CN117994385A

CN117994385A - Lane virtual boundary line generation method and related device

Info

Publication number: CN117994385A
Application number: CN202410409278.8A
Authority: CN
Inventors: 金勇庆
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2024-04-07
Filing date: 2024-04-07
Publication date: 2024-05-07

Abstract

The application discloses a method and a related device for generating a lane virtual boundary line, which can be applied to the fields of electronic maps, automatic driving, auxiliary driving, intelligent traffic, cloud technology, artificial intelligence and the like. And acquiring an entering lane line and an exiting lane line of the intersection to be processed, and respectively determining corresponding steering starting lines. And determining a plurality of sections of control points according to the steering starting lines and the steering information between the entering lane line and the exiting lane line to be communicated, wherein the steering starting lines correspond to the entering lane line and the exiting lane line to be communicated respectively. And respectively performing Bezier curve fitting on each section of control point to obtain a plurality of sections of fitted curves, and splicing based on the plurality of sections of fitted curves to obtain a lane virtual boundary line. Therefore, the lane virtual boundary line is automatically generated, and the generation efficiency and accuracy of the lane virtual boundary are improved. In addition, the virtual boundary line of the lane is drawn through a plurality of sections of control points, so that the position where the fitting curve actually passes can be flexibly controlled, and the more accurate virtual boundary line of the lane can be conveniently generated.

Description

Lane virtual boundary line generation method and related device

Technical Field

The application relates to the technical field of computers, in particular to a method and a related device for generating a lane virtual boundary line.

Background

In the real world, an intersection of a road generally has no actual lane boundary line, and a driver typically controls a running tool to turn from traveling in the intersection to a certain exit lane of the intersection according to actual experience.

With the application of electronic maps in driving fields, in order to provide more accurate information through the electronic maps and improve driving safety, when the electronic maps are generated, virtual lane boundary lines are generated for intersections without actual lane boundary lines in the real world, so as to limit the running area of running tools at the intersections.

In the related art, a drawing person manually draws a lane virtual boundary line of an intersection by referring to data such as an intersection point cloud, a photo track and the like. However, the method relies on manpower, the drawing efficiency is low, and the drawing results of different drawing staff can be different, so that the accuracy of the virtual boundary line of the drawn lane is not high, and errors are easy to occur or unreasonable situations occur.

Disclosure of Invention

In order to solve the technical problems, the application provides a method and a related device for generating a lane virtual boundary line, which can automatically generate the lane virtual boundary line, thereby avoiding manual dependence and improving the generation efficiency and accuracy of the lane virtual boundary. In addition, the lane virtual boundary line is obtained by splicing the fitting curves drawn by the multiple sections of control points, and the positions where the fitting curves actually pass can be flexibly controlled by the multiple sections of splicing, so that more accurate lane virtual boundary line can be conveniently generated.

The embodiment of the application discloses the following technical scheme:

In one aspect, an embodiment of the present application provides a method for generating a lane virtual boundary line, where the method includes:

Acquiring an entering lane line and an exiting lane line of an intersection to be processed;

Determining a steering starting line of the entering lane line and a steering starting line of the exiting lane line, wherein the steering starting line is used for indicating a starting position of entering the intersection to be processed along the entering lane line and a starting position of leaving the intersection to be processed along the exiting lane line;

determining a plurality of sections of control points according to steering starting lines corresponding to the entering lane line and the exiting lane line to be communicated and steering information between the entering lane line and the exiting lane line to be communicated;

And respectively performing Bezier curve fitting on each section of control points in the plurality of sections of control points to obtain a plurality of sections of fitted curves, and splicing based on the plurality of sections of fitted curves to obtain a lane virtual boundary line, wherein the lane virtual boundary line is used for communicating the entering lane line and the exiting lane line to be communicated.

In one aspect, an embodiment of the present application provides a device for generating a lane virtual boundary line, where the device includes an obtaining unit, a determining unit, a fitting unit, and a splicing unit:

The acquisition unit is used for acquiring an entering lane line and an exiting lane line of the intersection to be processed;

The determining unit is used for determining a steering starting line of the entering lane line and a steering starting line of the exiting lane line, wherein the steering starting line is used for indicating a starting position of entering the intersection to be processed along the entering lane line and a starting position of leaving the intersection to be processed along the exiting lane line;

the determining unit is further used for determining a plurality of sections of control points according to steering starting lines corresponding to the entering lane line and the exiting lane line to be communicated and steering information between the entering lane line and the exiting lane line to be communicated;

the fitting unit is used for respectively performing Bezier curve fitting on each section of control points in the plurality of sections of control points to obtain a plurality of sections of fitting curves;

the splicing unit is used for splicing based on the multi-section fitting curve to obtain a lane virtual boundary line, and the lane virtual boundary line is used for communicating the entering lane line to be communicated with the exiting lane line.

In one aspect, an embodiment of the present application provides a computer device including a processor and a memory:

the memory is used for storing a computer program and transmitting the computer program to the processor;

The processor is configured to perform the method of any of the preceding aspects according to instructions in the computer program.

In one aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the method of any one of the preceding aspects.

In one aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements the method of any of the preceding aspects.

According to the technical scheme, when the virtual lane boundary line in the intersection is required to be generated on the electronic map, the entering lane line and the exiting lane line of the intersection to be processed can be firstly obtained, the steering starting line of the entering lane line and the steering starting line of the exiting lane line are determined, the steering starting line is used for indicating the starting position of entering the intersection to be processed along the entering lane line and the starting position of leaving the intersection to be processed along the exiting lane line, and therefore the positions of starting steering and ending steering of the running tool in the intersection are determined, and the starting position and the ending position of the virtual lane boundary line in the intersection are determined. Some of the entering lane lines and the exiting lane lines of the intersection to be processed are communicated through the lane virtual boundary line so as to prompt the range of the driving area in the intersection to be processed through the lane virtual boundary line. For an entering lane line and an exiting lane line to be communicated, a lane virtual boundary line can be generated in a Bezier curve fitting mode. The control points are key elements of Bezier curve fitting, so that multiple sections of control points can be determined based on steering starting lines corresponding to the entering lane lines and the exiting lane lines to be communicated and steering information between the entering lane lines and the exiting lane lines to be communicated. Each section of control point is used for determining the shape and trend of a corresponding curve, then Bezier curve fitting is carried out on each section of control point in the plurality of sections of control points respectively to obtain a plurality of sections of fitting curves, and the plurality of sections of fitting curves are spliced based on the plurality of sections of fitting curves to obtain a lane virtual boundary line for communicating an entering lane line and an exiting lane line to be communicated. The method and the device can automatically generate the virtual boundary line of the lane, thereby avoiding manual dependence and improving the generation efficiency and accuracy of the virtual boundary of the lane. In addition, the lane virtual boundary line is obtained by splicing the fitting curves drawn by the multiple sections of control points, and the positions where the fitting curves actually pass can be flexibly controlled by the multiple sections of splicing, so that more accurate lane virtual boundary line can be conveniently generated.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive faculty for a person skilled in the art.

Fig. 1 is an application scenario architecture diagram of a method for generating a lane virtual boundary line according to an embodiment of the present application;

Fig. 2 is a flowchart of a method for generating a lane virtual boundary line according to an embodiment of the present application;

fig. 3 is an exemplary diagram of an intersection to be processed according to an embodiment of the present application;

Fig. 4 is an exemplary diagram of a virtual boundary line of a lane based on a crosswalk according to an embodiment of the present application;

fig. 5 is a diagram illustrating a positional relationship between virtual boundary lines of lanes for different directions according to an embodiment of the present application;

FIG. 6 is a diagram illustrating an exemplary positional relationship between virtual boundary lines of lanes for different directions according to another embodiment of the present application;

FIG. 7 is a diagram illustrating an exemplary positional relationship between virtual boundary lines of lanes for different directions according to another embodiment of the present application;

FIG. 8 is an exemplary diagram of a steering initiation line provided by an embodiment of the present application;

FIG. 9 is an exemplary diagram of a multi-segment control point provided by an embodiment of the present application;

fig. 10 is an exemplary diagram of a multi-segment control point satisfying a positional relationship control condition according to an embodiment of the present application;

FIG. 11 is an exemplary diagram of a multi-segment control point based on lane width determination according to an embodiment of the present application;

fig. 12 is a block diagram of a lane virtual boundary line generating apparatus according to an embodiment of the present application;

fig. 13 is a block diagram of a terminal according to an embodiment of the present application;

fig. 14 is a block diagram of a server according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described below with reference to the accompanying drawings.

