and the local high-precision map, a lane reference line of at least one lane of the road adapted to the initial navigation route includes:

Generating at least one lane of each of a plurality of roads on the initial navigation route and a candidate lane reference line of the lane based on the lane information of each of the plurality of sub-lanes and the topology structure information of the plurality of sub-lanes in the local high-precision map, wherein the lane comprises at least one section of sub-lane;

for each generated candidate lane reference line, determining a plurality of road points on the candidate lane reference line and state information of each road point, wherein the state information comprises at least one of curvature, heading and position on the corresponding road point;

and correcting the candidate lane reference line based on the state information corresponding to each road point to obtain a lane reference line.

In an optional implementation manner, the correcting the candidate lane reference line based on the state information corresponding to each road point to obtain a lane reference line includes:

acquiring preset state information corresponding to the state information;

comparing the state information of each road point with the corresponding preset state information to obtain a reference line detection result,

and correcting the candidate lane reference line based on the reference line detection result to obtain the lane reference line.

In an optional embodiment, the correcting the candidate lane reference line based on the reference line detection result to obtain the lane reference line includes:

and determining the candidate lane reference line as the lane reference line under the condition that the reference line detection result indicates that the deviation value of the state information of each road point and the preset state information is smaller than or equal to a preset threshold value.

In an alternative embodiment, the determining the lane reference line based on the reference line detection result and the candidate lane reference line includes:

and correcting the candidate lane reference line to obtain the lane reference line under the condition that the reference line detection result indicates that the deviation value of the state information of at least one road point and the preset state information is larger than a preset threshold value.

In an optional implementation manner, when the reference line detection result indicates that a deviation value between the state information of at least one road point and the preset state information is greater than a preset threshold, the method corrects the candidate lane reference line to obtain the lane reference line, and includes:

and under the condition that the reference line detection result indicates that the deviation value of the state information of the first number of road points and the preset state information is larger than a preset threshold value, interpolation processing is carried out on the candidate lane reference lines based on the positions of the road points, and the adjusted lane reference lines are obtained.

In an alternative embodiment, the method further comprises:

determining a reference line starting point and a reference line ending point of the candidate lane reference line under the condition that the reference line detection result indicates that the deviation value of the state information of a second number of road points and the preset state information is larger than a preset threshold value, wherein the second number is larger than the first number;

determining a lane driving range corresponding to the initial navigation route based on the initial navigation route and the local high-precision map;

and generating a lane reference line for connecting the reference line starting point and the reference line ending point based on the reference line starting point, the reference line ending point and the lane driving range.

In an alternative embodiment, after the determining a lane reference line of at least one lane of the road adapted to the initial navigation route based on the determined lane information of the multiple sub-lanes and the local high-precision map, the method further comprises:

generating a plurality of candidate navigation reference lines from the current position to a destination indicated by the travel task based on the determined plurality of lane reference lines and the local high-precision map, wherein the candidate navigation reference lines comprise multiple target lane reference lines in the plurality of lane reference lines and lane changing information between two adjacent target lane reference lines;

A navigation reference line is determined from the plurality of candidate navigation reference lines based on the historical travel information of the vehicle.

In an alternative embodiment, the determining a navigation reference line from the plurality of candidate navigation reference lines based on the historical driving information of the vehicle includes:

acquiring historical driving information of the vehicle, and determining driving state information of a navigation route corresponding to each candidate navigation reference line for the vehicle, wherein the driving state information comprises at least one of reference line efficiency, reference line safety index and reference line stability index which influence the driving of the vehicle;

and determining a navigation reference line suitable for the vehicle from the candidate navigation reference lines based on the historical driving information and the driving state information.

