WO2022110749A1 - 一种车道线标注方法、装置、存储介质及计算机程序产品 - Google Patents

一种车道线标注方法、装置、存储介质及计算机程序产品 Download PDF

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Publication number
WO2022110749A1
WO2022110749A1 PCT/CN2021/098118 CN2021098118W WO2022110749A1 WO 2022110749 A1 WO2022110749 A1 WO 2022110749A1 CN 2021098118 W CN2021098118 W CN 2021098118W WO 2022110749 A1 WO2022110749 A1 WO 2022110749A1
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Prior art keywords
lane
group
lane group
entering
driving direction
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PCT/CN2021/098118
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English (en)
French (fr)
Inventor
刘大伟
支晶晶
伍勇
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华为技术有限公司
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Publication of WO2022110749A1 publication Critical patent/WO2022110749A1/zh

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003—Maps
    • G09B29/006—Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes
    • G09B29/007—Representation of non-cartographic information on maps, e.g. population distribution, wind direction, radiation levels, air and sea routes using computer methods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • the present application relates to the technical field of intelligent transportation, and in particular, to a lane marking method, device, storage medium and computer program product.
  • High-precision maps play a vital role in location finding, automatic navigation, and autonomous driving.
  • mapping high-precision maps related technologies use automated or manual methods to mark lane lines in the intersection area, which requires the collection of a large amount of data or a large amount of calculation, resulting in low mapping efficiency and high mapping costs.
  • an embodiment of the present application provides a method for marking lane lines, the method is used for marking lane lines in an intersection area in a map, the intersection area is associated with at least one entering lane group and at least one exiting lane group Sets of lanes meet, each set of at least one set of on-going lanes includes at least one set of on-going lanes entering the intersection area in the same direction, each set of said at least one set of on-going lanes Exiting the lane group includes exiting at least one exit lane of the intersection area in the same direction; the method includes: determining a direction in which a first entry lane group of the at least one entry lane group is located and the at least one exit lane at least one included angle between the directions where the exit lane group is located; at least one driving direction characteristic from the first entering lane group to the at least one exit lane group is determined according to the at least one included angle; according to the At least one driving direction feature, marking a lane line connecting at least one incoming lane in the first
  • the intersection area can be connected with at least one entering lane group and at least one exit lane group, wherein each entering lane group in the at least one entering lane group includes entering the intersection area in the same direction at least one exit lane of the at least one exit lane group, each exit lane group in the at least one exit lane group includes at least one exit lane exiting the intersection area in the same direction, by determining the first exit lane in the at least one exit lane group at least one included angle between the direction in which the entering lane group is located and the direction in which at least one exiting lane group is located; at least one driving direction feature from the first entering lane group to at least one exiting lane group is determined according to the at least one included angle; and According to at least one driving direction feature, a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in at least one outgoing lane group is marked in the intersection area; no need to collect in the intersection area Driving data, with low computational time
  • the method further includes: dividing a plurality of lanes adjacent to the intersection area into at least one entering lane group and at least one exiting lane group Lane group.
  • the lanes connected to the intersection area are divided into at least one entering lane group and at least one exiting lane group, and then the direction of the first entering lane group in the at least one entering lane group can be determined by at least one included angle between the directions in which the at least one exit lane group is located; at least one driving direction feature from the first entering lane group to the at least one exit lane group is determined according to the at least one included angle; and then according to the at least one traveling direction feature , mark a lane line connecting at least one entering lane in the first entering lane group and at least one exiting lane in at least one exiting lane group in the intersection area; no need to collect driving data in the intersection area, and the calculation time is complicated It realizes the rapid automatic labeling of lane lines in the intersection area, improves the mapping efficiency of high-precision maps, and saves the cost of mapping.
  • the at least one of the first entering lane group to the at least one exiting lane group is determined according to the at least one included angle
  • the driving direction feature includes: from a plurality of preset ranges corresponding to the first entering lane group, determining at least one target preset range to which the at least one included angle belongs, wherein the multiple preset ranges are the same as the One-to-one correspondence between multiple driving direction features; at least one driving direction from the first entering lane group to the at least one exiting lane group is determined according to at least one traveling direction feature corresponding to the at least one target preset range feature.
  • the plurality of preset ranges corresponding to the first entering lane group are based on the first entering lane The direction of the group and the preset threshold are determined.
  • multiple preset ranges corresponding to the first entering lane group can be determined according to the direction of the first entering lane group and the preset threshold, so as to satisfy various types of intersection areas.
  • the determining from the at least one driving direction characteristic corresponding to the at least one target preset range is determined
  • the at least one driving direction feature of the first entering lane group to the at least one exiting lane group includes: when each preset range in the plurality of preset ranges corresponds to at most one of the included angles, changing the The at least one traveling direction feature corresponding to the at least one target preset range is determined as at least one traveling direction feature from the first entering lane group to the at least one exiting lane group.
  • At least one driving direction feature corresponding to at least one target preset range may be determined as driving from the first entry lane group to at least one driving direction feature of at least one exiting lane group, so that the determined driving direction characteristics of the first entering lane group to different exiting lane groups are all different, so as to avoid misjudgment.
  • the determining from the at least one driving direction feature corresponding to the at least one target preset range is determined
  • the at least one driving direction feature of the first entering lane group to the at least one exiting lane group includes: when multiple included angles in the at least one included angle correspond to the same target preset range, determining the multiple included angles The included angle with the smallest absolute value among the included angles; the driving direction feature corresponding to the same target preset range is determined as the first driving direction feature corresponding to the included angle with the smallest absolute value among the plurality of included angles, and the The first driving direction feature represents the driving direction feature from the first entering lane group to the exiting lane group corresponding to the included angle with the smallest absolute value among the multiple included angles; according to the other included angles among the multiple included angles The relative direction relationship between the angle and the angle with the smallest absolute value among the plurality of included angles, and the first driving direction feature, to determine the driving distance from the first entering lane group to
  • the angle with the smallest absolute value is determined, and the driving direction feature corresponding to the same target preset range is determined as the first driving direction feature corresponding to the included angle with the smallest absolute value.
  • the relative direction relationship between the included angle and the included angle with the smallest absolute value, as well as the first driving direction feature determine the driving direction feature of the first entering lane group to the exiting lane group corresponding to other included angles. In this way, the determined The driving direction characteristics of the first entering lane group to different exiting lane groups are all different, so as to avoid misjudgment.
  • determine whether to At least one driving direction feature of the first entering lane group to the at least one exiting lane group includes: when a plurality of included angles in the at least one included angle correspond to the same target preset range, adjusting the multiple included angles At least one preset range among the preset ranges, so that each of the adjusted target preset ranges corresponds to only one of the included angles;
  • the travel direction feature is determined as a plurality of travel direction features from the first entering lane group to the plurality of exit lane groups corresponding to the plurality of included angles.
  • adjusting the multiple presets At least one preset range in the range includes: the number of the at least one included angle is greater than the number of the multiple preset ranges, and the multiple included angles in the at least one included angle correspond to the same target preset In the range, the same target preset range is divided into multiple sub-preset ranges, the multiple sub-preset ranges are in one-to-one correspondence with the multiple sub-travel direction features, and each of the sub-preset ranges corresponds to at most the multiple sub-preset ranges.
  • An included angle among the included angles; the plurality of driving direction features corresponding to the adjusted plurality of target preset ranges are determined as corresponding to the plurality of included angles from the first entering lane group to the plurality of included angles.
  • a plurality of driving direction features of a plurality of exit lane groups including: determining a plurality of sub-travel direction characteristics corresponding to a plurality of sub-target preset ranges from the first entering lane group to the distance between the plurality of clips Multiple driving direction features of multiple exit lane groups corresponding to the corners.
  • the same target preset range is divided by dividing is a plurality of sub-preset ranges, so that the sub-preset ranges correspond to at most one included angle among the multiple included angles; thus, the multiple sub-travel direction features corresponding to the multiple sub-target preset ranges are determined to be driven from the first Multiple driving direction features from the lane group to multiple exit lane groups corresponding to multiple included angles, so that the determined driving direction characteristics of the first entering lane group to different exit lane groups are all different, so as to avoid misjudgment.
  • marking and connecting at least one of the first entering lane groups in the intersection area according to the at least one driving direction feature Driving into the lane and the lane line of at least one of the at least one exiting lane group includes: determining, according to the at least one driving direction feature, at least one marked curve corresponding to the at least one driving direction feature; determining the at least one entry point of the at least one entry lane and the intersection area; determining at least one exit lane in the at least one exit lane group and at least one exit point of the intersection area; Based on the at least one incoming junction, the at least one outgoing junction, and the at least one labeled curve, in the intersection area, a label connects the at least one incoming lane to the at least one outgoing lane The lane line where at least one of the groups exits the lane.
  • At least one labeling curve corresponding to at least one driving direction feature is determined, and the entry junction point and the exit junction point are determined, so as to label and connect at least one of the first entry lane groups
  • the lane line from the entering lane to the at least one exiting lane in the at least one exiting lane group, so that the at least one entering lane in the first entering lane group corresponding to the different driving direction features is marked with different marking curves to the entering lane.
  • At least one of the at least one exit lane group exits the lane line of the lane, so that the lane line in the marked intersection area is smoother, so that the navigation vehicle travels more smoothly along the lane line.
  • marking and connecting at least one of the first entering lane groups in the intersection area according to the at least one driving direction feature includes: determining a driving direction regulation of the at least one entry lane in the first entry lane group; according to the at least one entry lane group A driving direction feature and the driving direction specification, marking in the intersection area connecting at least one inbound lane in the first inbound lane group with at least one outbound lane in the at least one outbound lane group lane line.
  • At least one entering lane in the first entering lane group usually has a driving direction specification
  • at least one driving direction feature and the driving direction of at least one entering lane in the first entering lane group It is stipulated that a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in the at least one outgoing lane group is marked in the intersection area, so as to satisfy the actual traffic rules of the intersection area.
  • the driving direction feature includes a left turn, a right turn, One or more of U-turn, Go straight.
  • the driving direction feature may correspond to the common driving direction of the vehicle in the intersection area specified in the existing traffic rules, so as to conform to the actual application scenario.
  • embodiments of the present application provide a device for marking lane lines.
  • the device is used to mark lane lines in an intersection area in a map, where the intersection area is associated with at least one entering lane group and at least one exiting lane group.
  • each set of at least one set of on-going lanes includes at least one set of on-going lanes entering the intersection area in the same direction, each set of said at least one set of on-going lanes
  • the exiting lane group includes at least one exiting lane that exits the intersection area along the same direction;
  • the apparatus includes: an included angle determination module, configured to determine a first entering lane group in the at least one entering lane group at least one included angle between the direction and the direction in which the at least one exit lane group is located;
  • the driving direction feature determination module is configured to determine, according to the at least one included angle, from the first entering lane group to the at least one drive-in lane group at least one driving direction feature of an outgoing lane group;
  • an automatic labeling module configured to mark and connect at least one inbound lane in the first inbound lane group in the intersection area according to the at least one driving direction feature A lane line with at least one outgoing lane in the at least one outgoing lane group.
  • the intersection area can be connected with at least one entering lane group and at least one exit lane group, wherein each entering lane group in the at least one entering lane group includes entering the intersection area in the same direction at least one exit lane of the at least one exit lane group, each exit lane group in the at least one exit lane group includes at least one exit lane exiting the intersection area in the same direction, by determining the first exit lane in the at least one exit lane group at least one included angle between the direction in which the entering lane group is located and the direction in which at least one exiting lane group is located; at least one driving direction feature from the first entering lane group to at least one exiting lane group is determined according to the at least one included angle; and According to at least one driving direction feature, a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in at least one outgoing lane group is marked in the intersection area; no need to collect in the intersection area Driving data, with low computational time
  • the apparatus further includes: a lane group classification module, configured to divide a plurality of lanes adjacent to the intersection area into the at least one lane Entering the set of lanes and the at least one set of exiting lanes.
  • the lanes connected to the intersection area are divided into at least one entering lane group and at least one exiting lane group, and then the direction of the first entering lane group in the at least one entering lane group can be determined by at least one included angle between the directions in which the at least one exit lane group is located; at least one driving direction feature from the first entering lane group to the at least one exit lane group is determined according to the at least one included angle; and then according to the at least one traveling direction feature , mark a lane line connecting at least one entering lane in the first entering lane group and at least one exiting lane in at least one exiting lane group in the intersection area; no need to collect driving data in the intersection area, and the calculation time is complicated It realizes the rapid automatic labeling of lane lines in the intersection area, improves the mapping efficiency of high-precision maps, and saves the cost of mapping.
  • the driving direction feature determination module is further configured to: determine from a plurality of preset ranges corresponding to the first entering lane group at least one target preset range to which the at least one included angle belongs, wherein the multiple preset ranges are in one-to-one correspondence with multiple driving direction features; according to the at least one driving direction feature corresponding to the at least one target preset range , determining at least one driving direction feature from the first set of incoming lanes to the at least one set of outgoing lanes.
  • the plurality of preset ranges corresponding to the first entering lane group are based on the first entering lane The direction of the group and the preset threshold are determined.
  • multiple preset ranges corresponding to the first entering lane group can be determined according to the direction of the first entering lane group and the preset threshold, so as to satisfy various types of intersection areas.
  • the driving direction feature determination module is further configured to: in each of the multiple preset ranges When the preset ranges correspond to at most one of the included angles, the at least one driving direction feature corresponding to the at least one target preset range is determined to be from the first entry lane group to the at least one exit lane At least one driving direction feature of the group.
  • At least one driving direction feature corresponding to at least one target preset range may be determined as driving from the first entry lane group to at least one driving direction feature of at least one exiting lane group, so that the determined driving direction characteristics of the first entering lane group to different exiting lane groups are all different, so as to avoid misjudgment.
  • the driving direction feature determination module is further configured to: in the at least one included angle, a plurality of When the included angle corresponds to the same target preset range, determine the included angle with the smallest absolute value among the multiple included angles; determine the driving direction feature corresponding to the same target preset range as the absolute value among the multiple included angles
  • the first driving direction feature corresponding to the included angle with the smallest value, and the first driving direction feature represents the exit lane group corresponding to the included angle from the first entering lane group to the included angle with the smallest absolute value among the multiple included angles
  • the driving direction feature of the The driving direction characteristics of the first entering lane group to the exiting lane group corresponding to the other included angles.
  • the angle with the smallest absolute value is determined, and the driving direction feature corresponding to the same target preset range is determined as the first driving direction feature corresponding to the included angle with the smallest absolute value.
  • the relative direction relationship between the included angle and the included angle with the smallest absolute value, as well as the first driving direction feature determine the driving direction feature of the first entering lane group to the exiting lane group corresponding to other included angles. In this way, the determined The driving direction characteristics of the first entering lane group to different exiting lane groups are all different, so as to avoid misjudgment.
  • the driving direction feature determining module is further configured to: in the at least one included angle, a plurality of When the included angle corresponds to the same target preset range, at least one preset range in the multiple preset ranges is adjusted, so that each of the adjusted target preset ranges only corresponds to one of the included angles;
  • the plurality of travel direction features corresponding to the adjusted target preset ranges are determined as a plurality of travel directions from the first entering lane group to the plurality of exit lane groups corresponding to the plurality of included angles feature.
  • the driving direction feature determination module is further configured to: when the number of the at least one included angle is greater than the number of the multiple preset ranges , and when multiple angles in the at least one included angle correspond to the same target preset range, divide the same target preset range into multiple sub-preset ranges, the multiple sub-preset ranges and multiple sub-driving directions
  • the features are in one-to-one correspondence, and each of the sub-preset ranges corresponds to at most one of the multiple included angles; the multiple sub-travel direction features corresponding to the multiple sub-target preset ranges are determined to be from the A plurality of driving direction features of a first entering lane group to a plurality of exiting lane groups corresponding to the plurality of included angles.
  • the same target preset range is divided by dividing is a plurality of sub-preset ranges, so that the sub-preset ranges correspond to at most one included angle among the multiple included angles; thus, the multiple sub-travel direction features corresponding to the multiple sub-target preset ranges are determined to be driven from the first Multiple driving direction features from the lane group to multiple exit lane groups corresponding to multiple included angles, so that the determined driving direction characteristics of the first entering lane group to different exit lane groups are all different, so as to avoid misjudgment.
  • the automatic labeling module is further configured to: determine, according to the at least one driving direction feature, at least one driving direction feature corresponding to the at least one driving direction feature. a marked curve; determining at least one inbound lane and at least one inbound intersection of the intersection area; determining at least one outbound lane in the at least one outbound lane group and at least one outbound phase of the intersection area junction; according to the at least one entry junction, the at least one exit junction, and the at least one marked curve, in the intersection area, the marking connects the at least one entry lane to the at least one exit lane The lane line of at least one exit lane in the exit lane group.
  • At least one labeling curve corresponding to at least one driving direction feature is determined, and the entry junction point and the exit junction point are determined, so as to label and connect at least one of the first entry lane groups
  • the lane line from the entering lane to the at least one exiting lane in the at least one exiting lane group, so that the at least one entering lane in the first entering lane group corresponding to the different driving direction features is marked with different marking curves to the entering lane.
  • At least one of the at least one exit lane group exits the lane line of the lane, so that the lane line in the marked intersection area is smoother, so that the navigation vehicle travels more smoothly along the lane line.
  • the automatic labeling module is further configured to: determine a driving direction regulation of at least one entering lane in the first entering lane group; According to the at least one driving direction characteristic and the driving direction specification, marking in the intersection area connects at least one inbound lane in the first inbound lane group with at least one inbound lane in the at least one outbound lane group A lane line that leaves the lane.
  • At least one entering lane in the first entering lane group usually has a driving direction specification
  • at least one driving direction feature and the driving direction of at least one entering lane in the first entering lane group It is stipulated that a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in the at least one outgoing lane group is marked in the intersection area, so as to satisfy the actual traffic rules of the actual intersection area.
  • the driving direction features include left turn, right turn, One or more of U-turn, Go straight.
  • the driving direction feature may correspond to the common driving direction of the vehicle in the intersection area specified in the existing traffic rules, so as to conform to the actual application scenario.
  • embodiments of the present application provide an apparatus for marking lane lines, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to implement the above when executing the instructions
  • the first aspect or one or more lane marking methods in multiple possible implementation manners of the first aspect.
  • the intersection area can be connected with at least one entering lane group and at least one exit lane group, wherein each entering lane group in the at least one entering lane group includes entering the intersection area in the same direction at least one exit lane of the at least one exit lane group, each exit lane group in the at least one exit lane group includes at least one exit lane exiting the intersection area in the same direction, by determining the first exit lane in the at least one exit lane group at least one included angle between the direction in which the entering lane group is located and the direction in which at least one exiting lane group is located; at least one driving direction feature from the first entering lane group to at least one exiting lane group is determined according to the at least one included angle; and According to at least one driving direction feature, a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in at least one outgoing lane group is marked in the intersection area; no need to collect in the intersection area Driving data, with low computational time
  • embodiments of the present application provide a non-volatile computer-readable storage medium, where the computer-readable storage medium includes computer instructions that, when the computer instructions are executed on a computer, cause the computer to execute the above-mentioned first step.
  • the computer-readable storage medium includes computer instructions that, when the computer instructions are executed on a computer, cause the computer to execute the above-mentioned first step.
  • the intersection area can be connected with at least one entering lane group and at least one exit lane group, wherein each entering lane group in the at least one entering lane group includes entering the intersection area in the same direction at least one exit lane of the at least one exit lane group, each exit lane group in the at least one exit lane group includes at least one exit lane exiting the intersection area in the same direction, by determining the first exit lane in the at least one exit lane group at least one included angle between the direction in which the entering lane group is located and the direction in which at least one exiting lane group is located; at least one driving direction feature from the first entering lane group to at least one exiting lane group is determined according to the at least one included angle; and According to at least one driving direction feature, a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in at least one outgoing lane group is marked in the intersection area; no need to collect in the intersection area Driving data, with low computational time
  • embodiments of the present application provide a computer program product, comprising computer-readable codes, or a non-volatile computer-readable storage medium carrying computer-readable codes, when the computer-readable codes are stored in an electronic
  • the processor in the electronic device executes the first aspect or one or more of the lane marking methods in the multiple possible implementation manners of the first aspect.