Lane boundary lines (border), or lane lines, are also known as road markings, such as white or yellow dashed or solid lines in the road that define a complete lane, are used to control the boundary of the range in which the vehicle is traveling within the lane. While the intersection of a road generally has no actual lane boundary, the driver typically controls the steering of the driving tool from within the intersection to some exit lane of the intersection based on actual experience.

With the application of electronic maps in driving fields, for example, navigation using electronic maps, assisted driving using electronic maps, automatic driving, etc., in order to provide more accurate information through electronic maps and improve driving safety, it is necessary to generate virtual lane boundary lines for intersections without actual lane boundary lines in the real world when generating electronic maps, so as to limit the driving area of a driving tool at the intersections. For example, when the electronic map is used for intelligent driving (auxiliary driving and automatic driving), if the electronic map is provided with the lane virtual boundary line, the intelligent driving system can be helped to decide the driving route of the driving tool at the intersection according to the lane virtual boundary line, so that the driving tool of the automatic driving can be ensured to safely run at the intersection. During manual driving, the driver is helped to better identify and understand the condition of the crossing, and the risk of traffic accidents caused by misjudgment or negligence is reduced.

The related technology adopts a manual drawing mode to obtain the lane virtual boundary line, the drawing efficiency is lower, and the drawing results of different drawing staff can be different, so that the accuracy of the drawn lane virtual boundary line is also low, and errors are easy to occur or unreasonable situations occur.

In order to solve the technical problems, the embodiment of the application provides a method for generating a lane virtual boundary line, which adopts an automatic mode to generate the lane virtual boundary line, thereby avoiding the dependence of manpower and improving the generation efficiency and accuracy of the lane virtual boundary. In the automatic generation process, aiming at an entering lane line and an exiting lane line to be communicated, a lane virtual boundary line can be generated in a Bezier curve fitting mode, and particularly, the lane virtual boundary line is obtained in a mode of splicing fitting curves drawn by a plurality of sections of control points together, and the positions where the fitting curves actually pass through can be flexibly controlled by the multi-section splicing, so that the more accurate lane virtual boundary line can be conveniently generated.

It should be noted that, the method for generating the lane virtual boundary line provided by the embodiment of the application can be applied to the fields of electronic maps, automatic driving, auxiliary driving, intelligent traffic, cloud technology, artificial intelligence and the like, and the electronic maps may be required to be used in the fields. The method provided by the embodiment of the application can generate the lane virtual boundary line of the intersection in the electronic map. The scene using the electronic map may be, for example, an automatic driving, high-precision positioning, lane-level positioning, traffic management, city planning, tourism, logistics, games, virtual reality, augmented reality, etc., which is not limited by the embodiment of the present application.

The method for generating the lane virtual boundary line provided by the embodiment of the application can be executed by computer equipment, and the computer equipment can be a server or a terminal, for example. 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 cloud computing service. Terminals include, but are not limited to, smart phones, computers, intelligent voice interaction devices, intelligent appliances, vehicle terminals, aircraft, and the like.

As shown in fig. 1, fig. 1 shows an application scenario architecture diagram of a lane virtual boundary line generation method, in which a server 100 and a terminal 200 may be included. The server 100 may generate a lane virtual boundary line, and further generate an electronic map with the lane virtual boundary line in the intersection, and provide the terminal 200 with an electronic map service. The terminal 200 may be provided with an electronic map application, and when a user opens the electronic map application through the terminal 200, the user may acquire the electronic map from the server 200 and display the electronic map on the terminal 200, where the intersection of the electronic map has a virtual boundary line of a lane generated by the method provided by the embodiment of the present application.

When a virtual boundary line of a lane in an intersection needs to be generated on the electronic map, the server 100 may first acquire an entering lane line and an exiting lane line of the intersection to be processed, and determine a steering start line of the entering lane line and a steering start line of the exiting lane line, where the steering start line is used to indicate a start position of entering the intersection to be processed along the entering lane line and a start position of leaving the intersection to be processed along the exiting lane line, so as to determine positions of starting steering and ending steering of a running tool in the intersection, so as to determine a start position and an end position of the virtual boundary line of the lane in the intersection.

Some of the entering lane lines and the exiting lane lines of the intersection to be processed are communicated through the lane virtual boundary line so as to prompt the range of the driving area in the intersection to be processed through the lane virtual boundary line. For the entering lane line and the exiting lane line to be communicated, the server 100 may generate a lane virtual boundary line by means of a bezier curve fitting. The control points are key elements of the bezier curve fitting, so when the virtual boundary line of the lane is obtained by the bezier curve fitting, the server 100 may determine multiple control points based on the steering start lines corresponding to the entering lane line and the exiting lane line to be communicated and the steering information between the entering lane line and the exiting lane line to be communicated. Each section of control point is used for determining the shape and trend of a corresponding curve, then the server 100 respectively performs Bezier curve fitting on each section of control points in the plurality of sections of control points to obtain a plurality of sections of fitted curves, and the plurality of sections of fitted curves are spliced based on the plurality of sections of fitted curves to obtain a lane virtual boundary line for communicating an entering lane line and an exiting lane line to be communicated.

For example, in fig. 1, the obtained multiple control points are three control points, which are a first control point, a second control point and a third control point, respectively, a first fitted curve is obtained by performing a bezier curve fitting on the first control point, a second fitted curve is obtained by performing a bezier curve fitting on the second control point, a third fitted curve is obtained by performing a bezier curve fitting on the third control point, and then the first fitted curve, the second fitted curve and the third fitted curve are spliced to obtain a lane virtual boundary line for communicating an entering lane line and an exiting lane line to be communicated.

Therefore, the virtual boundary line of the lane can be automatically generated, so that manual dependence is avoided, and the generation efficiency and accuracy of the virtual boundary of the lane are improved. In addition, the lane virtual boundary line is obtained by splicing the fitting curves drawn by the multiple sections of control points, and the positions where the fitting curves actually pass can be flexibly controlled by the multiple sections of splicing, so that more accurate lane virtual boundary line can be conveniently generated.

It can be understood that the method provided by the embodiment of the application can be integrated in a map data making system, embedded in an intersection editing production line of the map data making system, and can automatically generate the lane virtual boundary line of the intersection.

The method provided by the embodiment of the application can relate to an artificial intelligence technology, and the lane virtual boundary line is automatically generated through the artificial intelligence technology. Artificial intelligence (ARTIFICIAL INTELLIGENCE, AI) is the theory, method, technique, and application system that simulates, extends, and extends human intelligence using a digital computer or a machine controlled by a digital computer, perceives the environment, obtains knowledge, and uses the knowledge to obtain optimal results. In other words, artificial intelligence is an integrated technology of computer science that attempts to understand the essence of intelligence and to produce a new intelligent machine that can react in a similar way to human intelligence. Artificial intelligence, i.e. research on design principles and implementation methods of various intelligent machines, enables the machines to have functions of sensing, reasoning and decision.

The artificial intelligence technology is a comprehensive subject, and relates to the technology with wide fields, namely the technology with a hardware level and the technology with a software level. Artificial intelligence infrastructure technologies generally include, for example, sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, pre-training model technologies, operation/interaction systems, mechatronics, and the like. The pre-training model is also called a large model and a basic model, and can be widely applied to all large-direction downstream tasks of artificial intelligence after fine adjustment. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.

It should be noted that, in the specific embodiment of the present application, relevant data such as user information may be involved in the whole process, and when the above embodiment of the present application is applied to specific products or technologies, it is required to obtain individual consent or individual permission of the user, and the collection, use and processing of relevant data is required to comply with relevant laws and regulations and standards of relevant countries and regions.

Next, a method for generating a lane virtual boundary line according to an embodiment of the present application will be described with reference to the accompanying drawings, taking a computer device as an example of a server. Referring to fig. 2, fig. 2 shows a flowchart of a method of generating a lane virtual boundary line, the method including S201 to S204.

S201, acquiring an entering lane line and an exiting lane line of an intersection to be processed.