The embodiment of the disclosure also provides a device for generating the road reference line, which comprises:

the data acquisition module is used for acquiring the current position of the vehicle, an initial navigation route planned for the travel of the vehicle through a vehicle-mounted map and a travel task and a high-precision map;

the map screening module is used for determining a local high-precision map comprising the area where the initial navigation route is located from the high-precision map;

The lane determining module is used for determining a plurality of sections of sub-lanes of a road adapted to the initial navigation route from the local high-precision map based on the current position and the initial navigation route;

and the reference line determining module is used for determining a lane reference line of at least one lane in the road adapted to the initial navigation route based on the determined lane information of the multiple sections of sub-lanes and the local high-precision map.

In an alternative embodiment, the lane determining module is specifically configured to:

In an alternative embodiment, the reference line determining module is specifically configured to:

In an optional implementation manner, the reference line determining module is configured to, when being configured to modify the candidate lane reference line based on the state information corresponding to each waypoint to obtain a lane reference line, specifically:

acquiring preset state information corresponding to the state information;

In an optional implementation manner, the reference line determining module is specifically configured to, when used for the correction of the candidate lane reference line based on the reference line detection result to obtain the lane reference line:

In an optional implementation manner, the reference line determining module is configured to, when the deviation value between the state information of the at least one road point indicated by the reference line detection result and the preset state information is greater than a preset threshold, correct the candidate lane reference line to obtain the lane reference line, specifically:

In an alternative embodiment, the reference line determining module is further configured to:

In an alternative embodiment, the apparatus further comprises a navigation planning module for:

In an alternative embodiment, the navigation planning module, when used for the determining a navigation reference line from the candidate navigation reference lines based on the historical driving information of the vehicle, is specifically configured to:

The embodiment of the disclosure also provides an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of any one of the possible embodiments of the method of generating a road reference line described above.

The disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of any one of the possible implementation of the road reference line generation method described above.

According to the method, the device, the equipment and the medium for generating the road reference line, the current position of the vehicle, the initial navigation route for traveling planning of the vehicle through the vehicle-mounted map and the traveling task and the high-precision map can be obtained, the local high-precision map including the area where the initial navigation route is located is determined from the high-precision map, multiple sections of sub-lanes of the road matched with the initial navigation route are determined from the local high-precision map based on the current position and the initial navigation route, the lane reference line of at least one lane in the road matched with the initial navigation route is determined based on the lane information of the multiple sections of sub-lanes and the local high-precision map, and therefore, the layering thought is utilized, the initial navigation route is firstly introduced to screen the high-precision map to obtain the local high-precision map, data processing amount is reduced, and recursive searching of the sub-lanes is conducted in the local high-precision map based on the current position and the initial navigation route, so that the lane reference line is obtained, time consumption is reduced, and the lane reference line determining efficiency is improved.

Further, under the condition that a plurality of lane reference lines are determined, a navigation reference line suitable for a vehicle can be determined, driving guidance is provided for drivers and passengers, driving experience of the drivers is improved, and intelligence and timeliness of vehicle travel are improved.

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 aspects of the disclosure.

The foregoing objects, features and advantages of the disclosure will be more readily apparent from the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the embodiments are briefly described below, which are incorporated in and constitute a part of the specification, these drawings showing embodiments consistent with the present disclosure and together with the description serve to illustrate the technical solutions of the present disclosure. It is to be understood that the following drawings illustrate only certain embodiments of the present disclosure and are therefore not to be considered limiting of its scope, for the person of ordinary skill in the art may admit to other equally relevant drawings without inventive effort.

Fig. 1 shows a flowchart of a method for generating a road reference line according to an embodiment of the present disclosure;

FIG. 2 is a flowchart of another method for generating a road reference line according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a road reference line generation process according to an embodiment of the present disclosure;

fig. 4 shows one of schematic diagrams of a road reference line generating apparatus provided by an embodiment of the present disclosure;

FIG. 5 is a second schematic diagram of a road reference line generating device according to an embodiment of the disclosure;

fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. The components of the embodiments of the present disclosure, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be made by those skilled in the art based on the embodiments of this disclosure without making any inventive effort, are intended to be within the scope of this disclosure.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The term "and/or" is used herein to describe only one relationship, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

According to research, the process of planning a route is generally divided into global route planning and local route planning, and aiming at global route planning, all road information between a departure place and a destination is required to be acquired after the departure place and the destination are determined.