  • the intersection area can be connected with at least one entering lane group and at least one exit lane group, wherein each entering lane group in the at least one entering lane group includes entering the intersection area in the same direction at least one exit lane of the at least one exit lane group, each exit lane group in the at least one exit lane group includes at least one exit lane exiting the intersection area in the same direction, by determining the first exit lane in the at least one exit lane group at least one included angle between the direction in which the entering lane group is located and the direction in which at least one exiting lane group is located; at least one driving direction feature from the first entering lane group to at least one exiting lane group is determined according to the at least one included angle; and According to at least one driving direction feature, a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in at least one outgoing lane group is marked in the intersection area; no need to collect in the intersection area Driving data, with low computational time
  • FIG. 1 shows a schematic diagram of an intersection area according to an embodiment of the present application
  • FIG. 2 shows a schematic diagram of a T-junction area according to an embodiment of the present application
  • FIG. 3 shows a schematic diagram of a Y-shaped intersection area according to an embodiment of the present application
  • FIG. 4 shows a flowchart of a method for marking lane lines according to an embodiment of the present application
  • FIG. 5 shows a schematic diagram of marking lane lines in an intersection area according to an embodiment of the present application
  • FIG. 6 shows a schematic diagram of marking lane lines in a T-junction area according to an embodiment of the present application
  • FIG. 7 shows a schematic diagram of marking lane lines in a Y-shaped intersection area according to an embodiment of the present application
  • FIG. 8 shows a flowchart of a method for dividing an incoming lane group and an outgoing lane group according to an embodiment of the present application
  • FIG. 9 shows a schematic diagram of a direction angle according to an embodiment of the present application.
  • FIG. 10 shows a flowchart of a method for determining a driving direction feature according to an embodiment of the present application
  • FIG. 11 shows a schematic diagram of the characteristics of the driving direction when the direction angle of the first entering lane group is ⁇ /2 according to an embodiment of the present application
  • FIG. 12 shows a flowchart of a method for determining a driving direction feature when multiple included angles correspond to the same target preset range according to an embodiment of the present application
  • FIG. 13 shows a schematic diagram of an X-shaped intersection area according to an embodiment of the present application.
  • FIG. 14 shows a flowchart of a method for determining a driving direction feature by adjusting a preset range according to an embodiment of the present application
  • FIG. 15 shows a flowchart of a method for determining a driving direction feature by dividing a preset range according to an embodiment of the present application
  • FIG. 16 shows a schematic diagram of a complex intersection area according to an embodiment of the present application.
  • FIG. 17 shows a flowchart of a method for marking lane lines through different marking curves according to an embodiment of the present application
  • FIG. 18 shows a schematic diagram of a drive-in junction and a drive-out junction according to an embodiment of the present application
  • FIG. 19 shows a flowchart of a method for marking lane lines according to the driving direction of the entering lane according to an embodiment of the present application
  • FIG. 20 shows a schematic diagram of an actual intersection area according to an embodiment of the present application.
  • FIG. 21 shows a schematic diagram of lane lines marked in the actual intersection area in FIG. 20 according to an embodiment of the present application
  • FIG. 22 shows a schematic diagram of lane lines marked in an actual T-junction area according to an embodiment of the present application
  • FIG. 24 shows a schematic structural diagram of a lane marking device according to an embodiment of the present application.
  • FIG. 25 shows a schematic structural diagram of another lane marking device according to an embodiment of the present application.
  • High-precision maps play a vital role in location finding, automatic navigation, and autonomous driving.
  • the mapping process of high-precision maps is as follows: First, technicians drive map collection vehicles, collect environmental information around the area they pass through, and fuse the collected environmental information to generate electronic maps with colors. Then, cartographers use map labeling software to automatically or manually label various traffic information on the generated electronic map. Traffic information can include lane lines, road signs, road signs, intersection areas and so on.
  • the autonomous vehicle drives according to the pre-planned path on the high-precision map.
  • the path needs to be accurate to at least the lane level.
  • the lane lines in the intersection area are marked on the high-precision map by manual marking by cartographers or automatic marking, which has the technical problems of low mapping efficiency and high mapping cost.
  • the embodiment of the present application proposes a technical solution for marking lane lines.
  • the technical solution can be used to mark lane lines in the intersection area in the map, which can improve the efficiency of mapping and reduce the cost of mapping.
  • the map may be an electronic map with the intersection area marked, or may be an electronic map without marked intersection area.
  • the intersection area refers to the area where different roads meet in the map; the intersection area that has been marked on the map may be used as the intersection area in the embodiment of the present application; the intersection area in the embodiment of the present application may also be determined according to the existing information on the map, for example , the intersection area can be determined according to the lane lines, stop lines and other related existing information near the meeting points of different roads in the map.
  • intersection area can be connected to multiple roads, and each road can include one or more lanes. According to the number of roads connecting to the intersection area and the spatial position relationship between the adjacent roads, the intersection area can be divided into various types, such as: intersection area, Y-shaped intersection area, T-shaped intersection area (also known as T-shaped intersection area). area), roundabout intersection area (also known as turntable intersection area), X-shaped intersection area, misplaced T-shaped intersection area, misplaced Y-shaped intersection area, three-dimensional intersection area, multi-fork intersection area, etc. The type is not limited.
  • the intersection area may be connected to at least one entering lane group and at least one exiting lane group, wherein each entering lane group in the at least one entering lane group includes entering the lane in the same direction.
  • At least one incoming lane of the intersection area, and each outgoing lane group in the at least one outgoing lane group includes at least one outgoing lane that exits the intersection area in the same direction.
  • intersection area in the embodiment of the present application is exemplarily described below by taking the intersection area, the T-shaped intersection area, and the Y-shaped intersection area as examples.
  • FIG. 1 shows a schematic diagram of an intersection area according to an embodiment of the present application.
  • the rectangular area in FIG. 1 represents the intersection area.
  • the intersection area is connected to four roads, wherein one road includes lane a, lane b, and lane c; one road includes lane d, lane e; one road includes lane f, lane g, and lane h; one road includes lane i , lane j; the solid line in each lane represents the lane edge, the dashed line represents the lane center line, and the arrow represents the direction of the lane entering or leaving the intersection area.
  • the intersection area is connected with four inbound lane groups and four outbound lane groups, and the four inbound lane groups are respectively the inbound lane group A, the inbound lane group B, and the inbound lane group.
  • Group C entering lane group D; wherein, entering lane group A includes lanes b and c entering the intersection area along the Y direction, and entering lane group B includes entering the intersection along the opposite direction of X.
  • Lane e of the intersection area includes lane h entering the intersection area in the opposite Y direction in the entry lane group C, and lane j entering the intersection area in the X direction in the entry lane group D.
  • the four outgoing lane groups are the outgoing lane group A', the outgoing lane group B', the outgoing lane group C', and the outgoing lane group D'.
  • the exit lane group B' includes lane d exiting the intersection area in the X direction
  • the exit lane group C' includes exiting the intersection in the Y direction.
  • Lane g and lane f of the area, in the exit lane group D' include lane i exiting the intersection area in the opposite direction X.
  • FIG. 2 shows a schematic diagram of a T-junction area according to an embodiment of the present application.
  • the rectangular area in FIG. 2 represents the T-junction area.
  • the T-junction area is connected to three roads, wherein one road includes lane k, lane l, and lane m; one road includes lane n and lane o; one road includes lane p and lane q; the solid line in each lane indicates The lane edge and dotted line indicate the lane center line, and the arrow indicates the direction in which the lane enters the T-junction area or exits the T-junction area.
  • the T-junction area is connected with three inbound lane groups and three outbound lane groups, and the three inbound lane groups are respectively the inbound lane group E, the inbound lane group F, the inbound Lane group G; wherein the entering lane group E includes lanes l and m entering the T-junction area along the Y direction, and the entering lane group F includes entering the T-junction area along the opposite direction of X
  • the lane o of the entering lane group G includes the lane q entering the T-junction area along the X direction.
  • the three outgoing lane groups are the outgoing lane group E', the outgoing lane group F', and the outgoing lane group G'; wherein, the outgoing lane group E' includes going out of the T-junction in the opposite direction of Y
  • the lane k of the area includes the lane n that exits the T-junction area along the X direction in the exit lane group F', and the exit lane group G' includes the lane that exits the T-junction area in the opposite direction of X p.
  • FIG. 3 shows a schematic diagram of a Y-shaped intersection area according to an embodiment of the present application.
  • the hexagonal area in FIG. 3 represents the Y-shaped intersection area.
  • the Y-shaped intersection area is connected to three roads, one of which includes lane r, lane s, and lane t; one road includes lane u and lane v; one road includes lane w and lane z; the solid line in each lane indicates The lane edge and dotted line represent the lane center line, and the arrow represents the direction in which the lane enters or exits the Y-shaped intersection area.
  • the Y-shaped intersection area is connected with three entering lane groups and three exiting lane groups, and the three entering lane groups are respectively the entering lane group H, the entering lane group I, the entering lane group Lane group J; wherein, the entering lane group H includes the lane s and lane t entering the Y-shaped intersection area along the Y direction, and the entering lane group I includes entering along the opposite direction of X at a certain angle
  • the lane v of the Y-shaped intersection area includes the lane z that enters the Y-shaped intersection area along a certain angle with the X direction in the entering lane group J.
  • the three outgoing lane groups are the outgoing lane group H', the outgoing lane group I', and the outgoing lane group J'; wherein, the outgoing lane group H' includes going out of the Y-shaped intersection in the opposite direction of Y
  • the lane r of the area includes the lane u that exits the Y-shaped intersection area at a certain angle to the X direction in the exit lane group I', and the exit lane group J' includes the entry angle along the opposite direction to the X direction. Drive out of lane w in the Y-junction area.
  • the lane edge lines represent the lines on both sides of the lane, a lane has two lane edge lines, and the area between the two lane edge lines is the lane; the lane center line represents the lane located in the lane The middle line, the lane center line can be determined by the lane edge, and the lane center line can be a virtual line marked on the map.
  • each road connected to the intersection area may include one or more lanes, and each road may be one-way traffic or two-way traffic. Therefore, for different types of intersection areas, the group of incoming lanes connected to the intersection area The number of driving out lane groups may be different.
  • FIG. 1 , FIG. 2 , and FIG. 3 show a scenario in which each road is bidirectional, which is not limited in this embodiment of the present application.
  • Fig. 4 shows a flowchart of a method for marking lane lines according to an embodiment of the present application.
  • the method can be used to mark lane lines in the intersection area in the map.
  • the execution body of the method can be a server, such as a local server Or server clusters, servers or server clusters in the cloud, etc., and can also be terminal devices, such as: smart phones, netbooks, tablet computers, notebook computers, wearable electronic devices, vehicle-mounted devices, computing devices, etc., as shown in Figure 4 , the method may include the following steps:
  • Step 101 Determine at least one included angle between the direction in which the first inbound lane group is located in the at least one inbound lane group and the direction in which the at least one outbound lane group is located.
  • the direction in which the first entering lane group is located represents the direction when the vehicle enters the intersection area through the first entering lane group.
  • the direction of the lane line of at least one entering lane in the first entering lane group may be It is determined as the direction of the first entering lane group, wherein the direction of the lane line entering the lane may be the direction of the part where the lane line meets the intersection area. For example, if the lane line entering the lane meets the intersection area If it is a straight line, the direction of the straight line is determined as the direction of the first entering lane group. If the part where the lane line of the entering lane is connected to the intersection area is a curve, the tangent direction of the curve can be obtained, and the The direction of the curved tangent line is determined as the direction of the first entering lane group.
  • the direction in which the exit lane group is located represents the direction when the vehicle exits the intersection area through the exit lane group; for example, the direction of the lane line of at least one exit lane in the exit lane group may be determined as the direction in which the exit lane group is located , where the direction of the lane line exiting the lane can be the direction of the part where the lane line meets the intersection area. For example, if the part where the lane line exiting the lane meets the intersection area is a straight line, the direction of the straight line is determined. is the direction of the exit lane group. If the part of the exit lane line connecting with the intersection area is a curve, the tangent direction of the curve can be obtained, and the tangent direction can be determined as the exit lane group direction.
  • the direction of the lane line of the incoming lane, the direction of the lane line of the outgoing lane, the direction of the first incoming lane group and the direction of the first outgoing lane group may be represented by means of a direction angle or an azimuth angle. It should be noted that the direction angle, the azimuth angle, the included angle, etc. in this application may all be represented by angles or radians, etc. For convenience of description, radians are uniformly represented in the embodiments of this application.
  • the direction angle of the lane line of any entering lane may be used as the first entering lane.
  • the direction angle of the entering lane group correspondingly, when the exiting lane group includes one exiting lane, or includes multiple exiting lanes and the direction angles of the lane lines of each exiting lane are the same, any exiting lane can be driven.
  • the direction angle of the lane line is taken as the direction angle of the exiting lane group.
  • the average of the heading angles of the lane lines of the entering lanes in the first entering lane group may be calculated. value, as the direction angle of the first entering lane group.
  • the average direction angle of the lane lines of the exit lanes in the exit lane group may be averaged. The value is used as the heading angle of this outgoing lane group.
  • the difference between the direction angle of the exiting lane group and the direction angle of the first entering lane group may be obtained, and the difference may be used as the difference between the direction in which the first entering lane group is located and the direction in which the exiting lane group is located. angle between.
  • the direction angle of the entering lane group B and the direction angle of the exiting lane group A' can be determined, and the direction angle of the outgoing lane group A' can be determined.
  • the difference between the direction angle of the lane group A' and the direction angle of the entering lane group B is used to obtain the included angle between the direction in which the entering lane group B is located and the direction in which the exiting lane group A' is located.
  • the direction angle of the entering lane group G and the direction angle of the exit lane group E' can be determined, and the exit lane group E' can be obtained.
  • the difference between the direction angle of , and the direction angle of the entering lane group G obtains the angle between the direction in which the entering lane group G is located and the direction in which the exiting lane group E' is located.
  • the direction angle of the entering lane group J and the direction angle of the outgoing lane group I' can be determined, and the outgoing lane group I' can be obtained.
  • the difference between the direction angle of and the direction angle of the entering lane group J is obtained to obtain the included angle between the direction of the entering lane group J and the direction of the exiting lane group I'.
  • Step 102 Determine at least one driving direction feature from the first entering lane group to at least one exiting lane group according to at least one included angle.
  • the driving direction feature may include one or more of a left turn, a right turn, a U-turn, and going straight.
  • the driving direction feature can correspond to the common driving direction of the vehicle in the intersection area specified in the existing traffic rules, so as to conform to the actual application scenario.
  • this step according to the difference in the included angle between the direction in which the first entering lane group is located and the direction in which the exiting lane group is located, it can be known that there are different spatial relationships between the direction in which the first entering lane group is located and the direction in which the exiting lane group is located. For example, when the included angle is small (for example, close to 0 or -2 ⁇ or 2 ⁇ ), it can be known that the direction of the first entering lane group and the direction of the exiting lane group are close to parallel.
  • the driving direction from the group to the outgoing lane group is characterized by going straight; when the included angle is large (for example, close to - ⁇ or ⁇ ), it can be known that the direction of the first incoming lane group and the direction of the outgoing lane group may be opposite.
  • the driving direction from the first entering lane group to the exiting lane group is characterized as a U-turn; when the included angle is between a small and a large (for example, close to - ⁇ /2 or ⁇ /2 or 3* ⁇ /2 or -3* ⁇ /2), it can be known that the direction of the first entering lane group and the direction of the exiting lane group form a certain spatial angle.
  • the driving direction characteristic of the exit lane group is left turn or right turn, and the driving direction characteristic can be further determined according to the spatial position of the first entry lane group and the exit lane group.
  • the included angle between the direction of entering lane group B and the direction of leaving lane group A' is between small and large, and it can be determined that from entering lane group B to
  • the driving direction of the exit lane group A' is characterized by a left turn or a right turn.
  • the driving direction from the entry lane group B to the exit lane group A' can be further determined.
  • the driving direction is characterized by a left turn.
  • the included angle between the direction in which the entering lane group G is located and the direction in which the exiting lane group E' is located is between small and large, and it can be determined that the entering lane group G to the exiting lane group can be determined.
  • the driving direction characteristic of E' is a left turn or a right turn. According to the spatial position of the entering lane group G to the exiting lane group E', the driving direction characteristic of the entering lane group G to the exiting lane group E' can be further determined as: Turn right.
  • the included angle between the direction of entering lane group J and the direction of leaving lane group I' is relatively small, so it can be determined that the characteristics of the driving direction from entering lane group J to exiting lane group I' are as follows: straight.
  • Step 103 Mark a lane line connecting at least one inbound lane in the first inbound lane group and at least one outbound lane in the at least one outbound lane group in the intersection area according to the at least one driving direction feature.
  • the lane line may be a virtual lane line, that is, a lane line that is not set in the actual intersection area but can be displayed in the electronic map.
  • a lane line marked in the intersection area connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in the outgoing lane group may be displayed in the form of a dotted line on the high-resolution map. .
  • the lane lines may include lane edge lines and/or lane center lines. That is, according to the characteristics of the driving direction, a lane edge line connecting at least one entering lane in the first entering lane group and at least one exiting lane in the exiting lane group can be marked in the intersection area, or, in the intersection area, the connection can be marked.
  • the lane center line of at least one entering lane in the first entering lane group and at least one exiting lane in the exiting lane group, or, in the intersection area, simultaneously marking and connecting at least one entering lane in the first entering lane group The lane edge and lane centerline of at least one exit lane in the group of lanes and exit lanes.
  • an arbitrary curve type such as a Bezier curve or a spline curve can be used to mark a lane line connecting at least one entry lane in the first entry lane group and at least one exit lane in the exit lane group. This is not limited in the application examples.
  • a corresponding relationship can be established according to a preset rule, and the corresponding entering lanes and exiting lanes For example, if the number of incoming lanes in the incoming lane group and the outgoing lanes in the outgoing lane group are the same, a one-to-one correspondence can be established (that is, one incoming lane corresponds to one outgoing lane), The corresponding principle is that there is no intersection between the marked lane lines connecting the incoming lane and the outgoing lane (that is, the lane center line has no intersection in the intersection area).
  • the entry lane group includes 4 lanes.
  • exiting lane group includes 3 exiting lanes, so that the innermost (closer to the road centerline side) two entering lanes together correspond to the innermost exiting lane, and the other entering lanes and exiting lanes one by one Correspondingly, and ensure that the lane lines connecting the entering lane and the exiting lane do not intersect, so that when the number of lanes ahead becomes less, the vehicles in the innermost lane can merge outwards and merge into the innermost exiting lane; if The traffic rule-related information has specified the corresponding relationship of the lane lines.
  • the connection between the incoming lane and the outgoing lane can be marked according to the specified corresponding relationship. lane line.
  • the incoming lane group includes 2 incoming lanes, and the outgoing lane group includes 3 outgoing lanes, so that the innermost (closer to the road centerline side) one incoming lane corresponds to the innermost two outgoing lanes, and the other An incoming lane corresponds to the outgoing lane on the outermost side (the side away from the road center line), and it is ensured that the lane lines connecting the incoming lane and the outgoing lane do not intersect, so that when there are more lanes ahead, the innermost lane Vehicles in the lanes can be divided into the innermost two exit lanes; if the traffic rule-related information has specified the corresponding relationship of the lane lines, for example, the outermost entering lane is specified to correspond to the outermost two exiting lanes, you can
  • FIG. 5 shows a schematic diagram of marking lane lines in an intersection area according to an embodiment of the present application.
  • the group of entering lanes determined according to the above step 102 The driving direction from D to exiting lane group C' is characterized by a left turn.
  • lane j is corresponding to lane g and lane f respectively, and is marked in the intersection area.
  • FIG. 6 shows a schematic diagram of marking lane lines in a T-junction area according to an embodiment of the present application.
  • the driving direction of the outgoing lane group G' is a left turn.
  • both lanes l and m are corresponding to lane p
  • the connecting lane l is marked in the intersection area.
  • FIG. 7 shows a schematic diagram of marking lane lines in a Y-shaped intersection area according to an embodiment of the present application.
  • the driving direction of the outgoing lane group I' is straight.
  • the lane line connecting lane z and lane u can be automatically marked in the intersection area.