The intersection is a place where roads meet, and refers to one end of the road, and the intersection is a junction point of each road in a road network, through which automobiles, pedestrians and other vehicles must pass when traveling. At the crossing, various running tools (such as buses, cars, trains, motorcycles) can complete steering operations such as left turning, right turning, turning around, straight running and the like, and traffic safety should be ensured as much as possible, and the crossing should be passed as soon as possible at the green light. The intersection safety is an important basis of driving safety of a driver, and therefore a lane virtual boundary line is required to be generated at an intersection of an electronic map so as to limit a driving area of a driving tool at the intersection and ensure the driving safety. The intersections can be crossroads, T-shaped intersections and the like, and the intersections to be processed can be intersections needing to generate virtual boundary lines of lanes.

The entry lane line may be a line on the road that is used to identify a starting location or boundary of the entry lane. It may be a solid or dashed line for visually clarifying the range and boundaries of the entering lane. The entering lane may be a lane entering the intersection to be processed according to the traveling direction of the traveling means. The exit lane line may be a line on the road that is used to identify a starting location or boundary of the exit lane. It may be a solid or dashed line for visually clarifying the range and boundaries of exiting the lane. The exit lane may be a lane that exits the intersection to be processed according to the traveling direction of the traveling tool.

S202, determining a steering starting line of the entering lane line and a steering starting line of the exiting lane line.

The running tool normally runs in the entering lane, when the running tool runs to a certain position of the entering lane, the running tool is ready to enter the intersection to be processed, steering operations such as left turning, right turning, turning around, straight running and the like can be performed at the intersection to be processed, the steering operations are completed at a certain position of the exiting lane, and the running tool runs after the intersection to be processed is stopped at the exiting lane. In order to determine the position of the start of the turn on the entering lane and the end of the turn on the exiting lane in order to accurately generate the lane virtual boundary line subsequently, the turn start line of the entering lane line and the turn start line of the exiting lane line may be determined first. The steering start line is used for indicating a start position of entering the intersection to be processed along the entering lane line and a start position of leaving the intersection to be processed along the exiting lane line, so that positions of starting steering and ending steering of the running tool in the intersection are determined, and a start position and an end position of a lane virtual boundary line in the intersection are determined.

It will be appreciated that the roads merging into the intersection to be processed may comprise a plurality of lanes, each road may comprise a plurality of lanes, and that a plurality of lanes having the same direction of travel on a road may be referred to as a lane group. The entering lane lines or exiting lane lines of the same lane group may have the same steering start line. Referring to fig. 3, there are 4 roads converging into the intersection to be processed in fig. 3, and each road includes an entering lane and an exiting lane, for example, lane 1 and lane 2 are two entering lanes on the same road, and these two entering lanes may be referred to as a lane group, and may have the same steering start line.

S203, determining a plurality of sections of control points according to the entering lane line and the exiting lane line to be communicated, and the steering information between the entering lane line and the exiting lane line to be communicated based on the steering starting lines respectively corresponding to the entering lane line and the exiting lane line to be communicated.

The driving tool enters the intersection to be processed from an entering lane, and exits the intersection to be processed from an exiting lane, so that the entering lane and the exiting lane for the driving tool to complete the complete driving path can be called as an entering lane and an exiting lane to be communicated, and the entering lane and the exiting lane to be communicated can be connected through a communicating lane. The boundary line of the communication lane may be referred to as a lane virtual boundary line, and the entry lane line and the exit lane line, which need to be communicated through the lane virtual boundary line, may be referred to as an entry lane line and an exit lane line to be communicated, for limiting the range of the communication lane.

For all entering lane lines and exiting lane lines of the intersection to be processed, some entering lane lines and exiting lane lines are communicated through lane virtual boundary lines so as to form a communicated lane through the lane virtual boundary lines, and further, the range of a driving area in the intersection to be processed is prompted. Aiming at an entering lane line and an exiting lane line to be communicated, in the embodiment of the application, a server can generate a lane virtual boundary line in a Bezier curve fitting mode.

Bezier curves are mathematical curves applied to two-dimensional graphics applications. The Bezier curve can be obtained through Bezier fitting, and the n times of Bezier curve can be determined by n+1 control points, so that the shape and trend of the Bezier curve can be flexibly changed by adjusting the positions and the number of the control points, thereby realizing accurate Bezier curve fitting. Therefore, when the virtual boundary line of the lane is obtained through Bezier curve fitting, the server can determine a plurality of sections of control points based on the steering starting lines respectively corresponding to the entering lane line and the exiting lane line to be communicated and the steering information between the entering lane line and the exiting lane line to be communicated.

The steering information may indicate a steering operation to be performed based on the entering lane line and the exiting lane line to be communicated, so as to determine what kind of steering operation is used for prompting the lane virtual boundary line to be determined later, such as left turn, right turn, turn around and straight run. The determined control points may be different depending on the steering information, so that a virtual lane boundary line conforming to the necessary conditions is generated.

The embodiment of the application does not limit the number of the sections of the multi-section control points, and can be two-section control points, three-section control points and the like. The number of control points included in each control point is not limited in the embodiment of the present application, for example, each control point may include 2 control points, 3 control points, 4 control points, and so on.

The Bezier curve can be drawn through the smooth control points, and the embodiment of the application adopts the multi-section control points to draw the curve, and compared with the position points of paths except the head and tail points which are difficult to control by a single-section control point, the multi-section control point can flexibly control the actual passing position of the curve, so that a more accurate and reasonable virtual lane boundary line can be generated.

S204, performing Bezier curve fitting on each control point in the plurality of sections of control points to obtain a plurality of sections of fitted curves, and splicing based on the plurality of sections of fitted curves to obtain a lane virtual boundary line.

Each section of control point is used for determining the shape and trend of a corresponding curve, then the server respectively carries out Bezier curve fitting on each section of control points in the plurality of sections of control points to obtain a plurality of sections of fitted curves, and the virtual boundary lines of the lanes for communicating the entering lane line and the exiting lane line to be communicated are spliced based on the plurality of sections of fitted curves. The lane virtual boundary line is used for communicating the entering lane line and the exiting lane line to be communicated.

Through the data production effect evaluation feedback on the actual line, 85% of the intersections on the line can automatically draw the virtual boundary line of the lane, and the efficiency of manufacturing the virtual boundary line of the lane in the intersection of the electronic map, particularly the high-precision map, is greatly improved.

It should be noted that, besides meeting the basic restrictions of traffic regulations, the communication lanes in all directions in the intersection also need to meet certain technological requirements of automatic driving on the communication lanes in the intersection, so that the communication lanes in the intersection must meet the following requirements:

(1) A crosswalk across an intersection is required to turn around. The lane virtual boundary lines T-1 and T-2 of the communication lanes for restricting a turn around as in fig. 4 need to pass over the crosswalk shown at 401 in fig. 4.

(2) The virtual lane boundary line of the communication lane for left turn with the entering lane needs to be tangent to the virtual lane boundary line of the communication lane for turning around. As in fig. 4 the lane virtual boundary line L-2 of the communication lane for left turn in the left side 1 entering lane is tangential to the lane virtual boundary line T-2 of the communication lane for turn around, L-2 cannot be to the left of T-2, L-1 is tangential to T-1, and L-1 cannot be to the left of T-1.

(3) The adjacent entering lane intersections cannot be mutually capped between non-straight runs, as shown in fig. 5, 6 and 7. In FIG. 5, T-2 and L-1 must not gland each other, and may be tangential; in fig. 6, the virtual lane boundary line R-1 between the L-2 and the communication lane for right turn must not be mutually overlapped, and may be tangential; in FIG. 7, T-2 and R-1 must not gland each other and may be tangential.

In the embodiment of the application, the lane virtual boundary line is obtained by splicing the fitting curves drawn by the multiple sections of control points together. In order to obtain the virtual boundary line of the lane meeting the above-mentioned requirements, the determination of the steering start line and the determination of the multiple control points are very critical, and the determination of the steering start line and the determination of the multiple control points will be described in detail with reference to the accompanying drawings.

In one possible implementation, the steering start line of the entering lane line and the steering start line of the exiting lane line may be determined separately. For the entering direction (i.e. entering the lane line), all steering operations may be the same steering initiation line. In some cases, since both left turn and turn are left turn, the left turn and turn may be required to be at the same position as the left turn and turn into the lane to start turning in order to meet the tangent, so the left turn and turn share the same turning start line. The right turn has 2 directions unlike the left side, so the right turn is independent of one turn start line. At this time, the steering start line may be divided into two types, one being a steering start line controlling left turn and turning around, and one being a steering start line controlling straight and right turn. Since in the entering direction, the steering start line controlling left turn and turn around may be referred to as a left turn around entering start line, and the steering start line controlling straight run and right turn may be referred to as a right turn straight run entering start line.