Based on the above study, the disclosure provides a method for generating a road reference line, which uses a layering thought to firstly introduce an initial navigation route to screen a high-precision map to obtain a local high-precision map, thereby being beneficial to reducing data processing amount, and then carrying out recursive searching of sub-lanes in the local high-precision map based on the current position and the initial navigation route, thereby obtaining a lane reference line, being beneficial to reducing time consumption and improving the efficiency of determining the lane reference line.

It will be appreciated that prior to using the technical solutions disclosed in the embodiments of the present disclosure, the user should be informed and authorized of the type, usage range, usage scenario, etc. of the personal information related to the present disclosure in an appropriate manner according to the relevant legal regulations.

For example, in response to receiving an active request from a user, a prompt is sent to the user to explicitly prompt the user that the operation it is requesting to perform will require personal information to be obtained and used with the user. Thus, the user can autonomously select whether to provide personal information to software or hardware such as an electronic device, an application program, a server or a storage medium for executing the operation of the technical scheme of the present disclosure according to the prompt information.

As an alternative but non-limiting implementation, in response to receiving an active request from a user, the manner in which the prompt information is sent to the user may be, for example, a popup, in which the prompt information may be presented in a text manner. In addition, the popup window can also bear a selection control for the user to select to provide personal information for the electronic equipment and the like in a 'consent' or 'disagreement' mode.

It will be appreciated that the above-described process of notifying and obtaining user authorization is merely illustrative, and not limiting of the implementations of the present disclosure, and that other ways of satisfying relevant legal regulations may be applied to the implementations of the present disclosure.

For the sake of understanding the present embodiment, first, a detailed description will be given of a method for generating a road reference line disclosed in the present embodiment, where an execution body of the method for generating a road reference line provided in the present embodiment is generally an electronic device with a certain computing capability, and in this embodiment, the electronic device may be a server. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud storage, big data, artificial intelligent platforms and the like.

In other embodiments, the electronic device may also be a terminal device or other processing device, where the terminal device may be a User Equipment (UE), a mobile device, a User terminal, a handheld device, a computing device, an in-vehicle device, a wearable device, and the like, and the other processing device may be a device including a processor and a memory, which is not limited herein. In some possible implementations, the method of generating the road reference line may be implemented by a processor invoking computer readable instructions stored in a memory.

The following describes a method for generating a road reference line according to an embodiment of the present disclosure.

Referring to fig. 1, a flowchart of a method for generating a road reference line according to an embodiment of the present disclosure is shown in fig. 1, where the method for generating a road reference line according to an embodiment of the present disclosure includes steps S101 to S104, where:

s101: the method comprises the steps of obtaining the current position of a vehicle, an initial navigation route planned for the travel of the vehicle through a vehicle-mounted map and a travel task, and a high-precision map.

Here, the vehicle map may be an index map (Standard Definition Map, SDMap), the high-precision map may be a high-precision electronic map (High Definition Map, HDMap), the SDMap contains very limited information and can only be used as navigation functions, while the HDMap can provide navigation information at the level of lanes (Lane) in addition to navigation information at the level of roads (Road), the richness and precision of the information are greatly improved, and the HDMap contains Road information such as Road types, curvatures, lane line positions, and environmental object information such as roadside infrastructure, obstacles, traffic signs, and real-time dynamic information such as traffic flow and traffic light status information.

The high-precision map is a map corresponding to the region where the vehicle is located.

In this embodiment, when the vehicle has a travel task, a current position of the vehicle, an initial navigation route planned for the travel of the vehicle through a vehicle-mounted map and the travel task, and a high-precision map are obtained, and in other embodiments, when the user has a travel task, a current position of the user, an initial navigation route planned for the travel of the user through a user terminal loading map and the travel task, and a high-precision map are obtained, and accordingly, the high-precision map is a map corresponding to an area where the user is located, and the high-precision map has higher content precision than the user terminal loading map.