  • the intersection area may be connected to at least one entering lane group and at least one exiting lane group, wherein each entering lane group in the at least one entering lane group includes entering the intersection in the same direction at least one exit lane of the area, each exit lane group in the at least one exit lane group includes at least one exit lane exiting the intersection area in the same direction, by determining the first exit lane in the at least one exit lane group at least one included angle between the direction in which the entering lane group is located and the direction in which at least one exiting lane group is located; at least one driving direction feature from the first entering lane group to at least one exiting lane group is determined according to the at least one included angle; Furthermore, according to the at least one driving direction feature, a lane line connecting at least one entering lane in the first entering lane group and at least one exiting lane in the at least one exiting lane group is marked in the intersection area; no need to be in the intersection area Collecting driving data, the computational time complexity is
  • the above-mentioned FIG. 4 may further include step 100 , dividing a plurality of lanes adjacent to the intersection area into at least one entering lane group and at least one exiting lane group.
  • step 100 may be executed to divide multiple lanes connected to the intersection area into at least one entry lane group and at least one exit lane group Lane group.
  • driving into the intersection area in the same direction or driving out of the intersection area in the same direction may be used as a classification basis, and the lanes connected to the intersection area can be classified to obtain at least one entry that is connected to the intersection area.
  • the direction of entering or exiting the intersection area of each lane connected to the intersection area may be determined according to known information in the map, for example, may be determined according to the lane edge and/or the lane border of the lane connecting with the intersection area The direction angle of the lane center line, which determines the direction of each lane entering or leaving the intersection area.
  • the lanes connected to the intersection area are divided into the entry lane group and the exit lane group.
  • Steps 100 to 103 in the above FIG. 4 will be further described below.
  • FIG. 8 shows a flowchart of a method for dividing an incoming lane group and an outgoing lane group according to an embodiment of the present application.
  • the lanes connected to the intersection area are divided into Entering and exiting a lane group can include the following steps:
  • Step 801 Determine whether the lane connecting with the intersection area is the drive-in lane or the drive-out lane.
  • each lane can be determined to be an entry lane or an exit lane according to the known information of each lane in the map; for example, if a lane is marked in the map for the vehicle to enter the intersection area, then the lane is determined to be the drive-in lane. Enter the lane. If a lane is marked on the map for the vehicle to exit the intersection area, the lane is determined as the exit lane.
  • Step 802 Determine the direction of each lane entering the intersection area or the direction of driving out of the intersection area.
  • the direction of each lane entering the intersection area or the direction of exiting the intersection area can be determined according to known information in the map; it can also be determined according to the direction of the connecting part of the lane line of each lane and the intersection area. For example, if the part where the lane line of the lane meets the intersection area is a straight line, the direction of the straight line determines the direction of the lane entering the intersection area or the direction of exiting the intersection area. If the part is a curve, the tangent direction of the curve can be obtained, and the tangent direction of the curve can be determined as the direction of the lane entering the intersection area or the direction of leaving the intersection area. Exemplarily, the direction of the part where the lane line of each lane meets the intersection area and the direction of each lane entering or exiting the intersection area can be represented by the direction angle or the azimuth angle.
  • the direction angle of the connecting part between the lane line of each lane and the intersection area in the existing coordinate system in the electronic map or the preset coordinate system can be represented.
  • Direction that is, the direction of each lane entering the intersection area or the direction of exiting the intersection area.
  • the preset coordinate system may be set according to the projection method of the map, etc., which is not limited in this application.
  • the projection method used by the existing high-precision maps is generally: Universal Transverse Mercator (UTM)
  • UTM Universal Transverse Mercator
  • the Universal Transverse Mercator projection uses the Cartesian coordinate system, marking 80 degrees south latitude to 84 degrees north latitude Therefore, the coordinate system in the embodiments of the present application adopts a Cartesian coordinate system for exemplary description.
  • FIG. 9 shows a schematic diagram of a direction angle according to an embodiment of the present application.
  • a Cartesian coordinate system is used, in which the direction angle in the X direction is 0, the direction angle in the Y direction is ⁇ /2, the direction angle in the opposite direction of X is ⁇ , and the direction angle in the opposite direction of Y is - ⁇ /2, then in this coordinate system, the range of the direction angle is (- ⁇ , ⁇ ].
  • the direction angle of the connecting part of the lane line of the lane and the intersection area can be determined, that is, the direction angle of each lane entering the intersection area or driving out of the intersection area.
  • the direction angle of the intersection area Exemplarily, when a lane enters the intersection area in the X direction, the direction angle of the lane entering the intersection area is 0, and when a lane exits the intersection area in the Y direction, the lane exits the intersection area.
  • the direction angle of the intersection area is ⁇ /2.
  • the direction angle of the lane leaving the intersection area is ⁇
  • the direction angle of the lane entering the intersection area is - ⁇ /2.
  • Step 803 Divide each lane into an incoming lane group and an outgoing lane group according to the direction of each lane entering the intersection area or the direction of exiting the intersection area.
  • All the lanes connected to the intersection area are distributed, all incoming lanes with the same direction entering the intersection area are divided into the same incoming lane group, and all outgoing lanes with the same direction out of the intersection area are divided into the same driving lane.
  • Exit lane group Exemplarily, if the direction angles of the two lanes entering the intersection area are both 0, the two lanes are divided into the same entering lane group; if the direction angles of the two lanes entering the intersection area are both ⁇ / 2, the two lanes are divided into the same exit lane group.
  • the direction angle in the X direction in FIG. 1 is 0, the direction angle in the Y direction is ⁇ /2, and the direction angle in the opposite direction of X is ⁇ /2. is ⁇ , and the direction angle in the opposite direction of Y is - ⁇ /2.
  • the direction angle of lane b and lane c entering the intersection area is determined to be ⁇ /2; lane e enters the intersection area in the opposite direction of X, Then determine the direction angle of lane e entering the intersection area as ⁇ ; lane a driving out of the intersection area in the opposite direction of Y, then determine the direction angle of lane a leaving the intersection area as - ⁇ /2; lane d
  • lane b and lane c with the same direction angle entering the intersection area can be divided into entering lane group A.
  • lane a can be divided into exit lane group A'
  • lane e can be divided into Exiting the lane group B
  • the lane d can be divided into the exiting lane group B'.
  • each lane can be determined to be an entry lane or an exit lane according to the direction indicated by the arrow in each lane, such as lane l, lane m, etc.
  • Lane k is the lane that drives into the T-junction area, and lane k and the like are lanes that drive out of the T-junction area.
  • the direction angle of lane l and lane m entering the T-junction area is determined to be ⁇ /2; lane k drives out of the T-shaped intersection in the opposite direction of Y In the intersection area, the direction angle of lane k leaving the T-shaped intersection area is determined to be - ⁇ /2. Furthermore, the lane l and the lane m with the same direction angle entering the T-junction area can be divided into the entry lane group E, and similarly, the lane k can be divided into the exit lane group E'.
  • each lane is an entry lane or an exit lane, such as: lane s, lane t, lane z, etc. are all lanes entering the Y-shaped intersection area, and lane r, lane u, etc. are lanes exiting the Y-shaped intersection area.
  • the direction angle of lane s and lane t entering the Y-shaped intersection area is determined to be ⁇ /2; lane r drives out of the Y-shaped intersection in the opposite direction of Y In the intersection area, determine that the direction angle of lane r driving out of the Y-shaped intersection area is - ⁇ /2; the direction angle of the connecting part of lane z and the Y-shaped intersection area is - ⁇ /4, then it is determined that lane u is driving out of the Y-shaped intersection area.
  • the direction angle of the intersection area is ⁇ /4.
  • the lane s and the lane t with the same direction angle entering the Y-shaped intersection area can be divided into the entry lane group H, and similarly, the lane r can be divided into the exit lane group H'.
  • the included angle between the direction of the first entering lane group of the at least one entering lane group and the direction of the at least one exiting lane group may be determined.
  • the included angle between the direction in which the first entering lane group is located and the direction in which at least one exiting lane group is located may be determined according to the direction angle of the part where the lane line of each lane and the intersection area meet in the coordinate system.
  • the direction angle - ⁇ /2 of the part where the lane line of lane a meets the intersection area is taken as the direction angle of exiting the lane group A';
  • the direction angle ⁇ of the connecting part of the mouth area is used as the direction angle of entering lane group B; it can be obtained that the difference between the direction angle of exiting lane group A' and the direction angle of entering lane group B is -3* ⁇ /2, That is to say, the included angle between the direction in which the entering lane group B is located and the direction in which the exiting lane group A' is located is -3* ⁇ /2.
  • the direction angle - ⁇ /2 of the part where the lane line of lane k and the T-junction area meet is taken as the direction angle of exiting the lane group E'; the lane line of lane q and the T-junction area are
  • the direction angle 0 of the connecting part is used as the direction angle of entering the lane group G; it can be obtained that the difference between the direction angle of the exit lane group E' and the direction angle of the entering lane group G is - ⁇ /2, that is, the entering lane group G is obtained.
  • the included angle between the direction in which the lane group G is located and the direction in which the exiting lane group E' is located is - ⁇ /2.
  • the direction angle ⁇ /4 of the part where the lane line of lane u meets the Y-shaped intersection area is taken as the direction angle of exiting the lane group I';
  • the direction angle of the connecting part - ⁇ /4 is used as the direction angle of the entering lane group J; it can be obtained that the difference between the direction angle of the exit lane group I' and the direction angle of the entering lane group J is ⁇ /2, that is, the driving
  • the included angle between the direction in which the entering lane group J is located and the direction in which the exiting lane group I' is located is ⁇ /2.
  • FIG. 10 shows a flowchart of a method for determining the characteristics of a driving direction according to an embodiment of the present application.
  • the driving direction from the first entering lane group to at least one lane group is determined.
  • Exiting the at least one driving direction feature of the lane group may include the following steps:
  • Step 1001 From a plurality of preset ranges corresponding to the first entering lane group, determine at least one target preset range to which at least one included angle belongs, wherein the multiple preset ranges are in one-to-one correspondence with multiple driving direction features. .
  • the number of preset ranges may be four, that is, the first entering lane group corresponds to four preset ranges, and there is no overlap between different preset ranges; different preset ranges and different driving directions
  • the features are in a one-to-one correspondence, for example, the four preset ranges may be in a one-to-one correspondence with the driving direction features, turn left, turn right, turn around, and go straight. Compare the included angle between the direction of the first entering lane group and the direction of the exiting lane group with the four preset ranges, so as to select the direction of the first entering lane group from the four preset ranges
  • the multiple preset ranges corresponding to the first entering lane group may be determined according to the direction in which the first entering lane group is located and the preset threshold.
  • the value range of the preset threshold may be [0, ⁇ /2).
  • ⁇ is used to represent the preset threshold; the direction of the first entering lane group may be represented by a direction angle.
  • the preset range is determined according to the preset threshold and the direction of the entering lane group. , so that each preset range corresponds to the actual driving direction feature, wherein the preset threshold can be set according to the type of the actual intersection area.
  • a reference direction that satisfies a certain driving direction characteristic with the direction of the first entering lane group can be used to subtract the direction of the entering lane group to obtain a reference value, which is added with the preset value.
  • the threshold is set as the upper limit, and the preset threshold is subtracted as the lower limit to obtain a preset range corresponding to the characteristics of the driving direction.
  • FIG. 11 exemplarily shows that the direction angle of the first entering lane group is ⁇ / 2 is the driving direction feature. It can be understood that, in the same way, the driving direction feature when the direction angle of the first entering lane group is ⁇ , - ⁇ /2, 0 and other different direction angles can be determined.
  • FIG. 11 is a schematic diagram showing the characteristics of the driving direction when the direction angle of the first entering lane group is ⁇ /2 according to an embodiment of the present application.
  • the hollow arrow in FIG. 11 represents the direction angle of the first entering lane group, and the solid arrow represents the direction angle of the exit lane group. As shown in Figure 11, the direction angle of the first entering lane group is ⁇ /2.
  • the direction angle of the exiting lane group is close to ⁇ or Adjacent to - ⁇ (that is, the reference direction for left turn); subtract ⁇ /2 with ⁇ or - ⁇ to get ⁇ /2 or -3* ⁇ /2 (that is, the reference value), therefore, combined with ⁇ , a preset range Can be set to [( ⁇ /2- ⁇ ),( ⁇ /2+ ⁇ )], [(-3* ⁇ /2- ⁇ ),(-3* ⁇ /2+ ⁇ )], the preset range is the same as Driving Direction Feature - Left Turn Correspondence.
  • a preset range can be set as [(- ⁇ /2- ⁇ ), (- ⁇ /2+ ⁇ )], the preset range corresponds to the driving direction feature - right turn. If the driving direction characteristic from the first entering lane group to the exiting lane group is straight, the direction angle of the exiting lane group is close to ⁇ /2; therefore, combined with ⁇ , a preset range can be set as [(0- ⁇ ) , (0+ ⁇ )], the preset range corresponds to the travel direction feature - straight.
  • a preset range can be set as [(- ⁇ - ⁇ ), (- ⁇ + ⁇ )], the preset range corresponds to the driving direction feature - U-turn.
  • Table 1 shows the correspondence between the preset range and the characteristics of the driving direction when the first entering lane group has different direction angles.
  • Table 1 shows the correspondence between the preset range and the characteristics of the driving direction when the first entering lane group has different direction angles.
  • Table 1 shows the correspondence between the preset range and the characteristics of the driving direction when the first entering lane group has different direction angles.
  • Table 1 shows the correspondence between the preset range and the characteristics of the driving direction when the first entering lane group has different direction angles.
  • Table 1 shows the correspondence between the preset range and the characteristics of the driving direction when the first entering lane group has different direction angles.
  • Step 1002 Determine at least one traveling direction feature from the first entering lane group to at least one exiting lane group according to at least one traveling direction feature corresponding to at least one target preset range.
  • the driving direction characteristics of the first entering lane group to the exiting lane group may be determined according to the driving direction characteristics corresponding to the target preset range determined in step 1001 one-to-one, for example, the characteristics corresponding to the target preset range If the characteristic of the driving direction is a left turn, then it is determined that the characteristic of the driving direction from the first entering lane group to the exiting lane group is a left turn.
  • the determined target preset range is [(0- ⁇ ), (0+ ⁇ )].
  • the target If the characteristic of the driving direction corresponding to the preset range is going straight, then it is determined that the characteristic of the driving direction from the first entering lane group to the exiting lane group is going straight; when the direction angle of the first entering lane group is ⁇ , the determined The target preset range is [(- ⁇ /2- ⁇ ), (- ⁇ /2+ ⁇ )].
  • the driving direction characteristic corresponding to the target preset range is a right turn.
  • the driving direction from the entering lane group to the exiting lane group is characterized by a right turn.
  • the target preset range to which the angle between the direction of the first entry lane group and the direction of the exit lane group belongs is determined from a plurality of preset ranges corresponding to the first entry lane group , so as to determine the driving direction characteristics from the first entering lane group to the exiting lane group according to the driving direction characteristics corresponding to the target preset range; the calculation time complexity is low, and it is possible to quickly determine the driving direction from the first entering lane group to the exiting lane group.
  • the driving direction characteristics of the exit lane group, and at the same time, multiple preset ranges corresponding to the first entry lane group can be determined according to the direction of the entry lane group and the preset threshold, so as to meet various types of intersection areas.
  • step 1002 at least one driving direction feature from the first entering lane group to at least one exiting lane group is determined according to at least one traveling direction feature corresponding to at least one target preset range, Including: when each preset range in the plurality of preset ranges corresponds to at most one of the included angles, determining at least one driving direction feature corresponding to at least one target preset range to be from the first drive-in lane group to At least one driving direction characteristic of at least one outgoing lane group.
  • the number of at least one included angle is not greater than the number of multiple preset ranges, and when each preset range in the multiple preset ranges corresponds to at most one included angle, for example, a crossroad
  • the number of exit lane groups such as the intersection area, T-junction area, Y-junction area, X-junction area, etc. is not greater than 4.
  • the angle between the direction of the first entering lane group and the directions of up to 4 exiting lane groups can be obtained, then the difference between the direction of the first entering lane group and the direction of different exiting lane groups
  • the included angles may belong to different target preset ranges. For any target preset range, only one of the 4 included angles belongs to the target preset range.
  • the driving direction feature corresponding to the target preset range to which the included angle between the directions of the exiting lane group belongs is determined as the driving direction characteristic from the first entering lane group to the exiting lane group, so as to avoid misjudgment.
  • the direction angle is ⁇
  • the included angle between the direction of entering lane group B and the direction of exiting lane group A' is -3* ⁇ /2, which belongs to the preset range [( ⁇ /4),(3* ⁇ /4)], [(-7* ⁇ /4),(-5* ⁇ /4)]; for the direction angle of exiting lane group B' is 0, then The included angle between the direction of entering lane group B and the direction of leaving lane group B' is - ⁇ , which belongs to the preset range [(-5* ⁇ /4),(-3* ⁇ /4)], [ (3* ⁇ /4),(5* ⁇ /4)]; for the direction angle of exiting lane group C' is ⁇ /2, then the difference between the direction of entering lane group B and the direction of exiting lane group C' The angle between them is - ⁇ /2, which belongs to the preset range [(-3* ⁇ /4),(- ⁇ /4)], [(5* ⁇ /4),(7* ⁇ /4)]; For the direction angle of exiting lane group
  • the driving direction characteristic of exiting lane group A' is a left turn
  • the driving direction from entering lane group B to exiting lane group B' is U-turn
  • the driving direction from entering lane group B to exiting lane group C' The characteristic is a right turn
  • the driving direction from the entering lane group B to the exiting lane group D' is characterized by going straight.
  • FIG. 12 shows a flowchart of a method for determining the driving direction feature when multiple included angles correspond to the same target preset range according to an embodiment of the present application, as shown in FIG. 12 .
  • determining at least one driving direction feature from the first entering lane group to at least one exiting lane group according to at least one traveling direction feature corresponding to at least one target preset range may include the following steps:
  • Step 1201 When multiple included angles in the at least one included angle correspond to the same target preset range, determine the included angle with the smallest absolute value among the multiple included angles.
  • a plurality of sandwiches between the obtained direction of the first entering lane group and the directions of the multiple exit lane groups are obtained.
  • multiple included angles may correspond to the same target preset range.
  • the directions of the exit lane groups are relatively close, so that the two included angles between the determined direction of the first entry lane group and the directions of the two exit lane groups correspond to the same target preset range. The angle with the smallest absolute value among the included angles.
  • Step 1202 Determine the driving direction feature corresponding to the same target preset range as the first driving direction feature corresponding to the included angle with the smallest absolute value among the multiple included angles.
  • the driving direction characteristics corresponding to the same target preset range are determined as the first entering lane group corresponding to the included angle with the smallest absolute value in the above step 1201 to the exit lane group corresponding to the included angle with the smallest absolute value characteristics of the driving direction. For example, if the driving direction characteristic corresponding to the target preset range is going straight, the driving direction characteristic from the first entering lane group to the exiting lane group corresponding to the included angle with the smallest absolute value is determined as going straight.
  • Step 1203 According to the relative directional relationship between the other included angles among the multiple included angles and the included angle with the smallest absolute value among the multiple included angles, and the first driving direction feature, determine from the first entering lane group to the other included angles The driving direction feature of the corresponding exit lane group.
  • this step according to the relative directional relationship between the other included angles and the included angle with the smallest Game value, and in combination with the first driving direction feature corresponding to the smallest included angle determined in the above step 1202, determine the position corresponding to the other included angles among the multiple included angles.
  • Exit driving direction feature For example, in the above step 1202, it is determined that the first driving direction is characterized as going straight, and if the relative direction relationship between one other angle and the angle with the smallest absolute value indicates that the direction from the entering lane group to the exiting lane group corresponding to the other angle is The characteristic of the driving direction should be a right turn, then it is determined that the driving direction characteristic of the first lane group to the exiting lane group corresponding to the other included angle is a right turn.
  • the driving direction feature corresponding to the same target preset range is determined as the first traveling direction feature corresponding to the included angle with the smallest absolute value, and then according to the included angle among the multiple included angles
  • the relative direction relationship between the other included angles and the included angle with the smallest absolute value, and the first driving direction feature determine the driving direction feature of the first entering lane group to the exiting lane group corresponding to the other included angles. In this way, the determined The driving direction characteristics of the first entering lane group to different exiting lane groups are all different, so as to avoid misjudgment.