Like the entry direction, all steering operations may be the same steering initiation line for the exit direction (i.e., exit lane line). In some cases, the left turning and turning exit start line and the right turning and straight running exit start line can be distinguished according to the process requirements, the requirements of different factories or applications on the intersection exit direction of the electronic map are different, and the same turning start line or different turning start lines can be adopted.

Crosswalks, stop lines, non-traversable guard rails, hard-insulated central isolation zones, etc. may be present near the intersection, the presence or absence of which, as well as the specific location, may affect the determination of the steering initiation line. Therefore, in order to obtain the steering start line more conforming to the traffic rules and the actual road conditions, so that the lane virtual boundary line conforming to the necessary conditions can be obtained based on the steering start line later, in one possible implementation manner, the manner of determining the steering start line of the entering lane line and the steering start line of the exiting lane line can be to obtain map element data of the intersection to be processed, the map element data can reflect whether facilities such as a pedestrian crosswalk, a stop line, a non-traversable guard rail, a hard isolation central isolation belt and the like exist near the intersection to be processed, and if the facilities exist, the specific positions of the facilities are provided, so that the steering start line of the entering lane line and the steering start line of the exiting lane line can be determined according to the map element data, so that the lane virtual boundary line conforming to the necessary conditions can be obtained based on the steering start line later.

In some cases, crosswalk is easy to exist at the crossing to be processed, and the embodiment of the application mainly considers the influence of the crosswalk on the steering starting line and introduces the determination mode of the steering starting line. In this case, determining the steering start line of the entering lane line and the steering start line of the exiting lane line from the map element data may be achieved by: for entering a lane line, if it is determined that a first crosswalk exists at the position of the entering lane line at the intersection to be processed based on map element data, steering starting lines entering the lane line can be divided into left turning and turning entering starting lines and right turning and straight entering starting lines so as to ensure the tangential requirement of left turning, at this time, the left turning and turning entering starting lines can be determined according to the position of a first inner boundary of the first crosswalk, wherein the first inner boundary is the boundary of the first crosswalk away from the entering lane line, and therefore the left turning and turning entering starting lines can be located at the position crossing the first crosswalk. Further, the right turn straight entry start line may be determined according to the position of the end point of the entry lane line. If it is determined that the intersection to be processed does not have the first crosswalk at the entering lane line based on the map element data, at this time, a steering start line of the entering lane line may be determined according to the position of the end point of the entering lane line, and all steering operations may be the same steering start line.

For the exit lane, similar to the entry lane, if it is determined that the intersection to be processed has the second crosswalk at the exit lane based on the map element data, the steering start line of the exit lane may be divided into a left turn-around exit start line and a right turn-around straight exit start line so as to ensure the tangential requirement of left turn, at this time, the left turn-around exit start line may be determined according to the position of the second inner boundary of the second crosswalk, where the second inner boundary is the boundary of the second crosswalk away from the exit lane, so that the left turn-around exit start line may be located at a position crossing the second crosswalk. And, the right turn straight-going exit start line may be determined according to the position of the start point of the exit lane line. If it is determined that the intersection to be processed does not have the second pedestrian crossing at the exit lane based on the map element data, at this time, a steering start line entering the lane may be determined according to the position of the start point of the exit lane, and all steering operations may be the same steering start line.

By the method, the influence of the existence of the crosswalk on the determination of the steering starting line can be fully considered, so that the more reasonable steering starting line is determined, the running track of the running tool is standardized, the running tool is ensured to steer in the correct position and direction, and the risks of traffic confusion and accidents are reduced.

In one possible implementation, the manner of determining the left turn around entry start line according to the position of the first inner boundary of the first crosswalk may be from the end point of entering the lane line, extending along the first travel direction to a first position beyond the first inner boundary, and determining a line perpendicular to the first travel direction at the first position as the left turn around entry start line. The right turn straight entry start line may be determined according to the position of the end point of the entry lane line by extending a second position of a first preset distance along the first travel direction from the end point of the entry lane line, and determining a line perpendicular to the first travel direction at the second position as the right turn straight entry start line. The left turn exit start line may be determined according to the position of the second inner boundary of the second crosswalk in such a manner that the left turn exit start line extends from the start point of the exit lane line to a third position beyond the second inner boundary in a direction opposite to the second traveling direction, and a line perpendicular to the second traveling direction at the third position is determined as the left turn exit start line. The right-turn straight-travel exit start line may be determined according to the position of the start point of the exit lane line by extending a fourth position of a second preset distance from the start point of the exit lane line in a direction opposite to the second traveling direction, and determining a line perpendicular to the second traveling direction at the fourth position as the right-turn straight-travel exit start line. The first preset distance and the second preset distance may be set according to actual requirements, for example, may be set to 1 meter, which is not limited in the embodiment of the present application.

In the case where facilities such as crosswalks, stop lines, non-traversable guard rails, hard-insulated center isolation belts, and the like are not considered, a line extending from the end point of entering a lane line to a position beyond a first inner boundary along a first traveling direction may be adopted as a default, and a line perpendicular to the first traveling direction at the position may be determined as a steering start line. Similarly, a position extending a second preset distance in a direction opposite to the second traveling direction from the start point of the exit lane line may be adopted by default, and a line perpendicular to the second traveling direction at the position may be determined as a steering start line.

Referring to fig. 8, fig. 8 shows a left turn u-turn entry start line, a right turn straight entry start line, a left turn u-turn exit start line, and a right turn straight exit start line. Wherein, the arrow indicates the driving direction of entering the lane and exiting the lane at the intersection to be processed, so that the driving direction of the intersection to be processed can be conveniently distinguished, and 801 and 802 respectively indicate crosswalk. Fig. 8 shows that the left turn around entry start line is closer to the interior of the intersection to be treated than the right turn straight entry start line, because the left turn around needs to go over the crosswalk in fig. 8 to turn around and turn left. Fig. 8 shows a left turn and a right turn straight exit start line, and similarly, the left turn and the right turn exit start line are closer to the inside of the intersection to be treated than the right turn and the straight exit start line.

It should be noted that, the multiple control points determined in S203 are to perform bezier curve fitting and splice into a completed lane virtual boundary line, so that the overall curve (lane virtual boundary line) obtained finally is smoother and more natural, and the last control point in the previous control point in the multiple control points is the first control point in the next control point. Taking any two adjacent control points as a first section control point and a second section control point as examples, the first section control point is closer to an entering lane line to be communicated and an entering lane line to be exited from the lane line than the second section control point, namely, the first section control point is a previous section control point, the second section control point is a subsequent section control point, and then the last control point in the first section control point is a first control point in the second section control point.

Referring to fig. 9, a left turn and a turning multi-segment control point are labeled in fig. 9, wherein one of the turning 2-segment control points is: { u1, u2, u3}, { u3, u4, u5}, the other 2-segment control point for left turn is: { left1, left2, left3}, { left3, left4, left5}, here described by way of example of 2-segment control points for convenience of description. Of the 2 sections of control points, the last control point u3 in the section of control points { u1, u2, u3} is the first control point in the section of control points { u3, u4, u5}, that is, u3 is the joint point of the two sections of control points; the last control point left3 in the control points of { left1, left2, left3} is the first control point in the control points of { left3, left4, left5}, that is, left3 is the joint point of the two control points.

The existence of the connecting points between the determined multi-section control points means that the directions and curvatures of different section curves at the connecting points are consistent, so that abrupt turning or breakage is avoided, and the final overall curve (the virtual boundary line of the lane) is smoother and more natural.

It can be understood that the lane virtual boundary line finally obtained in the embodiment of the application is obtained by splicing the multiple sections of fitting curves, and when the multiple sections of fitting curves are spliced, it is critical how to ensure smooth connection of the multiple sections of fitting curves. The smooth engagement can ensure that the entire lane virtual boundary line visually presents a continuous and natural appearance, and helps guide the running tool to smoothly perform a steering operation at the intersection to be treated. Whether the multi-section fitting curve is smoothly connected is related to each section of fitting curve, and each section of fitting curve is determined by the corresponding control point, so that the smooth connection of the multi-section fitting curve can be realized by controlling the positions of the multi-section control points. In one possible implementation, the engagement point is collinear with a control point preceding the engagement point and a control point following the engagement point in any two adjacent control points. Taking the example that any two adjacent control points are a first section control point and a second section control point, the engagement points of the first section control point and the second section control point are on the same straight line with the first control point in the first section control point and the second control point in the second section control point, the engagement points are the last control point in the first section control point and the first control point in the second section control point, the first control point is the control point adjacent to the engagement points in the first section control point, and the second control point is the control point adjacent to the engagement points in the second section control point.