S102: and determining a local high-precision map comprising the area where the initial navigation route is located from the high-precision map.

Here, in order to improve accuracy of the local high-precision map, the local high-precision map may also be determined in conjunction with the current position.

The local high-precision map includes, as an example, not only an area where the initial navigation route is located, but also an area within a preset range centered on the current position.

S103: and determining a plurality of sections of sub-lanes of a road adapted to the initial navigation route from the local high-precision map based on the current position and the initial navigation route.

In this step, a plurality of sub-lanes of the road adapted to the initial navigation route may be found recursively from the local high-definition map according to the initial navigation route starting from the current position.

Specifically, in some possible embodiments, based on the current position, determining a first sub-lane in which the current position is located from the local high-precision map; and traversing at least one section of sub-lane of each road of a plurality of roads on the initial navigation route from the first sub-lane according to the initial navigation route and the lane topology information in the local high-precision map, wherein a plurality of sections of sub-lanes corresponding to the plurality of roads comprise the first sub-lane.

It should be noted that, in the high-precision map, information is stored in a segmented manner, and the lane information in this storage manner cannot be directly used, so that at least one section of sub-lane needs to be determined from the local high-precision map for use in a subsequent step.

After determining the first sub-lane, a depth-first manner may be adopted, and based on the initial navigation route and the lane topology information in the local high-precision map, a second sub-lane connected with the first sub-lane may be determined, where the second sub-lane is a preceding lane or a following lane of the first sub-lane, and further a third sub-lane connected with the second sub-lane is determined, and accordingly, the third sub-lane is a preceding lane or a following lane of the second sub-lane until at least one section of sub-lane of each of the multiple roads located on the initial navigation route is determined.

During the traversing, a preset length may be set, for example 800 meters, and if the length of the next sub-lane is greater than or equal to the preset length, or the length of the next sub-lane is less than the preset length but the next sub-lane meets the preset condition, the next sub-lane may be saved, otherwise the recursion is continued. Here, the preset condition may be that the next sub-lane includes a terminal of the road.

Therefore, at least one section of sub-lane of each road in the plurality of roads on the initial navigation route, which is started from the first sub-lane, can be determined by traversing the local high-precision map, omission of the sub-lane is avoided, and accuracy and completeness of determining the sections of sub-lanes are improved.

S104: and determining a lane reference line of at least one lane in the road adapted to the initial navigation route based on the determined lane information of the multiple sections of sub-lanes and the local high-precision map.

Here, after determining the multiple sub-lanes, a lane reference line in the road where the multiple sub-lanes are located may be determined based on the lane information of the multiple sub-lanes and the local high-precision map.

Wherein the lane reference line includes a lane center line and a lane boundary line.

Specifically, in some possible embodiments, at least one lane of each of a plurality of roads on the initial guiding route and a candidate lane reference line of the lane are generated based on the lane information of each of the plurality of sub-lanes and the topology information of the plurality of sub-lanes in the local high-precision map, wherein the lane comprises at least one section of sub-lane; for each generated candidate lane reference line, determining a plurality of road points on the candidate lane reference line and state information of each road point, wherein the state information comprises at least one of curvature, heading and position on the corresponding road point; and correcting the candidate lane reference line based on the state information corresponding to each road point to obtain a lane reference line.

Here, the local high-precision map may cause that the information in the local high-precision map is not up-to-date due to the freshness problem, so that it may be caused that the candidate lane reference line generated based on the local high-precision map does not conform to the constraint of vehicle dynamics, and in order to ensure the availability and practicality of the lane reference line, the candidate lane reference line may be corrected based on the state information corresponding to each road point, so as to obtain the lane reference line.

Therefore, the candidate lane reference line can be corrected based on the state information corresponding to each road point to obtain the lane reference line, and the availability and the practicability of the lane reference line can be guaranteed.