  • FIG. 13 shows a schematic diagram of an X-shaped intersection area according to an embodiment of the present application.
  • the intersection area is connected with four incoming lane groups and four outgoing lane groups, that is, Entering Lane Group K, Entering Lane Group L, Entering Lane Group M, Entering Lane Group N, Exiting Lane Group K', Exiting Lane Group L', Exiting Lane Group M', Exiting Lane Group N '; Referring to the coordinate system in Fig.
  • the four preset ranges corresponding to the entering lane group K are: [( ⁇ /4), (3* ⁇ /4)], [(-7* ⁇ /4),(-5* ⁇ /4)] corresponds to the driving direction feature to turn left, [(- ⁇ /4),( ⁇ /4)] corresponds to the driving direction feature to go straight, [(-3* ⁇ /4) ,(- ⁇ /4)] corresponds to the driving direction feature to turn right, [(-5* ⁇ /4),(-3* ⁇ /4)] corresponds to the driving direction feature to turn around, at this time, the direction of the entering lane group K is The included angle with the direction of exiting lane group K' is - ⁇ , the included angle between the direction of entering lane group K and the direction of exiting lane group L' is -7* ⁇ /8, and the direction of entering lane group K The included angle with the direction where the exit lane group M' is located is 0, and the included angle between the direction where the entering lane group K is located and the direction where the exit lane group K is located and the direction where the exit lane group
  • the included angle 0 and the included angle ⁇ /8 belong to the same target preset range [(- ⁇ /4), ( ⁇ /4)], and the driving direction from entering lane group K to exiting lane group N'
  • the feature should be a left turn.
  • select the minimum included angle 0 from the included angle 0 and the included angle ⁇ /8, and set the travel direction feature corresponding to the target preset range [(- ⁇ /4), ( ⁇ /4)] - Go straight determine the driving direction feature corresponding to the included angle 0, that is, determine the driving direction feature from the entering lane group K to the exiting lane group M' as going straight; then, according to the included angle 0 and the included angle ⁇ /8
  • the relative direction relationship of , and the characteristic of the incoming driving direction corresponding to the included angle 0 is straight, it can be seen that the characteristic of the outgoing driving direction should be a left turn, that is, the driving direction characteristic of the inbound lane group K to the outbound lane group N' is determined to be left. change.
  • FIG. 14 shows a flowchart of a method for determining a driving direction feature by adjusting a preset range according to an embodiment of the present application.
  • step 1002 according to at least At least one driving direction feature corresponding to a preset target range, and determining at least one driving direction feature from the first entering lane group to the at least one exiting lane group may include the following steps:
  • Step 1401 When multiple angles in at least one angle correspond to the same target preset range, adjust at least one preset range in the multiple preset ranges so that each adjusted target preset range only corresponds to the target preset range. at an included angle;
  • the preset range can be adjusted so that each target preset range can be adjusted.
  • the preset range may be adjusted by adjusting the preset threshold, so that each target preset range corresponds to only one included angle.
  • the preset range can be adjusted only for the intersection area where the special case of "multiple included angles correspond to the same target preset range" occurs, and the preset range remains unchanged for intersection areas where this situation does not occur.
  • Step 1402 Determine the plurality of travel direction features corresponding to the adjusted target preset ranges as the travel direction features from the first entering lane group to the plurality of exit lane groups corresponding to the plurality of angles.
  • the driving direction characteristics of the first entering lane group to the exiting lane group corresponding to the included angle corresponding to the target preset range are determined by the driving direction characteristics corresponding to the adjusted target preset range.
  • the multiple preset ranges At least one preset range in the range is set, so that each adjusted target preset range only corresponds to one included angle; and the plurality of driving direction features corresponding to the adjusted multiple target preset ranges are determined to be from Multiple driving direction features of the first entering lane group to the multiple exiting lane groups corresponding to the multiple angles, so that the determined driving direction characteristics of the first entering lane group to different exiting lane groups are all different, to avoid misjudgment.
  • FIG. 15 shows a flowchart of a method for determining a driving direction feature by dividing a preset range according to an embodiment of the present application.
  • adjusting at least one preset range in the multiple preset ranges may include:
  • Step 1501 When the number of at least one included angle is greater than the number of the multiple preset ranges, and the multiple included angles in the at least one included angle correspond to the same target preset range, divide the same target preset range as: A plurality of sub-preset ranges, the plurality of sub-preset ranges are in one-to-one correspondence with the plurality of sub-travel direction features, and each of the sub-preset ranges corresponds to at most one included angle among the plurality of included angles.
  • the same target preset range can be It is further divided into a plurality of sub-preset ranges, so that each sub-preset range corresponds to at most one included angle among the plurality of included angles. For example, when the number of exit lane groups is greater than 4, for example, in a multi-fork intersection area (such as a five-fork intersection area), the intersection area is more complicated. If the number of preset ranges is 4, it is possible to enter the lane group first.
  • the driving direction characteristic corresponding to the same target preset range is straight, and in this case, the same target preset range can be divided are two sub-preset ranges, and the driving direction features corresponding to the two sub-preset ranges may be straight driving and left-forward driving, respectively.
  • multiple driving direction characteristics corresponding to the adjusted multiple target preset ranges are determined as multiple driving directions from the first entering lane group to multiple exit lane groups corresponding to multiple angles.
  • Orientation features which can include:
  • Step 1502 Determine the multiple sub-driving direction features corresponding to the multiple sub-target preset ranges as the multiple driving direction features from the first entering lane group to the multiple exit lane groups corresponding to the multiple included angles.
  • each sub-target pre-set range after division corresponds to only one included angle, and then the sub-travel direction characteristics corresponding to the sub-target pre-set ranges can be determined to be from the first Driving direction characteristics of the entering lane group to the exiting lane group corresponding to the included angle corresponding to the preset range of the sub-target.
  • the same target preset range is divided by dividing the The range is a plurality of sub-preset ranges, so that the sub-preset ranges correspond to at most one included angle among the multiple included angles; thus, the multiple sub-travel direction features corresponding to the multiple sub-target preset ranges are determined to be from the first driving direction.
  • FIG. 16 shows a schematic diagram of a complex intersection area according to an embodiment of the present application.
  • the intersection area is connected with six incoming lane groups and six outgoing lane groups, that is, driving Entering lane group O, entering lane group P, entering lane group Q, entering lane group R, entering lane group S, entering lane group T, exiting lane group O', exiting lane group P', entering lane group
  • the direction angle of lane group O' is - ⁇ /2;
  • the direction angle of entering lane group P is 5* ⁇ /8, and the direction angle of exiting lane group P' is -3* ⁇ /8; entering lane group Q
  • the direction angle of the exit lane group Q' is 0; the direction angle of the entering lane group R is - ⁇ /2, and the direction angle of the exit lane group R' is ⁇ /2;
  • the direction angle of S
  • the four preset ranges corresponding to entering lane group O are: [( ⁇ /4), (3* ⁇ /4)], [(-7* ⁇ /4),(-5* ⁇ /4)] corresponds to the driving direction feature to turn left, [(- ⁇ /4),( ⁇ /4)] corresponds to the driving direction feature to go straight, [(-3* ⁇ /4) ,(- ⁇ /4)] corresponds to the driving direction feature to turn right, [(-5* ⁇ /4),(-3* ⁇ /4)] corresponds to the driving direction feature to turn around, at this time, enter the direction of the lane group O
  • the included angle with the direction of exiting lane group O' is - ⁇
  • the included angle between the direction of entering lane group O and the direction of exiting lane group P' is -7* ⁇ /8
  • the direction of entering lane group O is
  • the included angle with the direction of the exit lane group Q' is ⁇ /2, the included angle between the direction of the entering lane group O and the direction of the exit lane group R
  • the included angle 0 and the included angle ⁇ /8 belong to the same target preset range [(- ⁇ /4), ( ⁇ /4)], and the driving direction from entering lane group O to exiting lane group S'
  • the feature may be a left turn.
  • the preset range [(- ⁇ /4), ( ⁇ /4)] can be further divided into two sub-preset ranges, for example, the sub-preset range [(- ⁇ /4) ,( ⁇ /16)] and the sub-preset range [( ⁇ /16), ( ⁇ /4)], at this time, the sub-travel direction characteristic corresponding to the sub-preset range is straight, [( ⁇ /16), ( ⁇ /4)]
  • the corresponding sub-travel direction is characterized as driving in the left front, so that the included angle 0 corresponds to the sub-target preset range [(- ⁇ /4), ( ⁇ /16)], then it is determined that the driving direction from the entering lane group is
  • the driving direction from O to exiting lane group R' is characterized by going straight; the included angle ⁇ /8 corresponds
  • FIG. 17 shows a flowchart of a method for marking lane lines through different marking curves according to an embodiment of the present application.
  • marking is performed in the intersection area.
  • the lane lines connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in the at least one outgoing lane group may include the following steps:
  • Step 1701 Determine at least one marked curve corresponding to the at least one driving direction feature according to the at least one driving direction feature.
  • the labeling curve corresponding to the driving direction characteristic is determined, so that the lane lines in the marked intersection area are smoother, so that the navigation vehicle can move along the This lane line is more stable when driving.
  • the labeling curve type as a Bezier curve
  • the driving direction characteristic from the entering lane group to the exiting lane group is a straight line
  • it can be determined that the labeling curve is a first-order Bezier curve, or three First-order Bezier curves.
  • the driving direction characteristic from the entering lane group to the exiting lane group is a left turn or a right turn
  • it can be determined that the labeling curve is a second-order Bezier curve, or two first-order Bezier curves and a second-order Bezier curve Sel curve.
  • the labeling curve is a second-order Bezier curve, a third-order Bezier curve, or two first-order Bezier curves and a third-order Bezier curve.
  • Step 1702 Determine at least one entry point of at least one entry lane and at least one entry point of the intersection area.
  • the entry point of the entry lane in the entry lane group and the intersection area may be the intersection of the lane line of the entry lane in the entry lane group and the intersection area; exemplarily, the entry lane in the entry lane group
  • the entry junction with the intersection area may be the intersection of the lane centerline of the incoming lane in the incoming lane group and the intersection area, and/or the intersection of the lane edge of the incoming lane in the incoming lane group and the intersection area.
  • Step 1703 Determine at least one exit point in the at least one exit lane group and at least one exit point in the intersection area.
  • the exit point of the exit lane in the exit lane group and the intersection area may be the intersection of the lane line of the exit lane in the exit lane group and the intersection area; exemplarily, the exit point in the exit lane group
  • the exit junction between the lane and the intersection area may be the intersection of the lane centerline of the exit lane in the exit lane group and the intersection area, and/or the intersection of the lane edge of the exit lane in the exit lane group and the intersection area.
  • FIG. 18 shows a schematic diagram of an incoming junction and an outgoing junction according to an embodiment of the present application.
  • FIG. 18 shows a part of the incoming and outgoing junctions in FIG. 1 .
  • the entry points of lane b and the intersection area are U, V, and W, where U and W are the intersection of the lane edge of lane b and the intersection area, and V is the lane of lane b.
  • intersection of the center line and the intersection area; the exit points of lane d and the intersection area in the exit lane group B' are U', V', W', where U', W' are the lane edges of lane d
  • intersection with the intersection area, V' is the intersection of the lane centerline of lane d and the intersection area.
  • Step 1704 According to the at least one entering junction, at least one exiting junction and at least one marked curve, in the intersection area, mark the path connecting at least one entering lane to at least one exiting lane in at least one exiting lane group. lane line.
  • the connection is automatically marked and connected to the incoming lane group.
  • a corresponding relationship can be established according to a preset rule, and the corresponding entering lanes and exiting lanes Lane lines are marked.
  • control point may be determined by entering the junction point and/or the exit junction point, and then the lane lines in the intersection area can be marked according to the control point and the marked curve.
  • the characteristic of the driving direction from the entering lane group to the exiting lane group is a straight line
  • the first-order shell can be drawn according to the junction point between the entering lane group and the intersection area, and the junction point between the lane and the intersection area in the exiting lane group.
  • Sel curve
  • control points may be determined through the entry junction and/or the exit junction, for example, the control points may be Including: the entry point of the entry lane group and the intersection area, the exit point of the entry lane and the intersection area in the exit lane group, and the lane line of the entry lane group and the exit lane group.
  • control points may include: the entry point of the entry lane and the intersection area in the entry lane group, the exit point The exit point of the exit lane and the intersection area in the lane group, the intersection of the lane line of the entry lane in the entry lane group and the lane line of the exit lane in the exit lane group, the entry lane and the intersection in the entry lane group A point on the connecting line between the entry point of the area and the intersection, and a point on the line between the exit junction of the exit lane and the intersection area and the intersection in the exit lane group, through these five
  • the control points draw a first-order Bezier curve, a second-order Bezier curve, and a first-order Bezier curve.
  • control points may be determined by entering the junction point and/or exiting the junction point, for example, the control points may include: The entry point of the entry lane and the intersection area of the lane group, the exit point of the exit lane and the intersection area of the exit lane group, and the entry point of the entry lane and the intersection area of the entry lane group.
  • control points may include: the entry point of the entry lane and the intersection area in the entry lane group, the exit point of the exit lane and the intersection area in the exit lane group, and the entry point in the entry lane group. Points of a certain length (such as 8 meters) on the lane line of the lane, points of a certain length (such as 8 meters) on the lane line of the exit lane group, and draw a third-order Bezier curve through these 4 control points .
  • At least one labeling curve corresponding to at least one driving direction feature is determined, and the entry point and the exit point are determined, so as to mark at least one connection point in the first entry lane group.
  • a lane line from an incoming lane to at least one outgoing lane in at least one outgoing lane group, so that at least one incoming lane in the first incoming lane group corresponding to different driving direction features is marked with different labeling curves to the lane line of at least one exit lane in the at least one exit lane group, so that the lane line in the marked intersection area is smoother, so that the navigation vehicle travels more smoothly along the lane line.
  • FIG. 19 shows a flowchart of a method for marking lane lines according to the driving direction of the entering lane according to an embodiment of the present application.
  • marking a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in the at least one outgoing lane group in the intersection area may include the following steps:
  • Step 1901 Determine the driving direction regulation of at least one entering lane in the first entering lane group.
  • the driving direction regulation means the regulation of the traffic rules on the direction of the vehicle in each lane. Straight lane, left turn lane, right turn lane, U-turn lane, or straight plus left turn lane, straight plus right turn lane, etc.
  • the driving direction specification may also indicate a driving direction prohibited by traffic rules, such as prohibiting right turns, prohibiting U-turns, and the like.
  • Step 1902 Mark a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in the at least one outgoing lane group in the intersection area according to the at least one driving direction feature and the driving direction specification. .
  • the automatic labeling will connect the lane with the exiting lane group.
  • Lane lines for one or more of the lanes. The method of automatically marking the lane lines may refer to the above-mentioned FIG. 17 , which will not be repeated here. If the driving direction of a lane in the entering lane group is specified as going straight, turning left, and prohibiting U-turn, and the driving direction from the entering lane group to the exit lane group is U-turn, the connection to the entering lane will not be marked in the intersection area. If there are other outgoing lane groups with the corresponding driving direction characteristic of turning left or going straight, mark the incoming lane connecting the incoming lane group and these outgoing lane groups. The lane markings for the exit lane.
  • the driving The direction specifies that a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in the at least one outgoing lane group is marked in the intersection area, so as to satisfy the actual traffic rules in the intersection area.
  • the intersection area can be divided into multiple sub-sections In the intersection area, for each sub-intersection area, perform the above steps 101 to 103, so as to automatically mark the lane lines in each sub-intersection area, and splicing the lane lines in all the sub-intersection areas to obtain the lane lines in the intersection area.
  • the lane line marking method in the embodiment of the present application will be described below by taking an actual intersection area as an example.
  • FIG. 20 shows a schematic diagram of an actual intersection area according to an embodiment of the present application.
  • the acquired known information of the intersection area may include: the number of the intersection area is: 50002511.
  • the lane edges (solid lines in Figure 20) that connect with the intersection area, the numbers of each lane edge (not shown in Figure 20) are: 6000235759, 6000235760, 6000235998, 6000235999, 60002359021, 6000235920, 6000235574, 6000235573, 60 6000235, 6000235762, 6000235761, 6000236037, 6000236036, 6000235564, 6000235563, 6000236019, 6000236018, 6000236020.
  • the lane center line (dotted line in Figure 20) that connects with the intersection area, the number of each lane center line is: 40136477, 40136619, 40136580, 40136374, 40136373, 40136478, 40136640, 40136367, 40136631, 40136630, the direction angle of each lane .
  • the above-mentioned lanes connected to the intersection area can be divided into an incoming lane group and an outgoing lane group, wherein the incoming lane group includes the incoming lanes entering the intersection area along the same direction, and the outgoing lanes. Included in the group are exit lanes that exit the intersection area in the same direction.
  • the direction angle is: 1.82134
  • the included lane centerline numbers are: 40136374, 40136373.
  • the direction angle is: -2.89603, and the included lane centerline number is: 40136640.
  • the heading angle is: -1.34238, and the included lane centerline numbers are: 40136631, 40136630.
  • the direction angle is: 0.286245, and the included lane centerline number is: 40136619.
  • Exit lane group 1 the direction angle is: -1.31801, and the included lane centerline number is: 40136580.
  • Exit lane group 3 the direction angle is: 1.7987, and the included lane centerline number is: 40136367.
  • the included angle between the direction in which each entering lane group is located and the direction in which each exiting lane group is located may be determined.
  • Table 2 shows the included angle between the direction of each incoming lane group and the direction of each outgoing lane group.
  • the characteristics of the driving direction from the entering lane group to the exiting lane group can be determined.
  • Table 3 Four preset ranges corresponding to entering lane groups.
  • Table 3 By looking up Table 3, the target preset range to which each included angle in Table 2 belongs is determined, so as to determine the driving direction characteristics of the entering lane group to the exiting lane group corresponding to the included angle.
  • Table 4 shows the driving direction characteristics from the entering lane group to the exiting lane group.
  • FIG. 21 shows a schematic diagram of the lanes marked in the actual intersection area in FIG. 20 according to an embodiment of the present application. As shown in FIG. 21 , the lane lines automatically marked in the intersection area in the above-mentioned FIG. 20 .
  • FIG. 22 shows a schematic diagram of lane lines marked in an actual T-shaped intersection area according to an embodiment of the present application; as shown in FIG. 22 , for an actual intersection area numbered 50002509, the above-mentioned embodiment of the present application is performed. method, so that lane lines can be quickly and automatically marked in the intersection area.
  • FIG. 23 shows a schematic diagram of lane lines marked in an actual Y-shaped intersection area according to an embodiment of the present application; as shown in FIG. 23 , for an actual intersection area numbered 50002516, the above-mentioned embodiment of the present application is performed. method, so that lane lines can be quickly and automatically marked in the intersection area.
  • the embodiments of the present application further provide a lane marking device, which is used to implement the technical solutions described in the above method embodiments.
  • Fig. 24 shows a schematic structural diagram of a device for marking lane lines according to an embodiment of the present application; the device is used to mark lane lines in an intersection area in a map, and the intersection area is associated with at least one incoming lane group and at least one outgoing lane group Continuing, each inbound lane group of the at least one inbound lane group includes at least one inbound lane in the same direction into the intersection area, and each outbound lane group of the at least one outbound lane group Including at least one exit lane that exits the intersection area in the same direction; the device includes: an included angle determination module 2401 for determining the direction of the first entry lane group in the at least one entry lane group and the at least one exit lane at least one included angle between the directions in which the lane groups are located; the driving direction feature determination module 2402 is configured to determine at least one driving direction feature from the first entering lane group to at least one exiting lane group according to the at least one included angle; automatic labeling Module 2403, configured to mark, in
  • the apparatus may further include: a lane group classification module 2400, configured to divide a plurality of lanes connected to the intersection area into at least one incoming lane group and at least one outgoing lane group.
  • a lane group classification module 2400 configured to divide a plurality of lanes connected to the intersection area into at least one incoming lane group and at least one outgoing lane group.
  • the driving direction feature determination module 2402 is further configured to: determine at least one target preset range to which at least one included angle belongs from a plurality of preset ranges corresponding to the first entering lane group, Wherein, the multiple preset ranges are in one-to-one correspondence with multiple driving direction features; according to at least one driving direction feature corresponding to at least one target preset range, at least one of the first entering lane group to at least one exiting lane group is determined.