With continued reference to FIG. 9, for the 2-segment control points { u1, u2, u3} and { u3, u4, u5} of the u, u2, u3} turn around, the segment control point may be a first segment control point, the segment control point of { u3, u4, u5} may be a second segment control point, and u3 is a engagement point. u2 is a control point adjacent to the engagement point u3 in the control points { u1, u2, u3}, and u4 is a control point adjacent to the engagement point u3 in the control points { u3, u4, u5}, where it is necessary to ensure that u2, u3 and u4 are aligned, or that u3 is aligned with the straight line { u2, u4}, when determining the multi-stage control points. Similarly, for the left-turn 2-segment control points { left1, left2, left3} and { left3, left4, left5}, left3 is on the straight-line segment { left2, left4 }.

By determining the multiple sections of control points conforming to the position relationship, the curves generated by the multiple sections of control points can be ensured to be smoothly connected during splicing, so that continuous and natural virtual lane boundary lines are obtained.

In some cases, there may be an obstacle, such as a stone pier, near the intersection to be treated, and the generated virtual lane boundary line needs to bypass the obstacle in order to ensure driving safety. The virtual lane boundary line is generated based on the plurality of control points, and therefore the presence of the obstacle can be considered when determining the plurality of control points. In this case, the manner of determining the multi-segment control point may be to obtain obstacle data of the intersection to be processed, where the obstacle data may reflect whether an obstacle exists near the intersection to be processed, and a specific position of the obstacle when the obstacle exists, based on steering start lines corresponding to the entry lane line and the exit lane line to be communicated, respectively, and steering information between the entry lane line and the exit lane line to be communicated. Then, according to the obstacle data, the steering starting lines respectively corresponding to the entering lane line and the exiting lane line to be communicated, and the steering information between the entering lane line and the exiting lane line to be communicated, a plurality of sections of control points can be determined, so that a lane virtual boundary line which is more reasonable and ensures the driving safety is determined under the condition of considering the obstacle.

If no obstacle exists according to the obstacle data, determining a plurality of sections of control points according to a reasonable driving route under the conventional condition. If the existence of the obstacle is determined according to the obstacle data, the specific positions of the obstacle represented by the obstacle data are further combined, and a plurality of sections of control points capable of avoiding the obstacle are determined.

Through the mode, more reasonable multi-section control points can be determined according to the presence or absence of the obstacle, and running safety is guaranteed.

In the above-described requirements (2) and (3), there is a certain requirement for the positional relationship between the virtual boundary lines of the lanes for different steering, and in one possible implementation, the lane lines in the intersection need to satisfy 2 conditions: the same entering lane can not cover the communicating lanes of different steering in the crossing to be treated, and the communicating lanes of the same exiting lane of different entering lanes from the crossing to be treated can not cover each other. In this case, the manner of determining the multiple control points may be based on the steering start lines respectively corresponding to the entry lane line and the exit lane line to be communicated and the steering information between the entry lane line and the exit lane line to be communicated, and determining the multiple control points conforming to the positional relationship control condition that the same entry lane enters the communicating lanes of different steering in the intersection to be processed and the communicating lanes of the same exit lane of the intersection to be processed cannot be mutually covered.

Referring to fig. 10, taking the case where the entry lane line and the exit lane line to be communicated are shown as 1001 and 1002 in fig. 10, the entry lane line and the exit lane line to be communicated may need to be communicated by a lane virtual boundary line shown as 1003 in fig. 10, the lane virtual boundary line needs to satisfy a positional relationship control condition, while the communication lanes of different directions in which the same entry lane is driven into the intersection to be processed may be left-hand turn of the same entry lane line in fig. 10, and the communication lanes of the same exit lane in which different entry lanes are driven out of the intersection to be processed may be left-hand turn of the same exit in fig. 10. If the multiple control points for determining the virtual lane boundary line are { n0, n1, n2}, { n2, n3, n4}, { n4, n5, n6}, the first control point for turning around with the nearest left side is { in_rel0, in_ref1, in_ref2}, the last control point for turning around with the nearest lower side is { out_ref2, out_ref3, out_ref4}, and in order to satisfy the positional relationship control condition, the positional relationship between the multiple control points and the virtual lane boundary line of other communication lanes is designed as follows:

(1) In order to meet the driving trend, the first stage control point and the last stage control point are in the same point with n0, in_ref1 with n1, out_ref3 with n5 and out_ref4 with n 6.

(2) The linear distance of n1- > n2 is equal to the linear distance of in_ref1- > in_ref2; also, n4 needs to be on the right side of the running direction of out_ref2, and the linear distance of n4- > n5 is equal to the linear distance of out_ref2- > out_ref3; n2 and n4 are respectively on circular arc sections with straight line distances in_ref1- > in_ref2 and out_ref3- > out_ref2 as radius by taking in_ref1 and out_ref3 as circle centers, the entering direction is clockwise rotation, and the exiting direction is anticlockwise rotation. The linear distance of the design in_ref1- > in_ref2 is equal to the linear distance of the design n1- > n2, because the control points of the Bezier curves with equal distances can determine the position relation of the generated fitting curves of different sections only by controlling one parameter of the angle. Referring to fig. 10, it can be noted that n0, n2, n4, n6 are control points through which the virtual lane boundary line is finally generated, while n1, n3, n5 are not.

Based on the guiding thought of the position relation between the multi-section control points and the control points of other communication lanes, the multi-section control points meeting the position relation control conditions can be determined. Because the position relationship has a dependency relationship, such as left turn dependence and turning dependence, crosswalk of a crossing, central isolation zone position and the like, when the lane virtual boundary line is generated for the crossing to be processed, the calculation sequence of the multiple sections of control points of the virtual lane boundary line is as follows: a multi-section control point of turning around, a multi-section control point of left turning, a multi-section control point of straight running and a multi-section control point of right turning (S bending is not expected in the application of straight running in the crossing to be processed, so that straight running is allowed to be mutually covered, and no strict position relation requirement exists on the running track of the straight running). Each steering is commonly dependent on steering starting lines in different directions, and the steering starting lines are dependent on crosswalk of the crossing, non-traversable guard rails on the left and right sides of the crossing to be processed and the like. Before calculating specific multi-section control points, position information such as crosswalk, non-traversable guard rail, hard isolation central isolation belt and the like of an intersection to be processed needs to be calculated in advance, so that a reasonable steering starting line is calculated, and detailed description is omitted here. The following describes a specific determination mode of the multi-stage control points with the most obvious positional relationship of turning around and turning left.

In_ref0: the entering lane line extends the point along the traveling direction where the ray intersects the steering initiation line (i.e., the left turn u-turn entering initiation line).

In_ref1: the straight line distance in_ref0- > in_ref1 is the farthest distance of the actual turning around in the intersection to be processed, because the example in fig. 10 is the turning around lane of the 2 nd communication, i.e. the communication lane of turning around the entering lane 1 and the exiting lane 2, and the proportional calculation needs to be performed by referring to the turning around heights of the entering lane 1 and the exiting lane 1.

Assuming that the currently calculated in_ref1 is a u-turn of an entering lane 1 and an exiting lane 1, the linear distance from in_ref1 to in_ref0 is (the width w1 of the entering lane+the width w2 of the exiting lane)/2+0.5 m, the sum of the widths of the entering lane and the exiting lane divided by 2 can be understood as the average value of the widths of the entering lane and the exiting lane, so that the width gradual change of the lanes is met, the u-turn enters the farthest position of the intersection to be treated, namely the middle position of a u-turn semicircle, the purpose of adding 0.5 m is to reserve a drawing space for the water drops on the left edge line of the innermost lane, and the size of the water drops is about 0.5 m from the beginning of the turning starting line, and the width is about 0.2 m.

Canceling the above assumption, in_ref1 is the control point of the virtual boundary line of the right lane entering the 1 lane and exiting the 2 lanes in fig. 10, at this time, referring to the innermost turn-around, that is, the control point of the virtual lane line for turning around in the above assumption, the ratio of the intersection distance ratio of the outermost side of the entering lane and the exiting lane to the steering start line=l2/L1 is calculated, and the linear distance of in_ref1 relative to in_ref0 is obtained by taking the turn-around height in_ref1 (calculated height in the above assumption) which is the innermost side, thereby obtaining in_ref1.