Thus, in some possible embodiments, preset state information corresponding to the state information may be acquired; and respectively comparing the state information of each road point with the corresponding preset state information to obtain a reference line detection result, and correcting the candidate lane reference line based on the reference line detection result to obtain the lane reference line.

Therefore, the reference line detection result can be determined by comparing the state information of each road point with the preset state information, and the accuracy of the reference line detection result can be guaranteed.

In a specific implementation, the candidate lane reference line is determined as the lane reference line when the reference line detection result indicates that the deviation value of the state information of each road point and the preset state information is smaller than or equal to a preset threshold value.

The value of the preset threshold may be determined according to actual needs, and is not limited herein.

Here, in the case where the state information of each road point and the deviation value of the preset state information are both less than or equal to a preset threshold value, the candidate lane reference line may be considered to conform to the constraint of vehicle dynamics, and thus the candidate lane reference line may be directly used as a lane reference line.

Therefore, under the condition that the deviation value of the state information of each road point and the preset state information is smaller than or equal to the preset threshold value, the candidate lane reference line is directly used as the lane reference line, and the speed of determining the lane reference line is improved.

In other possible embodiments, the lane reference line candidate is corrected to obtain the lane reference line when the reference line detection result indicates that the deviation value of the state information of at least one road point and the preset state information is greater than a preset threshold value.

Here, in the case where there is a deviation value of the state information of any one waypoint from the preset state information that is greater than a preset threshold value, the candidate lane reference line may be considered to be out of compliance with the constraint of the vehicle dynamics, and thus the candidate lane reference line may be corrected to obtain the lane reference line.

Therefore, under the condition that the deviation value of the state information of any road point and the preset state information is larger than the preset threshold value, the candidate lane reference line is corrected to obtain the lane reference line, and the accuracy of the lane reference line is improved.

After it is determined that the candidate lane reference line needs to be corrected, in some possible embodiments, if the reference line detection result indicates that a deviation value between the state information of the first number of road points and the preset state information is greater than a preset threshold value, interpolation processing is performed on the candidate lane reference line based on positions of the road points, so as to obtain the adjusted lane reference line.

The first number may be any number according to practical needs, and is not limited herein.

Here, under the condition that the deviation value of the state information of fewer road points and the preset state information is larger than a preset threshold value, each road point can still be reserved, interpolation processing is carried out on the plurality of road points by adopting a spline interpolation method, and a smooth curve passing through the plurality of road points is obtained, wherein the smooth curve is the adjusted lane reference line.

Therefore, under the condition that the deviation value of the state information of the first number of road points and the preset state information is larger than a preset threshold value, each road point is reserved, the lane reference line is generated through interpolation, and the efficiency of determining the lane reference line is improved.

In other possible embodiments, if the reference line detection result indicates that the deviation value of the state information of the second number of road points from the preset state information is greater than a preset threshold value, determining a reference line start point and a reference line end point of the candidate lane reference line, wherein the second number is greater than the first number; determining a lane driving range corresponding to the initial navigation route based on the initial navigation route and the local high-precision map; and generating a lane reference line for connecting the reference line starting point and the reference line ending point based on the reference line starting point, the reference line ending point and the lane driving range.

The second number may be any number according to practical needs, and is not limited herein.

Here, when the deviation value of the state information of more road points and the preset state information is greater than a preset threshold value, only the reference line start point and the reference line end point may be reserved, other road points may be discarded, and the lane reference line may be regenerated by combining the vehicle dynamics and the vehicle kinematics in the lane driving range.

Therefore, the lane reference line can be re-lane in the lane driving range based on the reference line starting point and the reference line ending point under the condition that the deviation value of the state information of the second number of road points and the preset state information is larger than the preset threshold value, and the practicability of determining the lane reference line is improved.

According to the road reference line generation method, the current position of a vehicle, the initial navigation route for traveling planning of the vehicle through the vehicle-mounted map and traveling tasks and the high-precision map can be obtained, the local high-precision map comprising the area where the initial navigation route is located is determined from the high-precision map, multiple sections of sub-lanes of a road adapted to the initial navigation route are determined from the local high-precision map based on the current position and the initial navigation route, and the lane reference line of at least one lane of the road adapted to the initial navigation route is determined based on the lane information of the determined multiple sections of sub-lanes and the local high-precision map.