  • Driving direction feature is further configured to: determine at least one target preset range to which at least one included angle belongs from a plurality of preset ranges corresponding to the first entering lane group, Wherein, the multiple preset ranges are in one-to-one correspondence with multiple driving direction features; according to at least one driving direction feature corresponding to at least one target preset range, at least one of the first entering lane group to at least one exiting lane group is determined.
  • Driving direction feature is further configured to: determine at least one target preset range to which at least one included angle belongs from a plurality
  • the multiple preset ranges corresponding to the first entering lane group may be determined according to the direction in which the entering lane group is located and a preset threshold.
  • the driving direction feature determination module 2402 is further configured to: when each preset range in the multiple preset ranges corresponds to at most one of the included angles, determine the at least one The at least one traveling direction feature corresponding to the target preset range is determined as at least one traveling direction feature from the first entering lane group to the at least one exiting lane group.
  • the driving direction feature determination module 2402 is further configured to: when a plurality of included angles in the at least one included angle correspond to the same target preset range, determine which of the plurality of included angles The included angle with the smallest absolute value; the traveling direction feature corresponding to the same target preset range is determined as the first traveling direction feature corresponding to the included angle with the smallest absolute value among the multiple included angles, the first traveling direction
  • the feature represents the driving direction feature from the first entering lane group to the exiting lane group corresponding to the included angle with the smallest absolute value among the multiple included angles; according to other included angles among the multiple included angles and the described
  • the relative direction relationship between the angle with the smallest absolute value among the multiple included angles, and the first driving direction feature determine the distance from the first entering lane group to the exiting lane group corresponding to the other included angles.
  • Driving direction feature when a plurality of included angles in the at least one included angle correspond to the same target preset range, determine which of the plurality of included angles The included angle with the smallest absolute value; the
  • the driving direction feature determination module 2402 is further configured to: when multiple included angles in the at least one included angle correspond to the same target preset range, adjust the multiple preset ranges at least one preset range in the adjusted target preset range, so that each of the adjusted target preset ranges corresponds to only one of the included angles; the plurality of travel direction characteristics corresponding to the adjusted multiple target preset ranges, It is determined as a plurality of driving direction features from the first incoming lane group to the plurality of outgoing lane groups corresponding to the plurality of included angles.
  • the driving direction feature determination module 2402 is further configured to: when the number of the at least one included angle is greater than the number of the multiple preset ranges, and more than one of the at least one included angle is When the included angles correspond to the same target preset range, the same target preset range is divided into multiple sub-preset ranges, the multiple sub-preset ranges are in one-to-one correspondence with the multiple sub-travel direction features, and each of the sub-preset ranges The preset range corresponds to at most one of the multiple included angles; the multiple sub-travel direction features corresponding to the multiple sub-target preset ranges are determined to be from the first entering lane group to the distance between the multiple sub-target preset ranges. Multiple driving direction features of multiple exit lane groups corresponding to each included angle.
  • the automatic labeling module 2403 is further configured to: determine at least one labeling curve corresponding to the at least one driving direction feature according to the at least one driving direction feature; at least one exit junction of the intersection area; determining at least one exit lane in the at least one exit lane group and at least one exit junction of the intersection area; according to the at least one exit junction , the at least one exiting junction and the at least one marking curve, in the intersection area, marking the at least one exiting lane connecting the at least one exiting lane to at least one exiting lane in the at least one exiting lane group lane line.
  • the automatic labeling module 2403 is further configured to: determine the driving direction regulation of at least one entering lane in the first entering lane group; according to the at least one driving direction feature and the The driving direction provides that a lane line connecting at least one incoming lane in the first incoming lane group and at least one outgoing lane in the at least one outgoing lane group is marked in the intersection area.
  • the driving direction feature may include one or more of a left turn, a right turn, a U-turn, and a straight drive.
  • the intersection area may be connected to at least one entering lane group and at least one exiting lane group, wherein each entering lane group in the at least one entering lane group includes entering the intersection in the same direction at least one exit lane of the area, each exit lane group in the at least one exit lane group includes at least one exit lane exiting the intersection area in the same direction, by determining the first exit lane in the at least one exit lane group at least one included angle between the direction in which the entering lane group is located and the direction in which at least one exiting lane group is located; at least one driving direction feature from the first entering lane group to at least one exiting lane group is determined according to the at least one included angle; Furthermore, according to the at least one driving direction feature, a lane line connecting at least one entering lane in the first entering lane group and at least one exiting lane in the at least one exiting lane group is marked in the intersection area; no need to be in the intersection area Collecting driving data has low computational time complexity,
  • An embodiment of the present application provides a lane marking device, comprising: a processor and a memory for storing instructions executable by the processor; wherein the processor is configured to implement the above method when executing the instructions.
  • FIG. 25 shows a schematic structural diagram of a device for marking lane lines according to an embodiment of the present application.
  • the device for marking lane lines may include: at least one processor 3101 , a communication line 3102 , a memory 3103 and at least one Communication interface 3104.
  • the processor 3101 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more processors for controlling the execution of the programs of the present application. integrated circuit.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • Communication line 3102 may include a path to communicate information between the components described above.
  • the communication interface 3104 using any transceiver-like device, is used to communicate with other devices or communication networks, such as Ethernet, RAN, wireless local area networks (WLAN), etc.
  • devices or communication networks such as Ethernet, RAN, wireless local area networks (WLAN), etc.
  • Memory 3103 may be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM) or other types of information and instructions It can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, CD-ROM storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of being executed by a computer Access any other medium without limitation.
  • the memory may exist independently and be connected to the processor through communication line 3102. The memory can also be integrated with the processor.
  • the memory provided by the embodiments of the present application may generally be non-volatile.
  • the memory 3103 is used for storing computer-executed instructions for executing the solution of the present application, and the execution is controlled by the processor 3101 .
  • the processor 3101 is configured to execute the computer-executed instructions stored in the memory 3103, thereby implementing the methods provided in the foregoing embodiments of the present application.
  • the computer-executed instructions in the embodiment of the present application may also be referred to as application code, which is not specifically limited in the embodiment of the present application.
  • the processor 3101 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 25 .
  • the lane marking apparatus may include multiple processors, for example, the processor 3101 and the processor 3107 in FIG. 25 .
  • processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor.
  • a processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).
  • the apparatus for marking lane lines may further include an output device 3105 and an input device 3106 .
  • the output device 3105 is in communication with the processor 3101 and can display information in a variety of ways.
  • the output device 3105 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector (projector) Wait.
  • Input device 3106 is in communication with processor 3101 and can receive user input in a variety of ways.
  • the input device 3106 may be a mouse, a keyboard, a touch screen device, a sensor device, or the like.
  • Embodiments of the present application provide a non-volatile computer-readable storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, implement the above method.
  • Embodiments of the present application provide a computer program product, including computer-readable codes, or a non-volatile computer-readable storage medium carrying computer-readable codes, when the computer-readable codes are stored in a processor of an electronic device When running in the electronic device, the processor in the electronic device executes the above method.
  • a computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (Electrically Programmable Read-Only-Memory, EPROM or flash memory), static random access memory (Static Random-Access Memory, SRAM), portable compact disk read-only memory (Compact Disc Read-Only Memory, CD - ROM), Digital Video Disc (DVD), memory sticks, floppy disks, mechanically encoded devices, such as punch cards or raised structures in grooves on which instructions are stored, and any suitable combination of the foregoing .
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read-only memory
  • EPROM Errically Programmable Read-Only-Memory
  • SRAM static random access memory
  • portable compact disk read-only memory Compact Disc Read-Only Memory
  • CD - ROM Compact Disc Read-Only Memory
  • DVD Digital Video Disc
  • memory sticks floppy disks