In_ref2: the control point is the middle point of the straight line which is parallel to the steering start line and passes through in_ref1, namely the point of turning around and entering the topmost end of the intersection to be processed.

Out_ref2: the calculation is the same as in_ref2, and is actually a point on the same virtual boundary line of the lane for turning around, but the convenient labeling direction takes another name here.

Out_ref3: the calculation method is the same as in_ref1, and the control point of the lane virtual boundary line for turning around at the innermost side is calculated firstly, and then the control point of the lane virtual boundary line for turning around at the outer side is calculated according to the proportion, wherein the difference from in_ref1 is that the lane virtual boundary line for turning around is positioned at the side of exiting the intersection to be processed.

Out_ref4: the calculation method is the same as in_ref0, and the intersection point of the exit lane line and the steering start line (i.e. the left turn U-turn exit start line) is the same.

N0& n1& n5& n6: respectively in_ref0, in_ref1, out_ref3, out_ref4.

N2& n4: these two control points are critical and determine the aesthetic and reasonable degree of the fitted curve for the left turn. The intersection points of the fitting curve and the arc segments s1 and s2 can be obtained by performing Bezier curve fitting through three control points { in_ref0, p }, if the two intersection points meet the position relationship, namely the intersection points with the arc segments meet the right sides of in_ref2 and out_ref2 respectively, the corresponding intersection points can be directly used as the position points of n2 and n4, wherein p is calculated as the intersection point of the extension lines obtained by respectively extending the entering lane line and the exiting lane line along the running direction. If a scene that the fitting curve and the arc line are not intersected is encountered, the situation that the intersection to be processed is small or the shape of the intersection to be processed is not a conventional intersection is explained, so that the virtual boundary line of the lane for turning around is at an unusual position such as the center of the intersection to be processed, n3 needs to be calculated under the condition, then the position of n2& n4 points is determined in turn, and in the condition, n2& n4 intersects with the line segment of n1& n4 and the arc line segment respectively through n 3.

N3: if two control points n2& n4 are obtained by performing Bezier curve fitting on three control points { in_ref0, p, out_ref4} to obtain a fitted curve and intersecting two arc sections, the calculation of n3 point is relatively easy, and n3 is the intersection point of the extension line of n1- > n2 and the extension line of n5- > n 4. If the arc segments s1, s2 and { in_ref0, p, out_ref4} three control points are subjected to Bezier curve fitting to obtain a fitting curve without an intersection point, at the moment, calculating a perpendicular line in the curve by taking a connecting line of n1- > n5 as a turning oblique side, taking a point on a perpendicular line n3, and if the arc segments are preferentially intersected with an extension segment n1- > p of an entering lane line, taking a half distance position between the intersection point and a middle point (a perpendicular of the perpendicular line) of the turning oblique side n1- > n5 as an n3 point; if the first line intersects with the extension line segment n5- > p of the exit lane line, the calculation method is the same.

In fig. 10, three control points are mainly taken as an example, and each control point includes three control points, the determination manner of the multi-segment control points is described, however, the number of segments of the multi-segment control points and the number of control points in each segment of control points may be other, and the determination manner of the multi-segment control points is similar to the above description, and is not described here.

According to the embodiment, the multi-section control points are subjected to position relation limitation so as to determine the multi-section control points meeting the position relation control conditions, so that the fact that the same subsequently generated communication lanes with different directions in the intersection to be processed are driven into the intersection to be processed are not mutually covered, the communication lanes with the same exit lanes with different entering lanes driven out of the intersection to be processed are not mutually covered, and the driving safety is further guaranteed.

It will be appreciated that the entering and exiting lanes to be communicated may be communicated by way of a communication lane, which may include two-sided lane virtual boundary lines, and that multiple control points per side may be determined in order to obtain each lane virtual boundary line. When determining the multi-section control points of each side, the multi-section control points of each side can be independently calculated, so that the calculation efficiency of the multi-section control points is improved.

In some cases, since the entering lane line and the exiting lane line to be communicated respectively have corresponding lane widths, two ends of the communicating lane in the intersection to be processed also need to be respectively adapted to the lane widths respectively corresponding to the entering lane line and the exiting lane line to be communicated, and the middle part of the communicating lane also needs to be gradually changed, so as to ensure the natural beauty of the communicating lane, and avoid the abnormal condition of the lane width of the communicating lane consisting of the calculated multiple sections of control points due to different angles of entering and exiting the intersection to be processed, such as the problem of the lane width with narrow middle and two ends or the lane width with wide middle and two ends, which is also one of the problems of inconsistent curvature change. In this case, the manner of determining the multi-segment control point may be based on the steering start line corresponding to the entry lane line to be communicated and the steering information between the entry lane line to be communicated and the exit lane line to be communicated, and the lane widths corresponding to the entry lane line to be communicated and the exit lane line to be communicated, respectively.

When determining the multiple control points in combination with the lane widths corresponding to the entering lane line and the exiting lane line to be communicated, in order to better solve the above problem, the calculation amount is reduced under the condition of solving the above problem, and in another possible implementation manner, the multiple control points of the virtual boundary line of the lane at one side of the communication lane can be calculated first, and then the multiple control points of the virtual boundary line of the lane at the other side can be calculated. The multiple control points of the first-calculated one-side lane virtual boundary line do not need to be determined by combining the lane widths, and the multiple control points of the second-calculated one-side lane virtual boundary line do not need to be determined by combining the lane widths. The calculation priority of the multiple control points of the first-calculated one-side lane virtual boundary line is higher than that of the multiple control points of the second-calculated one-side lane virtual boundary line, so that the multiple control points of the first-calculated one-side lane virtual boundary line can be called as second-level control points, and the multiple control points of the second-calculated one-side lane virtual boundary line can be called as first-level control points.

In this case, the manner of determining the multiple control points may be to determine the first control point and the last control point of the multiple control points according to the steering start lines respectively corresponding to the entry lane line and the exit lane line to be communicated, the steering information between the entry lane line and the exit lane line to be communicated, and the lane widths respectively corresponding to the entry lane line and the exit lane line to be communicated. If the multi-section control points are determined to belong to the first-stage control points according to the steering information between the entering lane line to be communicated and the exiting lane line to be communicated and the entering lane line to be communicated and the exiting lane line to be communicated, the multi-section control points to be determined are described as the multi-section control points of the virtual boundary line of the one-side lane calculated later, so that the middle control point can be determined according to the obtained second-stage control points and the lane widths corresponding to the entering lane line to be communicated and the exiting lane line to be communicated respectively. The first-level control point and the second-level control point are used for obtaining the same communication lane, the communication lane comprises a lane virtual boundary line, and the calculation priority of the first-level control point is lower than that of the second-level control point. The first control point, the last control point, and the intermediate control point are then determined as multi-segment control points.

It will be appreciated that when the communication lanes are for different turns, the distinction between the first level control point and the second level control point is different. When the communication lane is used for left turn, the first level control point may be a control point of a lane virtual boundary line on the right side of the communication lane, and the second level control point is a control point of a lane virtual boundary line on the left side of the communication lane. When the communication lane is used for turning right, the first level control point may be a control point of a lane virtual boundary line on the left side of the communication lane, and the second level control point is a control point of a lane virtual boundary line on the right side of the communication lane.

Taking fig. 11 as an example and taking a method for determining multiple control points combined with the lane width as an example, fig. 11 takes an upper communication lane for left turn as an example, multiple control points { l_p0, l_p1, l_p2} of the lane virtual boundary line on the left side, l_p2, l_p3, l_p4} and l_p4, l_p5, l_p6} of the lane virtual boundary line on the right side are calculated according to the method described above (i.e., without combining with the lane width), and the determination of multiple control points of the lane virtual boundary line on the right side is described in detail. The fitting curve drawn based on the multiple control points { r_p0, r_p1, r_p2}, { r_p2, r_p3, r_p4}, { r_p4, r_p5, r_p6} of the virtual boundary of the lane on the right side needs to satisfy a trend similar to (approximately parallel to but not parallel to) the virtual boundary line of the lane on the left side, and the lane width of this formed communicating lane gradually changes from the lane width w_1 of the entering lane to the lane width w_2 of the exiting lane, the difference between the lane width of the entering lane and the lane width of the exiting lane is w_diff=w2-w 1, the lane width of the middle portion of the communicating lane gradually changes, the difference between the changes gradually increases from zero to w_diff, which is a detailed determination of the multiple control points.