Referring to fig. 2, fig. 2 is a flowchart of another method for generating a road reference line according to an embodiment of the present disclosure, and as shown in fig. 2, the method for generating a road reference line according to the embodiment of the present disclosure includes steps S201 to S206, where:

s201: the method comprises the steps of obtaining the current position of a vehicle, an initial navigation route planned for the travel of the vehicle through a vehicle-mounted map and a travel task, and a high-precision map.

S202: and determining a local high-precision map comprising the area where the initial navigation route is located from the high-precision map.

S203: and determining a plurality of sections of sub-lanes of a road adapted to the initial navigation route from the local high-precision map based on the current position and the initial navigation route.

S204: and determining a lane reference line of at least one lane in the road adapted to the initial navigation route based on the determined lane information of the multiple sections of sub-lanes and the local high-precision map.

The descriptions of the steps S201 to S204 may refer to the descriptions of the steps S101 to S104, and may achieve the same technical effects and solve the same technical problems, which are not described herein.

S205: and generating a plurality of candidate navigation reference lines from the current position to the destination indicated by the travel task based on the determined plurality of lane reference lines and the local high-precision map, wherein the candidate navigation reference lines comprise multiple target lane reference lines in the plurality of lane reference lines and lane change information between two adjacent target lane reference lines.

Here, after determining the lane reference line, in order to perform travel guidance for the driver of the vehicle, a plurality of candidate navigation reference lines from the current position to the destination may be generated according to the local high-precision map and the destination indicated by the travel task.

The plurality of lane reference lines comprise the target lane reference line, and two adjacent target lane reference lines can be connected through lane change information between the two adjacent target lane reference lines, so that continuous candidate navigation reference lines are obtained.

S206: a navigation reference line is determined from the plurality of candidate navigation reference lines based on the historical travel information of the vehicle.

It is known that, when the driver and the passenger of the vehicle are guided in a travel, only one optimal mode is guided, so that, in combination with the historical driving information of the vehicle, one navigation reference line which is most suitable for the vehicle can be determined from the candidate navigation reference lines.

Therefore, under the condition of determining a plurality of lane reference lines, the navigation reference lines suitable for the vehicle can be determined, driving guidance is provided for drivers, driving experience of the drivers is improved, and intelligence and timeliness of vehicle travel are improved.

Specifically, in some possible embodiments, historical driving information of the vehicle may be obtained, and driving state information of a navigation route corresponding to each candidate navigation reference line for the vehicle may be determined, where the driving state information includes at least one of reference line efficiency, reference line safety index and reference line stability index that affect driving of the vehicle; and determining a navigation reference line suitable for the vehicle from the candidate navigation reference lines based on the historical driving information and the driving state information.

The historical driving information is used for indicating the historical driving condition of the vehicle at the current position, for example, the vehicle starts to drive along a certain lane from the current position. In order to conform to the driving habit of the driver, it is preferable to perform traveling according to the history of traveling conditions.

Here, the larger the running state information is, the higher the reference line efficiency is, the higher the reference line safety index is, and the higher the reference line stability index is, so the larger the running state information is, the more convenient, safe and stable the vehicle running is.

Optionally, corresponding weights may be configured for the historical driving information and the driving state information, a reference score for each candidate navigation reference line is obtained based on the historical driving information, the driving state information and the respective corresponding weights, and a navigation reference line suitable for the vehicle is determined from the plurality of candidate navigation reference lines based on the reference score of each candidate navigation reference line.

Therefore, multiple candidate navigation reference lines can be screened by integrating multiple factors, the comprehensiveness of the determined navigation reference lines can be improved, and the matching between the navigation reference lines and the vehicle can be guaranteed.