  • Computer readable program instructions or code described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network and/or a wireless network.
  • the network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .
  • the computer program instructions used to perform the operations of the present application may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more source or object code written in any combination of programming languages, including object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages.
  • the computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer may be connected to the user's computer through any kind of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or, may be connected to an external computer (eg, use an internet service provider to connect via the internet).
  • electronic circuits such as programmable logic circuits, Field-Programmable Gate Arrays (FPGA), or Programmable Logic Arrays (Programmable Logic Arrays), are personalized by utilizing state information of computer-readable program instructions.
  • Logic Array, PLA the electronic circuit can execute computer readable program instructions to implement various aspects of the present application.
  • These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
  • These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.
  • Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions.
  • the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in hardware (eg, circuits or ASICs (Application) that perform the corresponding functions or actions. Specific Integrated Circuit, application-specific integrated circuit)), or can be implemented by a combination of hardware and software, such as firmware.

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Abstract

本申请涉及一种车道线标注方法、装置、存储介质及计算机程序产品，其中，该方法用于在地图中的路口区域内标注车道线，路口区域与驶入车道组和驶出车道组相接，驶入车道组中包括沿相同方向驶入路口区域的驶入车道，驶出车道组包括沿相同方向驶出路口区域的驶出车道；该方法包括：确定驶入车道组中的第一驶入车道组所在方向与驶出车道组所在方向之间的夹角；根据夹角确定从第一驶入车道组至驶出车道组的行驶方向特征；根据行驶方向特征，在路口区域内标注连接第一驶入车道组中的驶入车道与驶出车道组中的驶出车道的车道线。本申请中，无需在路口区域内采集行驶数据，计算时间复杂度低，实现了路口区域内车道线的快速自动化标注。

Description

一种车道线标注方法、装置、存储介质及计算机程序产品
本申请要求于2020年11月26日提交中国专利局、申请号为202011351985.4、发明名称为“一种车道线标注方法、装置、存储介质及计算机程序产品”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能交通技术领域，尤其涉及一种车道线标注方法、装置、存储介质及计算机程序产品。
背景技术
高精度地图在位置查找、自动导航、自动驾驶等场景中起到至关重要的作用。在高精度地图的制图过程中，相关技术采用自动化或人工的方式标注路口区域内的车道线，需要采集大量的数据，或者计算量大，造成制图效率低，制图成本高。
发明内容
有鉴于此，提出了一种车道线标注方法、装置、存储介质及计算机程序产品。
第一方面，本申请的实施例提供了一种车道线标注方法，所述方法用于在地图中的路口区域内标注车道线，所述路口区域与至少一个驶入车道组和至少一个驶出车道组相接，所述至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入所述路口区域的至少一个驶入车道，所述至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出所述路口区域的至少一个驶出车道；所述方法包括：确定所述至少一个驶入车道组中的第一驶入车道组所在方向与所述至少一个驶出车道组所在方向之间的至少一个夹角；根据所述至少一个夹角确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征；根据所述至少一个行驶方向特征，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
基于上述技术方案，路口区域可以与至少一个驶入车道组和至少一个驶出车道组相接，其中，至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入该路口区域的至少一个驶入车道，至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出该路口区域的至少一个驶出车道，通过确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；进而根据至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线；无需在路口区域内采集行驶数据，计算时间复杂度低，实现了路口区域内车道线的快速自动化标注，提高了高精度地图的制图效率，节约了制图成本。
根据第一方面，在第一方面的第一种可能的实现方式中，所述方法还包括：将与所述路口区域相接的多个车道划分为至少一个驶入车道组及至少一个驶出车道组。
基于上述技术方案，将与路口区域相接的车道划分为至少一个驶入车道组及至少一个驶 出车道组，进而可以通过确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；进而根据至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线；无需在路口区域内采集行驶数据，计算时间复杂度低，实现了路口区域内车道线的快速自动化标注，提高了高精度地图的制图效率，节约了制图成本。
根据第一方面，在第一方面的第二种可能的实现方式中，所述根据所述至少一个夹角确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征，包括：从所述第一驶入车道组对应的多个预设范围中，确定所述至少一个夹角所属的至少一个目标预设范围，其中，所述多个预设范围与多个行驶方向特征一一对应；根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征。
基于上述技术方案，通过从第一驶入车道组对应的多个预设范围中，确定至少一个夹角所属的至少一个目标预设范围，从而根据至少一个目标预设范围对应的至少一个行驶方向特征，确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；计算时间复杂度低，实现了快速判断从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征。
根据第一方面的第二种可能的实现方式，在第一方面的第三种可能的实现方式中，所述第一驶入车道组对应的多个预设范围根据所述第一驶入车道组所在方向和预设阈值确定。
基于上述技术方案，第一驶入车道组对应的多个预设范围可以根据第一驶入车道组所在方向和预设阈值确定，从而满足各种类型的路口区域。
根据第一方面的第二种可能的实现方式，在第一方面的第四种可能的实现方式中，所述根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征，包括：在所述多个预设范围中的每个预设范围至多对应于一个所述夹角时，将所述至少一个目标预设范围对应的至少一个行驶方向特征，确定为从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征。
基于上述技术方案，在多个预设范围中的每个预设范围至多对应于一个夹角时，可以将至少一个目标预设范围对应的至少一个行驶方向特征，确定为从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征，这样，所确定第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，避免误判。
根据第一方面的第二种可能的实现方式，在第一方面的第五种可能的实现方式中，所述根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征，包括：在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，确定所述多个夹角中绝对值最小的夹角；将所述同一目标预设范围对应的行驶方向特征，确定为所述多个夹角中绝对值最小的夹角对应的第一行驶方向特征，所述第一行驶方向特征表示从所述第一驶入车道组到所述多个夹角中绝对值最小的夹角对应的驶出车道组的行驶方向特征；根据所述多个夹角中其他夹角与所述多个夹角中绝对值最小的夹角之间的相对方向关系，以及所述第一行驶方向特征，确定从所述第一驶入车道组到所述其他夹角对应的驶出车道组的行驶方向特征。
基于上述技术方案，针对至少一个夹角的数量不大于多个预设范围的数量的场景，在至 少一个夹角中的多个夹角对应于同一目标预设范围时，此时，通过确定多个夹角中的绝对值最小的夹角，并将同一目标预设范围对应的行驶方向特征，确定为该绝对值最小的夹角对应的第一行驶方向特征，进而根据多个夹角中其他夹角与绝对值最小的夹角之间的相对方向关系，以及第一行驶方向特征，确定第一驶入车道组到其他夹角对应的驶出车道组的行驶方向特征，这样，所确定的第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，从而避免误判。
根据第一方面的第三种可能的实现方式，在第一方面的第六种可能的实现方式中，所述根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征，包括：在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，调整所述多个预设范围中的至少一个预设范围，以使所述调整后的每个目标预设范围仅对应于一个所述夹角；将所述调整后的多个目标预设范围对应的多个行驶方向特征，确定为从所述第一驶入车道组至所述多个夹角对应的多个驶出车道组的多个行驶方向特征。
基于上述技术方案，针对至少一个夹角的数量不大于多个预设范围的数量的场景，在至少一个夹角中的多个夹角对应于同一目标预设范围时，通过调整多个预设范围中的至少一个预设范围，以使调整后的每个目标预设范围仅对应于一个夹角；并将调整后的多个目标预设范围对应的多个行驶方向特征，确定为从第一驶入车道组至多个夹角对应的多个驶出车道组的多个行驶方向特征，这样，所确定的第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，从而避免误判。
根据第一方面，在第一方面的第七种可能的实现方式中，所述在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，调整所述多个预设范围中的至少一个预设范围，包括：在所述至少一个夹角的数量大于所述多个预设范围的数量，且所述至少一个夹角中的多个夹角对应于同一目标预设范围时，划分所述同一目标预设范围为多个子预设范围，所述多个子预设范围与多个子行驶方向特征一一对应，且每个所述子预设范围至多对应于所述多个夹角中的一个夹角；所述将所述调整后的多个目标预设范围对应的多个行驶方向特征，确定为从所述第一驶入车道组至所述多个夹角对应的多个驶出车道组的多个行驶方向特征，包括：将与多个子目标预设范围对应的多个子行驶方向特征，确定为从所述第一驶入车道组至与所述多个夹角对应的多个驶出车道组的多个行驶方向特征。
基于上述技术方案，针对至少一个夹角的数量大于多个预设范围的数量的场景，在至少一个夹角中的多个夹角对应于同一目标预设范围时，通过划分同一目标预设范围为多个子预设范围，以使子预设范围至多对应于多个夹角中的一个夹角；从而将与多个子目标预设范围对应的多个子行驶方向特征，确定为从第一驶入车道组至与多个夹角对应的多个驶出车道组的多个行驶方向特征，这样，所确定的第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，从而避免误判。
根据第一方面，在第一方面的第八种可能的实现方式中，所述根据所述至少一个行驶方向特征，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线，包括：根据所述至少一个行驶方向特征，确定与所述至少一个行驶方向特征对应的至少一个标注曲线；确定所述至少一个驶入车道与所述路口区域的至少一个驶入相接点；确定所述至少一个驶出车道组中的至少一个驶出车道 与所述路口区域的至少一个驶出相接点；根据所述至少一个驶入相接点、所述至少一个驶出相接点及所述至少一个标注曲线，在所述路口区域内，标注连接所述至少一个驶入车道到所述至少一个驶出车道组中的至少一个驶出车道的车道线。
基于上述技术方案，根据至少一个行驶方向特征，确定至少一个行驶方向特征对应的至少一个标注曲线，并确定驶入相接点及驶出相接点，从而标注连接第一驶入车道组中的至少一个驶入车道到至少一个驶出车道组中的至少一个驶出车道的车道线，这样，利用不同的标注曲线标注不同行驶方向特征所对应的第一驶入车道组中的至少一个驶入车道到至少一个驶出车道组中的至少一个驶出车道的车道线，从而使所标注的路口区域内的车道线更加平滑，从而使得导航车辆沿该车道线行驶时更加平稳。
根据第一方面，在第一方面的第九种可能的实现方式中，所述根据所述至少一个行驶方向特征，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线，包括：确定所述第一驶入车道组中的至少一个驶入车道的行驶方向规定；根据所述至少一个行驶方向特征和所述行驶方向规定，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
基于上述技术方案，考虑到第一驶入车道组中至少一个驶入车道通常具有行驶方向规定，因此，根据至少一个行驶方向特征和第一驶入车道组中的至少一个驶入车道的行驶方向规定，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线，从而满足路口区域的实际交通规则。
根据第一方面，或第一方面的多种的实现方式中一种或几种实现方式，在第一方面的第十种可能的实现方式中，所述行驶方向特征包括左转、右转、掉头、直行中的一项或多项。
基于上述技术方案，行驶方向特征可以与现有交通规则中所规定的车辆在路口区域的常用的行驶方向相对应，从而符合实际应用场景。
第二方面，本申请的实施例提供了一种车道线标注装置，所述装置用于在地图中的路口区域内标注车道线，所述路口区域与至少一个驶入车道组和至少一个驶出车道组相接，所述至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入所述路口区域的至少一个驶入车道，所述至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出所述路口区域的至少一个驶出车道；所述装置包括：夹角确定模块，用于确定所述至少一个驶入车道组中的第一驶入车道组所在方向与所述至少一个驶出车道组所在方向之间的至少一个夹角；行驶方向特征确定模块，用于根据所述至少一个夹角确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征；自动标注模块，用于根据所述至少一个行驶方向特征，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
基于上述技术方案，路口区域可以与至少一个驶入车道组和至少一个驶出车道组相接，其中，至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入该路口区域的至少一个驶入车道，至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出该路口区域的至少一个驶出车道，通过确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；进而根据至少一个行驶方向特征，在路口区域内标注 连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线；无需在路口区域内采集行驶数据，计算时间复杂度低，实现了路口区域内车道线的快速自动化标注，提高了高精度地图的制图效率，节约了制图成本。
根据第二方面，在第二方面的第一种可能的实现方式中，所述装置还包括：车道组分类模块，用于将与所述路口区域相接的多个车道划分为所述至少一个驶入车道组及所述至少一个驶出车道组。
基于上述技术方案，将与路口区域相接的车道划分为至少一个驶入车道组及至少一个驶出车道组，进而可以通过确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；进而根据至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线；无需在路口区域内采集行驶数据，计算时间复杂度低，实现了路口区域内车道线的快速自动化标注，提高了高精度地图的制图效率，节约了制图成本。
根据第二方面，在第二方面的第二种可能的实现方式中，所述行驶方向特征确定模块，还用于：从所述第一驶入车道组对应的多个预设范围中，确定所述至少一个夹角所属的至少一个目标预设范围，其中，所述多个预设范围与多个行驶方向特征一一对应；根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征。
基于上述技术方案，通过从第一驶入车道组对应的多个预设范围中，确定至少一个夹角所属的至少一个目标预设范围，从而根据至少一个目标预设范围对应的至少一个行驶方向特征，确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；计算时间复杂度低，实现了快速判断从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征。
根据第二方面的第二种可能的实现方式，在第二方面的第三种可能的实现方式中，所述第一驶入车道组对应的多个预设范围根据所述第一驶入车道组所在方向和预设阈值确定。
基于上述技术方案，第一驶入车道组对应的多个预设范围可以根据第一驶入车道组所在方向和预设阈值确定，从而满足各种类型的路口区域。
根据第二方面的第二种可能的实现方式，在第二方面的第四种可能的实现方式中，所述行驶方向特征确定模块，还用于：在所述多个预设范围中的每个预设范围至多对应于一个所述夹角时，将所述至少一个目标预设范围对应的至少一个行驶方向特征，确定为从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征。
基于上述技术方案，在多个预设范围中的每个预设范围至多对应于一个夹角时，可以将至少一个目标预设范围对应的至少一个行驶方向特征，确定为从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征，这样，所确定第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，避免误判。
根据第二方面的第二种可能的实现方式，在第二方面的第五种可能的实现方式中，所述行驶方向特征确定模块，还用于：在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，确定所述多个夹角中绝对值最小的夹角；将所述同一目标预设范围对应的行驶方向特征，确定为所述多个夹角中绝对值最小的夹角对应的第一行驶方向特征，所述第一行驶方向特征表示从所述第一驶入车道组到所述多个夹角中绝对值最小的夹角对应的驶出车道组的行 驶方向特征；根据所述多个夹角中其他夹角与所述多个夹角中绝对值最小的夹角之间的相对方向关系，以及所述第一行驶方向特征，确定从所述第一驶入车道组到所述其他夹角对应的驶出车道组的行驶方向特征。
基于上述技术方案，针对至少一个夹角的数量不大于多个预设范围的数量的场景，在至少一个夹角中的多个夹角对应于同一目标预设范围时，此时，通过确定多个夹角中的绝对值最小的夹角，并将同一目标预设范围对应的行驶方向特征，确定为该绝对值最小的夹角对应的第一行驶方向特征，进而根据多个夹角中其他夹角与绝对值最小的夹角之间的相对方向关系，以及第一行驶方向特征，确定第一驶入车道组到其他夹角对应的驶出车道组的行驶方向特征，这样，所确定的第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，从而避免误判。
根据第二方面的第三种可能的实现方式，在第二方面的第六种可能的实现方式中，所述行驶方向特征确定模块，还用于：在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，调整所述多个预设范围中的至少一个预设范围，以使所述调整后的每个目标预设范围仅对应于一个所述夹角；将所述调整后的多个目标预设范围对应的多个行驶方向特征，确定为从所述第一驶入车道组至所述多个夹角对应的多个驶出车道组的多个行驶方向特征。
基于上述技术方案，针对至少一个夹角的数量不大于多个预设范围的数量的场景，在至少一个夹角中的多个夹角对应于同一目标预设范围时，通过调整多个预设范围中的至少一个预设范围，以使调整后的每个目标预设范围仅对应于一个夹角；并将调整后的多个目标预设范围对应的多个行驶方向特征，确定为从第一驶入车道组至多个夹角对应的多个驶出车道组的多个行驶方向特征，这样，所确定的第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，从而避免误判。
根据第二方面，在第二方面的第七种可能的实现方式中，所述行驶方向特征确定模块，还用于：在所述至少一个夹角的数量大于所述多个预设范围的数量，且所述至少一个夹角中的多个夹角对应于同一目标预设范围时，划分所述同一目标预设范围为多个子预设范围，所述多个子预设范围与多个子行驶方向特征一一对应，且每个所述子预设范围至多对应于所述多个夹角中的一个夹角；将与多个子目标预设范围对应的多个子行驶方向特征，确定为从所述第一驶入车道组至与所述多个夹角对应的多个驶出车道组的多个行驶方向特征。
基于上述技术方案，针对至少一个夹角的数量大于多个预设范围的数量的场景，在至少一个夹角中的多个夹角对应于同一目标预设范围时，通过划分同一目标预设范围为多个子预设范围，以使子预设范围至多对应于多个夹角中的一个夹角；从而将与多个子目标预设范围对应的多个子行驶方向特征，确定为从第一驶入车道组至与多个夹角对应的多个驶出车道组的多个行驶方向特征，这样，所确定的第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，从而避免误判。
根据第二方面，在第二方面的第八种可能的实现方式中，所述自动标注模块，还用于：根据所述至少一个行驶方向特征，确定与所述至少一个行驶方向特征对应的至少一个标注曲线；确定至少一个驶入车道与所述路口区域的至少一个驶入相接点；确定所述至少一个驶出车道组中的至少一个驶出车道与所述路口区域的至少一个驶出相接点；根据所述至少一个驶入相接点、所述至少一个驶出相接点及所述至少一个标注曲线，在所述路口区域内，标注连接所述至少一个驶入车道到所述至少一个驶出车道组中的至少一个驶出车道的车道线。
基于上述技术方案，根据至少一个行驶方向特征，确定至少一个行驶方向特征对应的至少一个标注曲线，并确定驶入相接点及驶出相接点，从而标注连接第一驶入车道组中的至少一个驶入车道到至少一个驶出车道组中的至少一个驶出车道的车道线，这样，利用不同的标注曲线标注不同行驶方向特征所对应的第一驶入车道组中的至少一个驶入车道到至少一个驶出车道组中的至少一个驶出车道的车道线，从而使所标注的路口区域内的车道线更加平滑，从而使得导航车辆沿该车道线行驶时更加平稳。
根据第二方面，在第二方面的第九种可能的实现方式中，所述自动标注模块，还用于：确定所述第一驶入车道组中的至少一个驶入车道的行驶方向规定；根据所述至少一个行驶方向特征和所述行驶方向规定，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
基于上述技术方案，考虑到第一驶入车道组中至少一个驶入车道通常具有行驶方向规定，因此，根据至少一个行驶方向特征和第一驶入车道组中的至少一个驶入车道的行驶方向规定，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线，从而满足实际路口区域的实际交通规则。