R_p0& r_p6: the intersection points with the steering start line of the entering lane line and the steering start line of the exiting lane line respectively determine the lane widths w_1 (the straight line widths of l_p0 and r_p0) and w_2 (the straight line widths of l_p6 and r_p6) at both ends of the communication lane at the same time.

R_p1: r_p2 is calculated first, and then a ray parallel to l_p2- > l_p1 is generated to pass through r_p2 (the length needs to be longer), and the intersection point of the ray and the extension ray entering the lane line is r_p1.

R_p2: by the above description, it can be known that the left lane virtual boundary line passes through l_p0, l_p2, l_p4 and l_p6, and the right lane virtual boundary line also passes through r_p0, r_p2, r_p4 and r_p6 and corresponds to each other one by one, and if the forward trend of the communicating lanes at the corresponding points is the same reasonably, the left line segment l_p2- > l_p3 can be rotated clockwise to the right side by 90 degrees (in fig. 11, the right lane virtual boundary line of the communicating lanes is calculated, if the left lane virtual boundary line is calculated, the left lane virtual boundary line is rotated by 90 degrees anticlockwise), the r_p2 is on the line, a certain distance is provided relative to the l_p2, the distance controls the lane width of the communicating lanes, the change difference of the whole lane from l_p0 to l_p6 is w_diff, the w_diff needs to be digested into the whole path of the communicating lanes on average, and the current change of the width of the r_p2- > 1- > p2 is calculated by adding the current change of the r_p2_diff to the line width of the communicating lanes to the 1_p2_diff (when the change of the width of the l_p_p_2 is calculated by 90 degrees) is equal to the current change of the width of the l_p2- > p_4.

R_p3: similarly to the calculation method of r_p1, r_p4 needs to be calculated first and then r_p3 needs to be calculated, so that a ray parallel to l_p4- > l_p3 passes through r_p4 (the length needs to be longer), and the intersection point of the ray and the extended ray parallel to l_p2- > l_p3 is r_p3.

R_p4: the calculation method is similar to the method of r_p2. The r_p4 corresponds to the l_p4, if the forward trend of the communication lane at the corresponding point is the same reasonably, a line segment l_p4- > l_p5 on the left side can be rotated 90 degrees clockwise to the right side (in fig. 11, the line segment is a lane virtual boundary line on the right side of the communication lane, if the lane virtual boundary line on the left side is calculated, the line segment is rotated 90 degrees anticlockwise), r_p4 has a certain distance relative to the l_p4, the distance controls the lane width of the communication lane, the change difference of the whole communication lane from l_p0 to l_p6 lane width is w_diff, the change difference w_diff of the lane width needs to be digested on average to the whole path of the communication lane, at this time, the change difference w_diff4= (the current running length l_p0- > l_p1- > p2- > l_p3- > l_p4)/(total length l_p0- > l_p1- > l_p4)/(the total length of the communication lane is calculated, and the change of the line segment is equal to the current running length of the line segment is calculated at the r_p4- > 1- > l_p2- > 1- > and the line segment is calculated at the point of the intersection where the change of the line width is equal to be equal to the change of the line width of the communication lane.

R_p5: similar to the calculation method of r_p3, r_p6 is the intersection of the exit lane line and the steering start line. A ray parallel to l_p6- > l_p5 passes through r_p6 (the length needs to be longer), and the intersection point of the ray and the aforementioned extended ray parallel to l_p6- > l_p5 is r_p5.

According to the embodiment, the abnormal condition of the lane width of the communicated lanes, such as the problem of the lane width of the narrow middle two ends or the wide middle two ends, can be avoided by determining the lane width control multi-section control points, so that the natural beauty of the communicated lanes is ensured, and the driving safety is ensured.

It should be noted that, based on the implementation manner provided in the above aspects, further combinations may be further performed to provide further implementation manners.

Based on the method for generating the virtual lane boundary provided in the foregoing embodiment, the embodiment of the present application further provides a device 1200 for generating the virtual lane boundary. Referring to fig. 12, the lane virtual boundary line generating apparatus 1200 includes an acquiring unit 1201, a determining unit 1202, a fitting unit 1203, and a splicing unit 1204:

the acquiring unit 1201 is configured to acquire an entering lane line and an exiting lane line of an intersection to be processed;

The determining unit 1202 is configured to determine a steering start line of the entering lane line and a steering start line of the exiting lane line, where the steering start line is used to indicate a start position of entering the intersection to be processed along the entering lane line and a start position of leaving the intersection to be processed along the exiting lane line;

The determining unit 1202 is further configured to determine a plurality of control points for an entry lane line and an exit lane line to be communicated based on steering start lines corresponding to the entry lane line and the exit lane line to be communicated, and steering information between the entry lane line and the exit lane line to be communicated;

the fitting unit 1203 is configured to perform bezier curve fitting on each of the multiple segments of control points, to obtain multiple segments of fitted curves;

The splicing unit 1204 is configured to splice based on the multiple sections of fitted curves to obtain a lane virtual boundary line, where the lane virtual boundary line is used to connect the entering lane line to be connected and the exiting lane line to be connected.

In a possible implementation manner, the determining unit 1202 is configured to:

acquiring map element data of the intersection to be processed;

And determining a steering starting line of the entering lane line and a steering starting line of the exiting lane line according to the map element data.

If the first crosswalk exists at the entering lane line of the intersection to be processed based on the map element data, determining a left turning and turning entering starting line according to the position of a first inner boundary of the first crosswalk, wherein the first inner boundary is a boundary of the first crosswalk far away from the entering lane line, and determining a right turning and straight entering starting line according to the position of the end point of the entering lane line, and the turning starting line of the entering lane line comprises the left turning and turning entering starting line and the right turning and straight entering starting line;

If the first crosswalk does not exist at the position of the entering lane line of the intersection to be processed based on the map element data, determining a steering starting line of the entering lane line according to the position of the end point of the entering lane line;

If the to-be-processed intersection is determined to have a second pedestrian crossing at the exit lane line based on the map element data, determining a left-turning and turning-around exit start line according to the position of a second inner boundary of the second pedestrian crossing, wherein the second inner boundary is a boundary of the second pedestrian crossing away from the exit lane line, and determining a right-turning and straight-going exit start line according to the position of a starting point of the exit lane line, wherein the turning start line of the exit lane line comprises the left-turning and turning-around exit start line and the right-turning and straight-going exit start line;

and if the second crosswalk does not exist at the exit lane line of the intersection to be processed based on the map element data, determining a steering starting line of the entry lane line according to the position of the starting point of the exit lane line.

In a possible implementation manner, the determining unit 1202 is configured to;

from the end point of the entering lane line, extending to a first position beyond the first inner boundary along a first traveling direction, determining a line perpendicular to the first traveling direction at the first position as the left turn u-turn entering start line;

A second position extending a first preset distance along the first travel direction from the end point of the entering lane line, and determining a line perpendicular to the first travel direction at the second position as the right turn straight entering start line;

A third position extending from the start point of the exit lane line to a position beyond the second inner boundary in a direction opposite to the second traveling direction, a line perpendicular to the second traveling direction at the third position being determined as the left turn u-turn exit start line;

And a fourth position extending from the start point of the exit lane line along the direction opposite to the second driving direction by a second preset distance, wherein a line perpendicular to the second driving direction at the fourth position is determined as the right-turn straight-movement exit start line.

In one possible implementation manner, any two adjacent sections of control points in the multiple sections of control points are a first section of control point and a second section of control point, the first section of control point is closer to the entering lane line to be communicated and the entering lane line to be communicated from the second section of control point, and the last control point in the first section of control point is the first control point in the second section of control point.

In one possible implementation manner, the connection points of the first segment control points and the second segment control points are on the same straight line with the first control point in the first segment control points and the second control point in the second segment control points, the connection point is the last control point in the first segment control points and is the first control point in the second segment control points, the first control point is the control point adjacent to the connection point in the first segment control points, and the second control point is the control point adjacent to the connection point in the second segment control points.

acquiring obstacle data of the intersection to be processed;

And determining the multi-section control points according to the obstacle data, steering starting lines corresponding to the entering lane lines to be communicated and the exiting lane lines to be communicated, and steering information between the entering lane lines to be communicated and the exiting lane lines.

based on steering starting lines corresponding to the entering lane lines and the exiting lane lines to be communicated and steering information between the entering lane lines and the exiting lane lines to be communicated, determining a plurality of sections of control points conforming to position relation control conditions, wherein the position relation control conditions are that communication lanes which are driven into the intersection to be processed by the same entering lane and are different in steering cannot be mutually covered, and communication lanes which are driven out of the intersection to be processed by different entering lanes cannot be mutually covered.