In order to clearly demonstrate the generation process of the road reference line, fig. 3 shows a schematic diagram of the generation process of the road reference line provided by the embodiment of the disclosure. As shown in fig. 3, a current position of a vehicle, an initial navigation route planned for a trip of the vehicle through a vehicle-mounted map and a trip task, and a high-precision map may be acquired, a local high-precision map including an area where the initial navigation route is located is determined from the high-precision map, a plurality of sub-lanes of a road adapted to the initial navigation route are determined from the local high-precision map based on the current position and the initial navigation route, then, based on lane information of each of the plurality of sub-lanes and topology structure information of the plurality of sub-lanes in the local high-precision map, at least one lane of each of the plurality of roads and a candidate lane reference line of the lane on the initial navigation route are generated, a plurality of road points on the candidate lane reference line and state information of each road point are determined for each candidate lane reference line determined, and the candidate lane reference line is corrected based on state information corresponding to each road point, so as to obtain a reference line. And then, generating a plurality of candidate navigation reference lines from the current position to the destination indicated by the travel task based on the determined plurality of lane reference lines and the local high-precision map, so as to determine the navigation reference line from the plurality of candidate navigation reference lines based on the historical travel information of the vehicle. The specific steps are described in the foregoing embodiments, and are not repeated herein.

It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.

Based on the same inventive concept, the embodiments of the present disclosure further provide a device for generating a road reference line corresponding to the method for generating a road reference line, and since the principle of solving the problem of the device in the embodiments of the present disclosure is similar to that of the method for generating a road reference line in the embodiments of the present disclosure, the implementation of the device may refer to the implementation of the method, and the repetition is omitted.

Referring to fig. 4 and 5, fig. 4 is a schematic diagram of a road reference line generating device according to an embodiment of the disclosure, and fig. 5 is a schematic diagram of a second road reference line generating device according to an embodiment of the disclosure. As shown in fig. 4, a generating device 400 for a road reference line provided in an embodiment of the present disclosure includes:

the data acquisition module 410 is configured to acquire a current position of a vehicle, an initial navigation route planned for a trip of the vehicle through a vehicle-mounted map and a trip task, and a high-precision map;

The map screening module 420 is configured to determine a local high-precision map including an area where the initial navigation route is located from the high-precision map;

the lane determining module 430 is configured to determine, from the local high-precision map, a plurality of sub-lanes of a road adapted to the initial navigation route based on the current location and the initial navigation route;

the reference line determining module 440 is configured to determine a lane reference line of at least one lane of the road adapted to the initial navigation route based on the determined lane information of the multiple sub-lanes and the local high-precision map.

In an alternative embodiment, the lane determining module 430 is specifically configured to:

In an alternative embodiment, the reference line determining module 440 is specifically configured to:

In an optional implementation manner, the reference line determining module 440 is configured to, when used for correcting the candidate lane reference line based on the state information corresponding to each waypoint to obtain a lane reference line, specifically:

acquiring preset state information corresponding to the state information;

In an alternative embodiment, the reference line determining module 440 is specifically configured to, when used for the correcting the candidate lane reference line based on the reference line detection result to obtain the lane reference line:

In an alternative embodiment, the reference line determining module 440 is configured to, when the deviation value between the state information of the at least one road point indicated by the reference line detection result and the preset state information is greater than a preset threshold, correct the candidate lane reference line to obtain the lane reference line, specifically:

In an alternative embodiment, the reference line determining module 440 is further configured to:

In an alternative embodiment, as shown in fig. 5, the apparatus further comprises a navigation planning module 450, the navigation planning module 450 being configured to:

In an alternative embodiment, the navigation planning module 450 is specifically configured to, when determining the navigation reference line from the plurality of candidate navigation reference lines based on the historical driving information of the vehicle:

The process flow of each module in the apparatus and the interaction flow between the modules may be described with reference to the related descriptions in the above method embodiments, which are not described in detail herein.