根据第二方面，或第二方面的多种的实现方式中一种或几种实现方式，在第一方面的第十种可能的实现方式中，所述行驶方向特征包括左转、右转、掉头、直行中的一项或多项。
基于上述技术方案，行驶方向特征可以与现有交通规则中所规定的车辆在路口区域的常用的行驶方向相对应，从而符合实际应用场景。
第三方面，本申请的实施例提供了一种车道线标注装置，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行所述指令时实现上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的车道线标注方法。
基于上述技术方案，路口区域可以与至少一个驶入车道组和至少一个驶出车道组相接，其中，至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入该路口区域的至少一个驶入车道，至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出该路口区域的至少一个驶出车道，通过确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；进而根据至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线；无需在路口区域内采集行驶数据，计算时间复杂度低，实现了路口区域内车道线的快速自动化标注，提高了高精度地图的制图效率，节约了制图成本。
第四方面，本申请的实施例提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质包括计算机指令，当所述计算机指令在计算机上运行时，使得计算机执行上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的车道线标注方法。
基于上述技术方案，路口区域可以与至少一个驶入车道组和至少一个驶出车道组相接，其中，至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入该路口区域的至少一个驶入车道，至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出该路口区域的至少一个驶出车道，通过确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；进而根据至少一个行驶方向特征，在路口区域内标注 连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线；无需在路口区域内采集行驶数据，计算时间复杂度低，实现了路口区域内车道线的快速自动化标注，提高了高精度地图的制图效率，节约了制图成本。
第五方面，本申请的实施例提供了一种计算机程序产品，包括计算机可读代码，或者承载有计算机可读代码的非易失性计算机可读存储介质，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行上述第一方面或者第一方面的多种可能的实现方式中的一种或几种的车道线标注方法。
基于上述技术方案，路口区域可以与至少一个驶入车道组和至少一个驶出车道组相接，其中，至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入该路口区域的至少一个驶入车道，至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出该路口区域的至少一个驶出车道，通过确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；进而根据至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线；无需在路口区域内采集行驶数据，计算时间复杂度低，实现了路口区域内车道线的快速自动化标注，提高了高精度地图的制图效率，节约了制图成本。
本申请的这些和其他方面在以下(多个)实施例的描述中会更加简明易懂。
附图说明
包含在说明书中并且构成说明书的一部分的附图与说明书一起示出了本申请的示例性实施例、特征和方面，并且用于解释本申请的原理。
图1示出根据本申请一实施例的一种十字路口区域的示意图；
图2示出根据本申请一实施例的一种T字路口区域的示意图；
图3示出根据本申请一实施例的一种Y字路口区域的示意图；
图4示出根据本申请一实施例的一种车道线标注方法的流程图；
图5示出根据本申请一实施例的在十字路口区域内标注车道线的示意图；
图6示出根据本申请一实施例的在T字路口区域内标注车道线的示意图；
图7示出根据本申请一实施例的在Y字路口区域内标注车道线的示意图；
图8示出根据本申请一实施例的一种划分驶入车道组及驶出车道组的方法的流程图；
图9示出根据本申请一实施例的方向角示意图；
图10示出根据本申请一实施例的一种确定行驶方向特征的方法的流程图；
图11示出根据本申请一实施例的第一驶入车道组方向角为π/2时行驶方向特征示意图；
图12示出根据本申请一实施例的在多个夹角对应于同一目标预设范围时确定行驶方向特征的方法的流程图；
图13示出根据本申请一实施例的一种X字路口区域示意图；
图14示出根据本申请一实施例的一种通过调整预设范围确定行驶方向特征的方法的流程图；
图15示出根据本申请一实施例的一种通过划分预设范围确定行驶方向特征的方法的流程图；
图16示出根据本申请一实施例的一种复杂路口区域示意图；
图17示出根据本申请一实施例的一种通过不同标注曲线标注车道线的方法的流程图；
图18示出根据本申请一实施例的驶入相接点及驶出相接点的示意图；
图19示出根据本申请一实施例的一种根据驶入车道的行驶方向规定标注车道线的方法的流程图；
图20示出根据本申请一实施例的一个实际十字路口区域的示意图；
图21示出根据本申请一实施例的在图20中实际十字路口区域内标注的车道线的示意图；
图22示出根据本申请一实施例的在一个实际T字路口区域内标注的车道线的示意图；
图23示出根据本申请一实施例的在一个实际Y字路口区域内标注的车道线的示意图；
图24示出根据本申请一实施例的一种车道线标注装置的结构示意图；
图25示出根据本申请一实施例的另一种车道线标注装置的结构示意图。
具体实施方式
以下将参考附图详细说明本申请的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
另外，为了更好的说明本申请，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本申请同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本申请的主旨。
高精度地图在位置查找、自动导航、自动驾驶等场景中起到至关重要的作用。通常高精度地图的制图过程如下：首先，由技术人员驾驶地图采集车辆，采集所经过区域周围的环境信息，并对所采集的各种环境信息进行融合处理，生成带有颜色的电子地图。然后，制图人员采用地图标注软件，对所生成的电子地图进行自动化或者人工标注出各种交通信息，交通信息可以包括车道线、道路指示牌、道路标识、路口区域等等。
在一些场景中，对高精度地图的路口区域内的交通信息具有较高要求；例如，在自动驾驶过程中，自动驾驶车辆按照预先在高精度地图上规划好的路径行驶，此时，规划好的路径至少需要精确到车道级别。
相关技术中，通过制图人员人工标注的方式或者自动化标注的方式，在高精度地图中标注路口区域内的车道线，存在制图效率低，制图成本高的技术问题。
为了解决上述技术问题，本申请实施例提出了一种车道线标注的技术方案，该技术方案可以用于在地图中的路口区域内标注车道线，能够提高制图效率，减少制图成本。
本申请实施例中，地图可以为标注出路口区域的电子地图，还可以为未标注出路口区域的电子地图。路口区域指地图中不同道路会合的区域；可以将已经在地图中标注出的路口区域作为本申请实施例中路口区域；也可以根据地图已有信息，确定本申请实施例中的路口区域，例如，可以根据地图中不同道路会合点附近的车道线、停止线及其他相关的已有信息，确定路口区域。
一个路口区域可以与多条道路相接，每条道路可以包括一个或多个车道。根据与路口区 域相接道路的数量及各相接道路之间的空间位置关系，路口区域可以分为多种类型，例如：十字路口区域、Y字路口区域、T字路口区域(又称丁字路口区域)、环岛路口区域(又称转盘路口区域)、X型路口区域、错位T型路口区域、错位Y型路口区域、立体交叉路口区域、多叉路口区域等等，本申请实施例对路口区域的类型不作限定。
本申请实施例中，路口区域可以与至少一个驶入车道组和至少一个驶出车道组相接，其中，至少一个驶入车道组中的每个驶入车道组中包括沿相同方向驶入该路口区域的至少一个驶入车道，至少一个驶出车道组中的每个驶出车道组中包括沿相同方向驶出该路口区域的至少一个驶出车道。
下面分别以十字路口区域、T字路口区域、Y字路口区域为例，对本申请实施例中路口区域进行示例性说明。
以路口区域为十字路口区域为例，图1示出根据本申请一实施例的一种十字路口区域的示意图，如图1所示，图1中矩形区域表示该十字路口区域。该十字路口区域与四条道路相接，其中，一条道路包括车道a、车道b、车道c；一条道路包括车道d、车道e；一条道路包括车道f、车道g、车道h；一条道路包括车道i、车道j；每一车道中实线表示车道边线、虚线表示车道中心线，箭头表示该车道驶入该十字路口区域或驶出该十字路口区域的方向。
如图1所示，该十字路口区域与四个驶入车道组和四个驶出车道组相接，四个驶入车道组分别为驶入车道组A、驶入车道组B、驶入车道组C、驶入车道组D；其中，在驶入车道组A中包括沿Y方向驶入该十字路口区域的车道b和车道c，在驶入车道组B中包括沿X相反方向驶入该十字路口区域的车道e，在驶入车道组C中包括沿Y相反方向驶入该十字路口区域的车道h，在驶入车道组D中包括沿X方向驶入该十字路口区域的车道j。四个驶出车道组分别为驶出车道组A’、驶出车道组B’、驶出车道组C’、驶出车道组D’；其中，在驶出车道组A’中包括沿Y相反方向驶出该十字路口区域的车道a，在驶出车道组B’中包括沿X方向驶出该十字路口区域的车道d，在驶出车道组C’中包括沿Y方向驶出该十字路口区域的车道g和车道f，在驶出车道组D’中包括沿X相反方向驶出该十字路口区域的车道i。
以路口区域为T字路口区域为例，图2示出根据本申请一实施例的一种T字路口区域的示意图，如图2所示，图2中矩形区域表示该T字路口区域。该T字路口区域与三条道路相接，其中，一条道路包括车道k、车道l、车道m；一条道路包括车道n、车道o；一条道路包括车道p、车道q；每一车道中实线表示车道边线、虚线表示车道中心线，箭头表示该车道驶入该T字路口区域或驶出该T字路口区域的方向。
如图2所示，该T字路口区域与三个驶入车道组和三个驶出车道组相接，三个驶入车道组分别为驶入车道组E、驶入车道组F、驶入车道组G；其中，在驶入车道组E中包括沿Y方向驶入该T字路口区域的车道l和车道m，在驶入车道组F中包括沿X相反方向驶入该T字路口区域的车道o，在驶入车道组G中包括沿X方向驶入该T字路口区域的车道q。三个驶出车道组分别为驶出车道组E’、驶出车道组F’、驶出车道组G’；其中，在驶出车道组E’中包括沿Y相反方向驶出该T字路口区域的车道k，在驶出车道组F’中包括沿X方向驶出该T字路口区域的车道n，在驶出车道组G’中包括沿X相反方向驶出该T字路口区域的车道p。
以路口区域为Y字路口区域为例，图3示出根据本申请一实施例的一种Y字路口区域的示意图，如图3所示，图3中六边形区域表示该Y字路口区域。该Y字路口区域与三条道路相接，其中，一条道路包括车道r、车道s、车道t；一条道路包括车道u、车道v；一条道 路包括车道w、车道z；每一车道中实线表示车道边线、虚线表示车道中心线，箭头表示该车道驶入该Y字路口区域或驶出该Y字路口区域的方向。
如图3所示，该Y字路口区域与三个驶入车道组和三个驶出车道组相接，三个驶入车道组分别为驶入车道组H、驶入车道组I、驶入车道组J；其中，在驶入车道组H中包括沿Y方向驶入该Y字路口区域的车道s和车道t，在驶入车道组I中包括沿与X的相反方向成一定角度驶入该Y字路口区域的车道v，在驶入车道组J中包括沿与X方向成一定角度驶入该Y字路口区域的车道z。三个驶出车道组分别为驶出车道组H’、驶出车道组I’、驶出车道组J’；其中，在驶出车道组H’中包括沿Y相反方向驶出该Y字路口区域的车道r，在驶出车道组I’中包括沿与X方向成一定角度驶出该Y字路口区域的车道u，在驶出车道组J’中包括沿与X相反方向成驶入角度驶出该Y字路口区域的车道w。
在上述图1、图2、图3中，车道边线表示位于车道两边边界的线，一个车道具有两条车道边线，两个车道边线之间的区域即为该车道；车道中心线表示位于车道中间的线，车道中心线可以通过车道边线确定，车道中心线可以为标注在地图中的虚拟的线。
需要说明的是，各车道驶入路口区域的方向及驶出路口区域的方向，可以根据不同国家或地区所规定的车道通行方向确定，上述图1、图2、图3中示出车道通行方向为右行制的场景，本申请实施例对此不作限定。另外，与路口区域相接的各条道路可以包括一个或多个车道，各条道路可以为单向通行或双向通行，因此，针对不同类型的路口区域，与路口区域相接的驶入车道组和驶出车道组的数量可以不同，上述图1、图2、图3中示出各条道路均为双向通行的场景，本申请实施例对此不作限定。
图4示出根据本申请一实施例的一种车道线标注方法的流程图，该方法可以用于在地图中的路口区域内标注车道线，该方法的执行主体可以服务器，例如：本地的服务器或服务器集群，云端的服务器或服务器集群等等，也可以为终端设备，例如：智能手机、上网本、平板电脑、笔记本电脑、可穿戴电子设备、车载设备、计算设备等等，如图4所示，该方法可以包括以下步骤：
步骤101、确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角。
其中，第一驶入车道组所在方向表示车辆通过该第一驶入车道组驶入路口区域时的方向，示例性地，可以将第一驶入车道组中至少一个驶入车道的车道线方向确定为第一驶入车道组所在方向，其中，驶入车道的车道线方向可以为该车道线与路口区域相接部分的方向，例如，若驶入车道的车道线与路口区域相接的部分为直线，则将该直线的方向确定为第一驶入车道组所在方向，若驶入车道的车道线与路口区域相接的部分为曲线，则可求取该曲线的切线方向，并将该曲切线方向确定为第一驶入车道组所在方向。
驶出车道组所在方向表示车辆通过该驶出车道组驶出路口区域时的方向；示例性地，可以将驶出车道组中至少一个驶出车道的车道线方向确定为驶出车道组所在方向，其中，驶出车道的车道线方向可以为该车道线与路口区域相接部分的方向，例如，若驶出车道的车道线与路口区域相接的部分为直线，则将该直线的方向确定为该驶出车道组所在方向，若驶出车道的车道线与路口区域相接的部分为曲线，则可求取该曲线的切线方向，并将该切线方向确定为驶出车道组所在方向。
示例性地，可以通过方向角、或方位角等方式表示驶入车道的车道线方向、驶出车道的 车道线方向、第一驶入车道组所在方向及第驶出车道组所在方向。需要说明的是，本申请中方向角、方位角、夹角等均可以采用角度或弧度等表示，为了方便描述，本申请实施例中统一采用弧度表示。
当第一驶入车道组包括一个驶入车道，或者包括多个驶入车道且各驶入车道的车道线的方向角相同时，可以将任一驶入车道的车道线的方向角作为第一驶入车道组的方向角；相应的，当驶出车道组包括一个驶出车道，或者包括多个驶出车道且各驶出车道的车道线的方向角相同时，可以将任一驶出车道的车道线的方向角作为该驶出车道组的方向角。
当第一驶入车道组包括多个驶入车道且各驶入车道的车道线的方向角不完全相同时，可以将第一驶入车道组中各驶入车道的车道线的方向角的平均值，作为第一驶入车道组的方向角。相应的，当驶出车道组包括多个驶出车道且各驶出车道的车道线的方向角不完全相同时，可以将该驶出车道组中各驶出车道的车道线的方向角的平均值作为该驶出车道组的方向角。
示例性地，可以求取驶出车道组的方向角与第一驶入车道组的方向角的差值，并将该差值作为第一驶入车道组所在方向与驶出车道组所在方向之间的夹角。
举例来说，如上述图1所示，根据标准方向(如：X方向或Y方向)，则可以确定驶入车道组B的方向角与驶出车道组A’的方向角，求取驶出车道组A’的方向角与驶入车道组B的方向角的差值，得到驶入车道组B所在方向与驶出车道组A’所在方向之间的夹角。
如上述图2所示，根据标准方向(如：X方向或Y方向)，则可以确定驶入车道组G的方向角与驶出车道组E’的方向角，求取驶出车道组E’的方向角与驶入车道组G的方向角的差值，得到驶入车道组G所在方向与驶出车道组E’所在方向之间的夹角。
如上述图3所示，根据标准方向(如：X方向或Y方向)，则可以确定驶入车道组J的方向角与驶出车道组I’的方向角，求取驶出车道组I’的方向角与驶入车道组J的方向角的差值，得到驶入车道组J所在方向与驶出车道组I’所在方向之间的夹角。
步骤102、根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征。
示例性地，行驶方向特征可以包括左转、右转、掉头、直行中的一项或多项。行驶方向特征可以与现有交通规则中所规定的车辆在路口区域的常用的行驶方向相对应，从而符合实际应用场景。
该步骤中，根据第一驶入车道组所在方向与驶出车道组所在方向之间的夹角的不同，可知第一驶入车道组所在方向及驶出车道组所在方向存在不同的空间关系，例如，当夹角较小(例如，接近0或-2π或2π)时，可知第一驶入车道组所在方向与该驶出车道组所在方向接近于平行，此时可以确定第一驶入车道组至该驶出车道组的行驶方向特征为直行；当夹角较大(例如，接近-π或π)时，可知第一驶入车道组所在方向与该驶出车道组所在方向可能为相反方向，此时可以确定第一驶入车道组至该驶出车道组的行驶方向特征为掉头；当夹角介于较小与较大之间(例如，接近-π/2或π/2或3*π/2或-3*π/2)时，可知第一驶入车道组所在方向与该驶出车道组所在方向成一定的空间角度，此时可以确定第一驶入车道组至该驶出车道组的行驶方向特征为左转或右转，并可以根据第一驶入车道组与该驶出车道组的空间位置，进一步确定行驶方向特征。
举例来说，如上述图1所示，驶入车道组B所在方向与驶出车道组A’所在方向之间的夹角介于较小与较大之间，可以确定驶入车道组B至驶出车道组A’的行驶方向特征为左转或右 转，根据驶入车道组B与驶出车道组A’的空间位置，可以进一步确定驶入车道组B至驶出车道组A’的行驶方向特征为左转。
如上述图2所示，驶入车道组G所在方向与驶出车道组E’所在方向之间的夹角介于较小与较大之间，可以确定驶入车道组G至驶出车道组E’的行驶方向特征为左转或右转，根据驶入车道组G至驶出车道组E’的空间位置，可以进一步确定驶入车道组G至驶出车道组E’的行驶方向特征为右转。
如上述图3所示，驶入车道组J所在方向与驶出车道组I’所在方向之间的夹角较小，可以确定驶入车道组J至驶出车道组I’的行驶方向特征为直行。
步骤103、根据至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线。
其中，车道线可以为虚拟车道线，即在实际路口区域并未设置，但可以在电子地图中显示的车道线。示例性地，可以以虚线的形式在高精度地图中显示路口区域内所标注的连接第一驶入车道组中的至少一个驶入车道及驶出车道组中的至少一个驶出车道的车道线。
示例性地，车道线可以包括车道边线和/或车道中心线。即可以根据行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道及驶出车道组中的至少一个驶出车道的车道边线，或者，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道及驶出车道组中的至少一个驶出车道的车道中心线，或者，在路口区域内同时标注连接第一驶入车道组中至少一个驶入车道及驶出车道组中的至少一个驶出车道的车道边线和车道中心线。
示例性地，可以采用贝塞尔曲线或样条曲线等任意曲线类型标注连接第一驶入车道组中的至少一个驶入车道及驶出车道组中的至少一个驶出车道的车道线，本申请实施例对此不作限定。
示例性地，驶入车道组中的驶入车道和驶出车道组中的驶出车道之间，可以根据预设的规则建立对应关系，将相对应的驶入车道和驶出车道之间以车道线进行标注，例如，如果驶入车道组中的驶入车道和驶出车道组中的驶出车道数量相同，则可以建立一一对应关系(即一个驶入车道对应一个驶出车道)，对应的原则是所标注的连接驶入车道与驶出车道的车道线之间不交叉(即车道中心线在路口区域内没有交点)。如果驶入车道组中驶入车道和驶出车道组中的驶出车道数量不相同，则可以结合交通规则的规定，或者交通安全的考量，建立对应关系，例如，驶入车道组包括4个驶入车道，驶出车道组包括3个驶出车道，可以让最内侧(靠近道路中线一侧)两条驶入车道共同对应最内侧一条驶出车道，其他驶入车道和驶出车道一一对应，且保证连接驶入车道与驶出车道的车道线之间不交叉，这样，当出现前方车道变少的情况，最内侧车道的车辆可向外并线汇入最内侧驶出车道；如果交通规则相关信息已经指定了车道线的对应关系，比如指定了最外侧两条驶入车道共同对应最外侧一条驶出车道，则可按照该指定的对应关系标注连接驶入车道与驶出车道的车道线。再例如，驶入车道组包括2个驶入车道，驶出车道组包括3个驶出车道，可以让最内侧(靠近道路中线一侧)一条驶入车道对应最内侧两条驶出车道，另一条驶入车道对应最外侧(远离道路中线一侧)的驶出车道，且保证连接驶入车道与驶出车道的车道线之间不交叉，这样，当出现前方车道变多的情况，最内侧车道的车辆可分流在最内侧的两个驶出车道；如果交通规则相关信息已经指定了车道线的对应关系，比如指定了最外侧一条驶入车道共同对应最外侧两条驶出车道，则可按照该指定的对应关系标注连接驶入车道与驶出车道的车道线。
举例来说，图5示出根据本申请一实施例的在十字路口区域内标注车道线的示意图，如图5所示，在上述图1的基础上，根据上述步骤102确定的驶入车道组D至驶出车道组C’的行驶方向特征为左转，此时，驶入车道为一条，驶出车道为两条，则将车道j与车道g、车道f分别对应，在路口区域内标注连接车道j与车道g的车道线，及车道j与车道f的车道线。
图6示出根据本申请一实施例的在T字路口区域内标注车道线的示意图，如图6所示，在上述图2的基础上，根据上述步骤102确定的驶入车道组E至驶出车道组G’的行驶方向特征为左转，此时，驶入车道为两条，驶出车道为一条，则将车道l和车道m均与车道p对应，在路口区域内标注连接车道l与车道p的车道线，及车道m与车道p的车道线。
图7示出根据本申请一实施例的在Y字路口区域内标注车道线的示意图，如图7所示，在上述图3的基础上，根据上述步骤102确定的驶入车道组J至驶出车道组I’的行驶方向特征为直行，此时，驶入车道为一条，驶出车道也为一条，则可以自动在路口区域内标注连接车道z及车道u的车道线。
本申请实施例中，路口区域可以与至少一个驶入车道组和至少一个驶出车道组相接，其中，至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入该路口区域的至少一个驶入车道，至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出该路口区域的至少一个驶出车道，通过确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；进而根据至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线；无需在路口区域内采集行驶数据，计算时间复杂度低(O(m*n)：m表示驶入车道组的数量，n为驶出车道组的数量)，实现了路口区域内车道线的快速自动化标注，提高了高精度地图的制图效率，节约了制图成本。
可选的，上述图4中还可以包括步骤100、将与路口区域相接的多个车道划分为至少一个驶入车道组及至少一个驶出车道组。
当地图中已知信息未包括路口区域与至少一个驶入车道组和至少一个驶出车道组相接，其中，驶入车道组中包括沿相同方向驶入该路口区域的驶入车道，驶出车道组中包括沿相同方向驶出该路口区域的驶出车道的情况下，则可以执行该步骤100，将与路口区域相接的多个车道划分为至少一个驶入车道组及至少一个驶出车道组。
示例性地，可以将沿相同方向驶入该路口区域或沿相同方向驶出该路口区域作为分类依据，将与路口区域相接的各车道进行分类，得到与路口区域相接的至少一个驶入车道组和至少一个驶出车道组；其中，驶入车道组中包括沿相同方向驶入该路口区域的驶入车道，驶出车道组中包括沿相同方向驶出该路口区域的驶出车道。其中，路口区域相接的各车道驶入该路口区域的方向或驶出该路口区域的方向可以根据地图中的已知信息确定，例如，可以根据与路口区域相接车道的车道边线和/或车道中心线的方向角，确定各车道驶入该路口区域的方向或驶出该路口区域的方向。
该步骤中将与路口区域相接的车道划分为驶入车道组及驶出车道组的结果，可以参照上述图1、图2、图3中各驶入车道组及各驶出车道组，在此不再赘述。
下面对上述图4中步骤100-步骤103进行进一步说明。
图8示出根据本申请一实施例的一种划分驶入车道组及驶出车道组的方法的流程图，如图8所示，上述步骤100中，将与路口区域相接的车道划分为驶入车道组及驶出车道组，可以包括以下步骤：
步骤801、确定与路口区域相接的车道为驶入车道或驶出车道。
示例性地，可以根据地图中各车道的已知信息，确定各车道为驶入车道或驶出车道；例如，若地图中标注一个车道用于车辆驶入该路口区域，则确定该车道为驶入车道，若地图中标注一个车道用于车辆驶出该路口区域，则确定该车道为驶出车道。
步骤802、确定各车道驶入该路口区域的方向或驶出该路口区域的方向。
其中，各车道驶入路口区域的方向或驶出路口区域的方向可以根据地图中的已知信息确定；还可以根据各车道的车道线与路口区域相接部分的方向确定。例如，若车道的车道线与路口区域相接的部分为直线，则将该直线的方向确定车道驶入路口区域的方向或驶出路口区域的方向，若车道的车道线与路口区域相接的部分为曲线，则可求取该曲线的切线方向，并将该曲切线方向确定为车道驶入路口区域的方向或驶出路口区域的方向。示例性地，可以通过方向角或方位角等表示各车道的车道线与路口区域相接部分的方向及各车道驶入该路口区域的方向或驶出该路口区域的方向。
该步骤中，可以根据各车道的车道线与路口区域相接部分在电子地图中已有的坐标系或预设的坐标系中的方向角，表示各车道的车道线与路口区域相接部分的方向，即各车道驶入该路口区域的方向或驶出该路口区域的方向。其中，预设的坐标系可以根据地图的投影方法等进行设定，本申请对此不作限定。
考虑到现有高精度地图使用的投影方法一般为：通用横轴墨卡托投影(Universal Transverse Mercator，UTM)，通用横轴墨卡托投影使用笛卡尔坐标系，标记南纬80度到北纬84度之间的所有位置，因此，本申请实施例中坐标系采用笛卡尔坐标系进行示例性说明。
图9示出根据本申请一实施例的方向角示意图。如图9所示，采用笛卡尔坐标系，其中，X方向的方向角为0，Y方向的方向角为π/2，X相反方向的方向角为π，Y相反方向的方向角为-π/2，则在此坐标系中，方向角的范围为(-π,π]。