And determining the multi-section control points based on steering starting lines corresponding to the entering lane lines to be communicated and the exiting lane lines to be communicated, steering information between the entering lane lines to be communicated and the exiting lane lines to be communicated, and lane widths corresponding to the entering lane lines to be communicated and the exiting lane lines to be communicated.

Determining a first control point and a last control point in the multiple sections of control points according to steering starting lines respectively corresponding to the entering lane line and the exiting lane line to be communicated;

if the multi-section control points are determined to belong to the first-level control points according to the steering information between the entering lane line to be communicated and the exiting lane line to be communicated and the entering lane line to be communicated and the exiting lane line to be communicated, determining the middle control points according to the obtained second-level control points and the lane widths corresponding to the entering lane line to be communicated and the exiting lane line to be communicated respectively; the first level control point and the second level control point are used for obtaining the same communication lane, the communication lane comprises the lane virtual boundary line, and the calculation priority of the first level control point is lower than that of the second level control point;

and determining the first control point, the last control point and the intermediate control point as the multi-segment control points.

The embodiment of the application also provides computer equipment which can execute the method for generating the virtual boundary line of the lane. The computer device may be a terminal, and fig. 13 shows a structure diagram of a terminal provided by an embodiment of the present application. In fig. 13, taking a terminal as a smart phone as an example:

Referring to fig. 13, the smart phone includes: radio Frequency (RF) circuit 1310, memory 1320, input unit 1330, display unit 1340, sensor 1350, audio circuit 1360, wireless fidelity (WiFi) module 1370, processor 1380, and power supply 1390. The input unit 1330 may include a touch panel 1331 and other input devices 1332, the display unit 1340 may include a display panel 1341, and the audio circuit 1360 may include a speaker 1361 and a microphone 1362. It will be appreciated that the smartphone structure shown in fig. 13 is not limiting of the smartphone, and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.

The memory 1320 may be used to store software programs and modules, and the processor 1380 performs various functional applications and data processing of the smartphone by executing the software programs and modules stored in the memory 1320. The memory 1320 may mainly include a storage program area that may store an operating system, application programs required for at least one function (such as a sound playing function, an image playing function, etc.), and a storage data area; the storage data area may store data (such as audio data, phonebooks, etc.) created according to the use of the smart phone, etc. In addition, memory 1320 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

Processor 1380 is a control center of the smartphone, connecting various portions of the entire smartphone with various interfaces and lines, performing various functions of the smartphone and processing data by running or executing software programs and/or modules stored in memory 1320, and invoking data stored in memory 1320. Optionally, processor 1380 may include one or more processing units; preferably, processor 1380 may integrate an application processor primarily handling operating systems, user interfaces, applications, etc., with a modem processor primarily handling wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 1380.

In this embodiment, the processor 1380 in the smart phone may execute the method for generating the lane virtual boundary line provided in each embodiment of the present application.

The computer device provided in the embodiment of the present application may also be a server, as shown in fig. 14, fig. 14 is a block diagram of a server 1400 provided in the embodiment of the present application, where the server 1400 may have a relatively large difference due to different configurations or performances, and may include one or more processors, such as a central processing unit (Central Processing Units, abbreviated as CPU) 1422, and a memory 1432, one or more storage mediums 1430 (such as one or more mass storage devices) storing application programs 1442 or data 1444. Wherein the memory 1432 and storage medium 1430 can be transitory or persistent storage. The program stored in the storage medium 1430 may include one or more modules (not shown), each of which may include a series of instruction operations on a server. Further, the central processor 1422 may be provided in communication with a storage medium 1430 to perform a series of instruction operations in the storage medium 1430 on the server 1400.

The Server 1400 can also include one or more power supplies 1426, one or more wired or wireless network interfaces 1450, one or more input/output interfaces 1458, and/or one or more operating systems 1441, such as a Windows Server ^TM,Mac OS X^TM,Unix^TM, Linux^TM,FreeBSD^TM, or the like.

In this embodiment, the central processor 1422 in the server 1400 may perform the lane virtual boundary line generation method provided in each embodiment of the present application.

According to an aspect of the present application, there is provided a computer-readable storage medium for storing a computer program for executing the method of generating a lane virtual boundary line according to the foregoing embodiments.

According to one aspect of the present application, there is provided a computer program product comprising a computer program stored in a computer readable storage medium. The processor of the computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program so that the computer device performs the methods provided in the various alternative implementations of the above embodiments.

The descriptions of the processes or structures corresponding to the drawings have emphasis, and the descriptions of other processes or structures may be referred to for the parts of a certain process or structure that are not described in detail.

The terms "first," "second," "third," "fourth," and the like in the description of the application and in the above figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., 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 an indirect coupling or communication connection via some interfaces, devices or units, 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 the embodiments of the present application 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 integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in whole or in part in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a terminal, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb 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 a computer program.

In the present embodiment, the term "module" or "unit" refers to a computer program or a part of a computer program having a predetermined function and working together with other relevant parts to achieve a predetermined object, and may be implemented in whole or in part by using software, hardware (such as a processing circuit or a memory), or a combination thereof. Also, a processor (or multiple processors or memories) may be used to implement one or more modules or units. Furthermore, each module or unit may be part of an overall module or unit that incorporates the functionality of the module or unit.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for generating a virtual boundary line of a lane, the method comprising:

2. The method of claim 1, wherein the determining the turn initiation line of the entry lane line and the turn initiation line of the exit lane line comprises:

acquiring map element data of the intersection to be processed;

3. The method of claim 2, wherein the determining the steering start line of the entering lane line and the steering start line of the exiting lane line from the map element data comprises:

4. A method according to claim 3, wherein said determining a left turn u-turn entry initiation line from the position of the first inner boundary of the first travelator comprises:

the right turn straight entering start line is determined according to the position of the end point of the entering lane line, and the method comprises the following steps:

The determining the left turn, u turn and exit start line according to the position of the second inner boundary of the second crosswalk includes:

the determining a right turn straight exit start line according to the position of the start point of the exit lane line includes:

5. The method of claim 1, wherein any two adjacent control points in the plurality of control points are a first control point and a second control point, the first control point is closer to the entry lane line to be communicated and the entry lane line to be exited than the second control point, and the last control point in the first control point is the first control point in the second control point.

6. The method of claim 5, wherein the engagement points of the first segment control points and the second segment control points are collinear with a first one of the first segment control points and a second one of the second segment control points, the engagement points being a last one of the first segment control points and a first one of the second segment control points, the first one of the first segment control points being a control point adjacent to the engagement points, and the second one of the second segment control points being a control point adjacent to the engagement points.

7. The method of claim 1, wherein the determining the multi-segment control point based on the steering start line corresponding to the entry lane line and the exit lane line to be communicated, respectively, and the steering information between the entry lane line and the exit lane line to be communicated, comprises:

acquiring obstacle data of the intersection to be processed;

8. The method of claim 1, wherein the determining the multi-segment control point based on the steering start line corresponding to the entry lane line and the exit lane line to be communicated, respectively, and the steering information between the entry lane line and the exit lane line to be communicated, comprises:

9. The method of claim 1, wherein the determining the multi-segment control point based on the steering start line corresponding to the entry lane line and the exit lane line to be communicated, respectively, and the steering information between the entry lane line and the exit lane line to be communicated, comprises:

10. The method of claim 9, wherein the determining the multi-segment control point based on steering start lines corresponding to the entry lane line and the exit lane line to be communicated, steering information between the entry lane line and the exit lane line to be communicated, and lane widths corresponding to the entry lane line and the exit lane line to be communicated, respectively, comprises:

11. The device for generating the virtual boundary line of the lane is characterized by comprising an acquisition unit, a determination unit, a fitting unit and a splicing unit:

12. A computer device, the computer device comprising a processor and a memory:

the processor is configured to perform the method of any of claims 1-10 according to instructions in the computer program.

13. A computer readable storage medium for storing a computer program which, when executed by a processor, causes the processor to perform the method of any one of claims 1-10.

14. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method of any of claims 1-10.