According to the road reference line generating device, the current position of a vehicle, the initial navigation route for traveling planning of the vehicle through the vehicle-mounted map and traveling tasks and the high-precision map can be obtained, the local high-precision map comprising the area where the initial navigation route is located is determined from the high-precision map, multiple sections of sub-lanes of a road adapted to the initial navigation route are determined from the local high-precision map based on the current position and the initial navigation route, and the lane reference line of at least one lane in the road adapted to the initial navigation route is determined based on the lane information of the determined multiple sections of sub-lanes and the local high-precision map.

Corresponding to the above method for generating the road reference line, the embodiment of the disclosure further provides an electronic device 600, as shown in fig. 6, which is a schematic structural diagram of the electronic device 600 provided in the embodiment of the disclosure, including:

a processor 610, a memory 620, and a bus 630. Wherein the memory 620 is used for storing execution instructions, including a memory 621 and an external memory 622; the memory 621 is also referred to as an internal memory, and is used for temporarily storing operation data in the processor 610 and data exchanged with the external memory 622 such as a hard disk, and the processor 610 exchanges data with the external memory 622 via the memory 621.

In an embodiment of the present application, the memory 620 is specifically configured to store application program codes for executing the solution of the present application, and the processor 610 controls the execution. That is, when the electronic device 600 is operating, communication between the processor 610 and the memory 620 is through the bus 630, so that the processor 610 executes the application code stored in the memory 620, thereby performing the steps of the road reference line generating method described in any of the foregoing embodiments.

The Memory 620 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor 610 may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should be understood that the illustrated structure of the embodiment of the present application does not constitute a specific limitation on the electronic device 600. In other embodiments of the application, electronic device 600 may include more or fewer components than shown, or certain components may be combined, or certain components may be split, or different arrangements of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

The disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the road reference line generating method described in the above method embodiments. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.

The embodiments of the present disclosure further provide a computer program product, where the computer program product includes computer instructions, and when the computer instructions are executed by a processor, the steps of the method for generating a road reference line described in the foregoing method embodiments may be executed, and detailed descriptions of the method embodiments are omitted herein.

Wherein the above-mentioned computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and device described above may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again. In several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus, device, and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in essence or a part contributing to the prior art or a part of the technical solution, or in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present disclosure, and are not intended to limit the scope of the disclosure, but the present disclosure is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, it is not limited to the disclosure: any person skilled in the art, within the technical scope of the disclosure of the present disclosure, may modify or easily conceive changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features thereof; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A method for generating a road reference line, the method comprising:

2. The method of claim 1, wherein the determining, based on the current location and the initial navigation route, a plurality of sub-lanes of a road adapted to the initial navigation route from the local high-precision map comprises:

3. The method of claim 1, wherein the determining a lane reference line for at least one lane of a road to which the initial navigation route is adapted based on the determined lane information of the plurality of sub-lanes and the local high-precision map, comprises:

4. The method of claim 3, wherein the correcting the candidate lane reference line based on the state information corresponding to each waypoint to obtain a lane reference line comprises:

Acquiring preset state information corresponding to the state information;

5. The method of claim 4, wherein the correcting the candidate lane reference line based on the reference line detection result to obtain the lane reference line comprises:

6. The method of claim 4, wherein the determining the lane reference line based on the reference line detection result and the candidate lane reference line comprises:

7. The method according to claim 6, wherein correcting the candidate lane reference line to obtain the lane reference line if the reference line detection result indicates that a deviation value of the state information of at least one road point from the preset state information is greater than a preset threshold value, comprises:

8. The method of claim 7, wherein the method further comprises:

9. The method of claim 1, wherein after the determining of the lane reference line to at least one lane of the road to which the initial navigation route is adapted based on the determined lane information of the multiple sub-lanes and the local high-precision map, the method further comprises:

10. The method of claim 9, wherein the determining a navigation reference line from the plurality of candidate navigation reference lines based on the historical travel information of the vehicle comprises:

11. A generation apparatus of a road reference line, the apparatus comprising:

12. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication over the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the method of generating a road reference line according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the road reference line generating method according to any one of claims 1 to 10.