根据各车道与路口区域相接部分在图9坐标系中的位置，可以确定该车道的车道线与路口区域相接部分的方向角，即各车道驶入该路口区域的方向角或驶出该路口区域的方向角。示例性地，当某一车道沿X方向驶入该路口区域时，该车道驶入该路口区域的方向角为0，当某一车道沿Y方向驶出该路口区域时，该车道驶出该路口区域的方向角为π/2，当某一车道沿X相反方向驶出该路口区域时，该车道驶出该路口区域的方向角为π，当某一车道沿Y相反方向驶入该路口区域时，该车道驶入该路口区域的方向角为-π/2。
步骤803、根据各车道驶入该路口区域的方向或驶出该路口区域的方向，将各车道划分为驶入车道组及驶出车道组。
遍布与路口区域相接的所有车道，将驶入该路口区域的方向相同的所有驶入车道划分为同一驶入车道组，将驶出该路口区域的方向相同的所有驶出车道划分为同一驶出车道组。示例性地，若两个车道驶入该路口区域的方向角均为0，则将这两个车道划分为同一驶入车道组；若两个车道驶出该路口区域的方向角均为π/2，则将这两个车道划分为同一驶出车道组。
举例来说，以图1中十字路口区域为例，参照图9中的坐标系，设图1中X方向的方向角为0，Y方向的方向角为π/2，X相反方向的方向角为π，Y相反方向的方向角为-π/2，如 上述图1所示，根据各车道中箭头所指示的方向可以确定各车道为驶入车道或驶出车道，如：车道b、车道c、车道e等均为驶入该十字路口区域的车道，车道a、车道d等为驶出该十字路口区域的车道。由于车道b和车道c沿Y方向驶入该十字路口区域，则确定车道b和车道c驶入该十字路口区域的方向角为π/2；车道e沿X相反方向驶入该十字路口区域，则确定车道e驶入该十字路口区域的方向角为π；车道a沿Y相反方向驶出该十字路口区域，则确定车道a驶出该十字路口区域的方向角为-π/2；车道d沿X方向驶出该十字路口区域，则确定车道a驶出该十字路口区域的方向角为0。进而，可以将驶入该十字路口区域的方向角相同的车道b和车道c划分为驶入车道组A，同理，可以将车道a划分为驶出车道组A’，可以将车道e划分为驶出车道组B，可以将车道d划分为驶出车道组B’。
以图2中T字路口区域为例，参照图9中的坐标系，设图2中X方向的方向角为0，Y方向的方向角为π/2，X相反方向的方向角为π，Y相反方向的方向角为-π/2，如上述图2所示，根据各车道中箭头所指示的方向可以确定各车道为驶入车道或驶出车道，如：车道l、车道m等均为驶入该T字路口区域的车道，车道k等为驶出该T字路口区域的车道。由于车道l和车道m沿Y方向驶入该T字路口区域，则确定车道l和车道m驶入该T字路口区域的方向角为π/2；车道k沿Y相反方向驶出该T字路口区域，则确定车道k驶出该T字路口区域的方向角为-π/2。进而，可以将驶入该T字路口区域的方向角相同的车道l和车道m划分为驶入车道组E，同理，可以将车道k划分为驶出车道组E’。
以图3中Y字路口区域为例，参照图9中的坐标系，设图3中X方向的方向角为0，Y方向的方向角为π/2，X相反方向的方向角为π，Y相反方向的方向角为-π/2，如上述图3所示，根据各车道中箭头所指示的方向可以确定各车道为驶入车道或驶出车道，如：车道s、车道t、车道z等均为驶入该Y字路口区域的车道，车道r、车道u等为驶出该Y字路口区域的车道。由于车道s和车道t沿Y方向驶入该Y字路口区域，则确定车道s和车道t驶入该Y字路口区域的方向角为π/2；车道r沿Y相反方向驶出该Y字路口区域，则确定车道r驶出该Y字路口区域的方向角为-π/2；车道z与Y字路口区域相接部分的方向角为-π/4，则确定车道u驶出该Y字路口区域的方向角为π/4。进而，可以将驶入该Y字路口区域的方向角相同的车道s和车道t划分为驶入车道组H，同理，可以将车道r划分为驶出车道组H’。
进一步地，在上述步骤101中，可以参照图9中的坐标系，确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的夹角。可以根据坐标系中各车道的车道线与路口区域相接部分的方向角，确定第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的夹角。
举例来说，如上述图1所示，将车道a的车道线与十字路口区域相接部分的方向角-π/2作为驶出车道组A’的方向角；将车道e的车道线与十字路口区域相接部分的方向角π作为驶入车道组B的方向角；可得驶出车道组A’的方向角与驶入车道组B的方向角的差值为-3*π/2，即得到驶入车道组B所在方向与驶出车道组A’所在方向之间的夹角为-3*π/2。
如上述图2所示，将车道k的车道线与T字路口区域相接部分的方向角-π/2作为驶出车道组E’的方向角；将车道q的车道线与T字路口区域相接部分的方向角0作为驶入车道组G的方向角；可得驶出车道组E’的方向角与驶入车道组G的方向角的差值为-π/2，即得到驶入车道组G所在方向与驶出车道组E’所在方向之间的夹角为-π/2。
如上述图3所示，将车道u的车道线与Y字路口区域相接部分的方向角π/4作为驶出车 道组I’的方向角；将车道z的车道线与Y字路口区域相接部分的方向角-π/4作为驶入车道组J的方向角；可得驶出车道组I’的方向角与驶入车道组J的方向角的差值为π/2，即得到驶入车道组J所在方向与驶出车道组I’所在方向之间的夹角为π/2。
图10示出根据本申请一实施例的一种确定行驶方向特征的方法的流程图，如图10所示，上述步骤102中，根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征，可以包括以下步骤：
步骤1001、从第一驶入车道组对应的多个预设范围中，确定至少一个夹角所属的至少一个目标预设范围，其中，多个预设范围与多个行驶方向特征相一一对应。
示例性地，预设范围的数量可以为4个，即第一驶入车道组对应四个预设范围，且不同的预设范围之间无重合部分；不同的预设范围与不同的行驶方向特征一一对应，例如，四个预设范围可以分别与行驶方向特征左转、右转、掉头、直行一一对应。将第一驶入车道组所在方向与驶出车道组所在方向之间的夹角与四个预设范围进行比较，从而在这个四个预设范围中，选取出第一驶入车道组所在方向与驶出车道组所在方向之间的夹角所属的目标预设范围。
示例性地，第一驶入车道组对应的多个预设范围可以根据第一驶入车道组所在方向和预设阈值确定。其中，预设阈值的取值范围可以为[0，π/2)，为了方便描述，采用Δ表示该预设阈值；第一驶入车道组所在方向可以利用方向角表示。
由于不同的驶入车道组所在方向存在差异，此时，即便夹角相同，驶入车道组至驶出车道组的行驶方向特征可能不同，同时，考虑到实际道路中路口区域存在多种类型，同一行驶方向特征对应的驶出车道组所在方向与驶入车道组所在方向的夹角可能存在较大差异，因此，本申请实施例中根据预设阈值及驶入车道组所在方向确定预设范围，从而使得各预设范围与实际的行驶方向特征相对应，其中，预设阈值可以根据实际路口区域的类型进行设定。
在一种可能的实现方式中，可以用与第一驶入车道组所在方向满足某一行驶方向特征的参考方向，减去驶入车道组所在方向，得到一个参考值，该参考值加上预设阈值作为上限，减去预设阈值作为下限，得到对应于该行驶方向特征的预设范围。
下面结合图11，以十字路口区域为例，对确定第一驶入车道组对应的四个预设范围进行示例性说明；图11示例性地示出第一驶入车道组方向角为π/2时行驶方向特征，可以理解的是，同理可以确定第一驶入车道组方向角为π、-π/2、0等不同方向角时行驶方向特征。
图11示出根据本申请一实施例的第一驶入车道组方向角为π/2时行驶方向特征示意图。图11中空心箭头表示第一驶入车道组方向角，实心箭头表示驶出车道组方向角。如图11所示，第一驶入车道组方向角为π/2，若从第一驶入车道组至驶出车道组的行驶方向特征为左转，则驶出车道组方向角接近π或临近-π(即左转的参考方向)；用π或-π与π/2相减，得到π/2或-3*π/2(即参考值)，因此，结合Δ，一个预设范围可以设置为[(π/2-Δ),(π/2+Δ)]、[(-3*π/2-Δ),(-3*π/2+Δ)],该预设范围与行驶方向特征-左转对应。若从第一驶入车道组至驶出车道组的行驶方向特征为右转，则驶出车道组方向角接近0；因此，结合Δ，一个预设范围可以设置为[(-π/2-Δ),(-π/2+Δ)],该预设范围与行驶方向特征-右转对应。若从第一驶入车道组至驶出车道组的行驶方向特征为直行，则驶出车道组方向角接近π/2；因此，结合Δ，一个预设范围可以设置为[(0-Δ),(0+Δ)],该预设范围与行驶方向特征-直行对应。若从第一驶入车道组至驶出车道组的行驶方向特征为掉头，则驶出车道组方向角接近-π/2； 因此，结合Δ，一个预设范围可以设置为[(-π-Δ),(-π+Δ)],该预设范围与行驶方向特征-掉头对应。
将上述所确定的第一驶入车道组不同方向角时，预设范围及其对应的行驶方向特征进行汇总，得到下述表1。
表1-预设范围与行驶方向特征对应表
Figure PCTCN2021098118-appb-000001
表1示出了第一驶入车道组不同方向角时，预设范围与行驶方向特征的对应关系。示例性地，可以通过查表1，确定第一驶入车道组所在方向与驶出车道组所在方向之间的夹角所属的目标预设范围，例如，Δ取π/4，若第一驶入车道组的方向角为0，第一驶入车道组所在方向与驶出车道组所在方向之间的夹角为π/6，通过查表1可得，π/6落在[(0-π/4),(0+π/4)]区间内，即该夹角所属的目标预设范围为[(0-π/4),(0+π/4)]，对应的行驶方向特征为直行。
步骤1002、根据至少一个目标预设范围对应的至少一个行驶方向特征，确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征。
该步骤中，可以根据与步骤1001中所确定的目标预设范围一一对应的行驶方向特征，确定第一驶入车道组至驶出车道组的行驶方向特征，例如，目标预设范围对应的行驶方向特征为左转，则确定第一驶入车道组至所述驶出车道组的行驶方向特征为左转。
以上述表1为例，当驶入车道组的方向角为π/2时，所确定的目标预设范围为[(0-Δ),(0+Δ)]，查表1可知，该目标预设范围对应的行驶方向特征为直行，则确定从第一驶入车道组至该驶出车道组的行驶方向特征为直行；当第一驶入车道组的方向角为π时，所确定的目标预设范围为[(-π/2-Δ),(-π/2+Δ)]，查表1可知，该目标预设范围对应的行驶方向特征为右转，则确定从第一驶入车道组至该驶出车道组的行驶方向特征为右转。
本公开实施例中，通过从第一驶入车道组对应的多个预设范围中，确定第一驶入车道组所在方向与驶出车道组所在方向之间的夹角所属的目标预设范围，从而根据目标预设范围对 应的行驶方向特征，确定从第一驶入车道组至该驶出车道组的行驶方向特征；计算时间复杂度低，实现了快速判断从第一驶入车道组至驶出车道组的行驶方向特征，同时，第一驶入车道组对应的多个预设范围可以根据驶入车道组所在方向和预设阈值确定，从而满足各种类型的路口区域。
在一种可能的实现方式中，步骤1002中，根据至少一个目标预设范围对应的至少一个行驶方向特征，确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征，包括：在多个预设范围中的每个预设范围至多对应于一个所述夹角时，将至少一个目标预设范围对应的至少一个行驶方向特征，确定为从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征。
本申请实施例中，针对至少一个夹角的数量不大于多个预设范围的数量的场景，且在多个预设范围中的每个预设范围至多对应于一个夹角时，例如，十字路口区域、T字路口区域、Y字路口区域、X字路口区域等驶出车道组的数量不大于4，若预设范围的数量为4个，此时，通过上述步骤101、针对第一驶入车道组，可以得到第一驶入车道组所在方向与最多4个驶出车道组所在方向之间的夹角，则第一驶入车道组所在方向与不同驶出车道组所在方向之间的夹角可能属于不同的目标预设范围，对于任一目标预设范围，在4个夹角中只有一个夹角属于该目标预设范围，此时，可以将第一驶入车道组所在方向与驶出车道组所在方向之间的夹角所属的目标预设范围对应的行驶方向特征，确定为从第一驶入车道组至该驶出车道组的行驶方向特征，从而避免误判。
举例来说，如上述图1所示，对于驶入车道组B，方向角为π，设Δ＝π/4，可以得到驶入车道组B对应的四个预设范围，即：[(π/4),(3*π/4)]、[(-7*π/4),(-5*π/4)]，对应行驶方向特征-左转；[(-π/4),(π/4)]、[(-9*π/4),(-7*π/4)]、[(7*π/4),(9*π/4)]，对应行驶方向特征-直行；[(-3*π/4),(-π/4)]、[(5*π/4),(7*π/4)]，对应行驶方向特征-右转；[(-5*π/4),(-3*π/4)]、[(3*π/4),(5*π/4)]，对应行驶方向特征-掉头。对于驶出车道组A’的方向角为-π/2，则驶入车道组B所在方向与驶出车道组A’所在方向之间的夹角为-3*π/2，属于预设范围[(π/4),(3*π/4)]、[(-7*π/4),(-5*π/4)]；对于驶出车道组B’的方向角为0，则驶入车道组B所在方向与驶出车道组B’所在方向之间的夹角为-π，属于预设范围[(-5*π/4),(-3*π/4)]、[(3*π/4),(5*π/4)]；对于驶出车道组C’的方向角为π/2，则驶入车道组B所在方向与驶出车道组C’所在方向之间的夹角为-π/2，属于预设范围[(-3*π/4),(-π/4)]、[(5*π/4),(7*π/4)]；对于驶出车道组D’的方向角为π，则驶入车道组B所在方向与驶出车道组D’所在方向之间的夹角为0，属于预设范围[(-π/4),(π/4)]、[(-9*π/4),(-7*π/4)]、[(7*π/4),(9*π/4)]；由此可知，在驶入车道组B所在方向与驶出车道组A’、驶出车道组B’、驶出车道组C’、驶出车道组D’所在方向的四个夹角中，每一夹角属于的目标预设范围互不相同，即多个预设范围中的每个预设范围至多对应于一个夹角，则可以根据各目标预设范围对应的行驶方向特征，确定从驶入车道组B至驶出车道组A’的行驶方向特征为左转、从驶入车道组B至驶出车道组B’的行驶方向特征为掉头、从驶入车道组B至驶出车道组C’的行驶方向特征为右转、从驶入车道组B至驶出车道组D’的行驶方向特征为直行。
在一种可能的实现方式中，图12示出根据本申请一实施例的在多个夹角对应于同一目标预设范围时，确定行驶方向特征的方法的流程图，如图12所示，上述步骤1002中，根据至 少一个目标预设范围对应的至少一个行驶方向特征，确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征，可以包括以下步骤：
步骤1201、在至少一个夹角中的多个夹角对应于同一目标预设范围时，确定多个夹角中绝对值最小的夹角。
该步骤中，针对至少一个夹角的数量不大于多个预设范围的数量的场景，在上述得到的第一驶入车道组所在方向与多个驶出车道组所在方向之间的多个夹角中，多个夹角(如两个、三个等)可能对应于同一目标预设范围，例如，在Y字路口区域、X字路口区域等方向不标准的路口区域，可能会出来两个驶出车道组所在方向较为接近，导致所确定的第一驶入车道组所在方向与这两个驶出车道组所在方向的两个夹角对应于同一目标预设范围，此时，可以定多个夹角中绝对值最小的夹角。
步骤1202、将同一目标预设范围对应的行驶方向特征，确定为多个夹角中绝对值最小的夹角对应的第一行驶方向特征，第一行驶方向特征表示从第一驶入车道组到多个夹角中绝对值最小的夹角对应的驶出车道组的行驶方向特征。
该步骤中，将同一目标预设范围对应的行驶方向特征，确定为上述步骤1201中绝对值最小的夹角对应的第一驶入车道组到该绝对值最小的夹角对应的驶出车道组的行驶方向特征。例如，目标预设范围对应的行驶方向特征为直行，则确定从绝对值最小的夹角对应的第一驶入车道组到驶出车道组的行驶方向特征为直行。
步骤1203、根据多个夹角中其他夹角与多个夹角中绝对值最小的夹角之间的相对方向关系，以及第一行驶方向特征，确定从第一驶入车道组到其他夹角对应的驶出车道组的行驶方向特征。
该步骤中，可以根据其他夹角与绝地值最小的夹角的相对方向关系，并结合上述步骤1202确定的最小夹角对应的第一行驶方向特征，确定多个夹角中其他夹角对应的驶出行驶方向特征。例如，上述步骤1202中确定第一行驶方向特征为直行，若一个其他夹角与绝对值最小的夹角之间的相对方向关系表明从驶入车道组到该其他夹角对应的驶出车道组的行驶方向特征应为右转，则确定第一车道组至该其他夹角对应的驶出车道组的行驶方向特征为右转。
本申请实施例中，针对至少一个夹角的数量不大于多个预设范围的数量的场景，在至少一个夹角中的多个夹角对应于同一目标预设范围时，此时，通过确定多个夹角中的绝对值最小的夹角，并将同一目标预设范围对应的行驶方向特征，确定为该绝对值最小的夹角对应的第一行驶方向特征，进而根据多个夹角中其他夹角与绝对值最小的夹角之间的相对方向关系，以及第一行驶方向特征，确定第一驶入车道组到其他夹角对应的驶出车道组的行驶方向特征，这样，所确定的第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，从而避免误判。
举例来说，图13示出根据本申请一实施例的一种X字路口区域示意图，如图13所示，该路口区域与四个驶入车道组和四个驶出车道组相接，即驶入车道组K、驶入车道组L、驶入车道组M、驶入车道组N、驶出车道组K’、驶出车道组L’、驶出车道组M’、驶出车道组N’；参照图9中坐标系，设驶入车道组K的方向角为π/2，驶出车道组K’的方向角为-π/2；驶入车道组L的方向角为5*π/8，驶出车道组L’的方向角为-3*π/8；驶入车道组M的方向角为-π/2，驶出车道组M’的方向角为π/2；驶入车道组N的方向角为-3*π/8，驶出车道组N’的方向角为5*π/8。对于驶入车道组K，设Δ＝π/4，则驶入车道组K对应的四个预设范围为：[(π/4),(3*π/4)]、[(-7*π/4),(-5*π/4)]对应行驶方向特征左转，[(-π/4),(π/4)]对应行 驶方向特征直行，[(-3*π/4),(-π/4)]对应行驶方向特征右转，[(-5*π/4),(-3*π/4)]对应行驶方向特征掉头，此时，驶入车道组K所在方向与驶出车道组K’所在方向的夹角为-π、驶入车道组K所在方向与驶出车道组L’所在方向的夹角为-7*π/8、驶入车道组K所在方向与驶出车道组M’所在方向的夹角为0、驶入车道组K所在方向与驶出车道组N’所在方向的夹角为π/8。可以看出，夹角0和夹角π/8属于同一目标预设范围[(-π/4),(π/4)]，从驶入车道组K至驶出车道组N’的行驶方向特征应为左转，此时，在夹角0和夹角π/8中选择最小夹角0，将目标预设范围[(-π/4),(π/4)]对应的行驶方向特征-直行，确定为夹角0对应的驶入行驶方向特征，即确定从驶入车道组K至驶出车道组M’的行驶方向特征为直行；然后，根据夹角0和夹角π/8的相对方向关系，以及夹角0对应的驶入行驶方向特征为直行，可知驶出行驶方向特征应为左转，即确定驶入车道组K至驶出车道组N’的行驶方向特征为左转。类似的，可以确定驶入车道组K至驶出车道组K’的行驶方向，以及驶入车道组K至驶出车道组L’的行驶方向，在此不再赘述。
在一种可能的实现方式中，图14示出根据本申请一实施例的一种通过调整预设范围确定行驶方向特征的方法的流程图，如图14所示，上述步骤1002中，根据至少一个目标预设范围对应的至少一个行驶方向特征，确定从第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征，可以包括以下步骤：
步骤1401、在至少一个夹角中的多个夹角对应于同一目标预设范围时，调整多个预设范围中的至少一个预设范围，以使调整后的每个目标预设范围仅对应于一个夹角；
该步骤中，针对至少一个夹角的数量不大于多个预设范围的数量的场景，当多个夹角对应于同一目标预设范围时，可以通过调整预设范围，以使每个目标预设范围仅对应于一个夹角。示例性地，可以通过调整预设阈值，从而调整预设范围，以使得每个目标预设范围仅对应于一个夹角。可仅针对出现“多个夹角对应于同一目标预设范围”这一特殊情况的路口区域，进行预设范围的调整，未出现这种情况的路口区域，预设范围不变。
步骤1402、将调整后的多个目标预设范围对应的多个行驶方向特征，确定为从第一驶入车道组至多个夹角对应的多个驶出车道组的多个行驶方向特征。
该步骤中，通过调整后的目标预设范围对应的行驶方向特征，确定第一驶入车道组至对应于该目标预设范围的夹角所对应的驶出车道组的行驶方向特征。
本申请实施例中，针对至少一个夹角的数量不大于多个预设范围的数量的场景，在至少一个夹角中的多个夹角对应于同一目标预设范围时，通过调整多个预设范围中的至少一个预设范围，以使调整后的每个目标预设范围仅对应于一个夹角；并将调整后的多个目标预设范围对应的多个行驶方向特征，确定为从第一驶入车道组至多个夹角对应的多个驶出车道组的多个行驶方向特征，这样，所确定的第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，从而避免误判。
在一种可能的实现方式中，图15示出根据本申请一实施例的一种通过划分预设范围确定行驶方向特征的方法的流程图，如图15所示，上述步骤1401中，在至少一个夹角中的多个夹角对应于同一目标预设范围时，调整多个预设范围中的至少一个预设范围，可以包括：
步骤1501、在至少一个夹角的数量大于所述多个预设范围的数量，且至少一个夹角中的多个夹角对应于同一目标预设范围时，划分所述同一目标预设范围为多个子预设范围，多个子预设范围与多个子行驶方向特征一一对应，且每个所述子预设范围至多对应于所述多个夹 角中的一个夹角。
该步骤中，针对至少一个夹角的数量大于多个预设范围的数量的场景，且至少一个夹角中的多个夹角对应于同一目标预设范围时，可以将该同一目标预设范围进一步划分为多个子预设范围，从而使得每个子预设范围至多对应于多个夹角中的一个夹角。例如，当驶出车道组的大于4时，例如，多叉路口区域(如五叉路口区域)等，此时路口区域更加复杂，若预设范围的数量为4，可能第一驶入车道组所在方向与两个驶出车道组所在方向的两个夹角属于同一目标预设范围的情况，该同一目标预设范围对应的行驶方向特征为直行，此时，可以划分该同一目标预设范围为两个子预设范围，这两个子预设范围对应的行驶方向特征可以分别为直行、左前方行驶。
相应的，上述步骤1402、将调整后的多个目标预设范围对应的多个行驶方向特征，确定为从第一驶入车道组至多个夹角对应的多个驶出车道组的多个行驶方向特征，可以包括：
步骤1502、将与多个子目标预设范围对应的多个子行驶方向特征，确定为从第一驶入车道组至与多个夹角对应的多个驶出车道组的多个行驶方向特征。
该步骤中，通过上述划分的子预设范围，使得划分后的每个子目标预设范围仅对应于一个夹角，进而可以将子目标预设范围对应的子行驶方向特征，确定为从第一驶入车道组至与对应于该子目标预设范围的夹角所对应的驶出车道组的行驶方向特征。
本申请实施例中，针对至少一个夹角的数量大于多个预设范围的数量的场景，在至少一个夹角中的多个夹角对应于同一目标预设范围时，通过划分同一目标预设范围为多个子预设范围，以使子预设范围至多对应于多个夹角中的一个夹角；从而将与多个子目标预设范围对应的多个子行驶方向特征，确定为从第一驶入车道组至与多个夹角对应的多个驶出车道组的多个行驶方向特征，这样，所确定的第一驶入车道组至不同驶出车道组的行驶方向特征均不相同，从而避免误判。
举例来说，图16示出根据本申请一实施例的一种复杂路口区域示意图，如图16所示，该路口区域与六个驶入车道组和六个驶出车道组相接，即驶入车道组O、驶入车道组P、驶入车道组Q、驶入车道组R、驶入车道组S、驶入车道组T、驶出车道组O’、驶出车道组P’、驶出车道组Q’、驶出车道组R’、驶出车道组S’、驶出车道组T’；参照图9中坐标系，设驶入车道组O的方向角为π/2，驶出车道组O’的方向角为-π/2；驶入车道组P的方向角为5*π/8，驶出车道组P’的方向角为-3*π/8；驶入车道组Q的方向角为π，驶出车道组Q’的方向角为0；驶入车道组R的方向角为-π/2，驶出车道组R’的方向角为π/2；驶入车道组S的方向角为-3*π/8，驶出车道组S’的方向角为5*π/8；驶入车道组T的方向角为0，驶出车道组T’的方向角为π。对于驶入车道组O，设Δ＝π/4，则驶入车道组O对应的四个预设范围为：[(π/4),(3*π/4)]、[(-7*π/4),(-5*π/4)]对应行驶方向特征左转，[(-π/4),(π/4)]对应行驶方向特征直行，[(-3*π/4),(-π/4)]对应行驶方向特征右转，[(-5*π/4),(-3*π/4)]对应行驶方向特征掉头，此时，驶入车道组O所在方向与驶出车道组O’所在方向的夹角为-π、驶入车道组O所在方向与驶出车道组P’所在方向的夹角为-7*π/8、驶入车道组O所在方向与驶出车道组Q’所在方向的夹角为π/2、驶入车道组O所在方向与驶出车道组R’所在方向的夹角为0、驶入车道组O所在方向与驶出车道组S’所在方向的夹角为π/8,驶入车道组O所在方向与驶出车道组T’所在方向的夹角为3*π/2。可以看出，夹角0和夹角π/8属于同一目标预设范围[(-π/4),(π/4)]，从驶入车道组O至驶出车道组S’的行驶方向特征可能为左转，此时，可以 进一步将预设范围[(-π/4),(π/4)]划分为两个子预设范围，例如，子预设范围[(-π/4),(π/16)]及子预设范围[(π/16)，(π/4)]，此时，子预设范围对应的子行驶方向特征为直行，[(π/16)，(π/4)]对应的子行驶方向特征为左前方行驶，这样，夹角0对应于子目标预设范围[(-π/4),(π/16)]，则确定从驶入车道组O至驶出车道组R’的行驶方向特征为直行；夹角π/8对应于子目标预设范围[(π/16)，(π/4)]，则确定从驶入车道组O至驶出车道组R’的行驶方向特征为左前方行驶；类似的，可以确定驶入车道组O至驶出车道组O’的行驶方向，以及驶入车道组O至驶出车道组P’的行驶方向，在此不再赘述。图17示出根据本申请一实施例的一种通过不同标注曲线标注车道线的方法的流程图，如图17所示，在上述步骤103中，根据至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线，可以包括以下步骤：
步骤1701、根据至少一个行驶方向特征，确定与至少一个行驶方向特征对应的至少一个标注曲线。
该步骤中，根据从第一驶入车道组至驶出车道组的行驶方向特征，确定该行驶方向特征对应的标注曲线，使所标注的路口区域内的车道线更加平滑，从而使得导航车辆沿该车道线行驶时更加平稳。
示例性地，以曲线类型为贝塞尔曲线为例，当从驶入车道组至驶出车道组的行驶方向特征为直线时，可以确定标注曲线为一个一阶贝塞尔曲线，或者三个一阶贝塞尔曲线。当从驶入车道组至驶出车道组的行驶方向特征为左转或右转时，可以确定标注曲线为一个二阶贝塞尔曲线，或者两个一阶贝塞尔曲线和一个二阶贝塞尔曲线。当从驶入车道组至驶出车道组的行驶方向特征为掉头时，可以确定标注曲线为一个二阶贝塞尔曲线，或者一个三阶贝塞尔曲线，或者两个一阶贝塞尔曲线和一个三阶贝塞尔曲线。
步骤1702、确定至少一个驶入车道与路口区域的至少一个驶入相接点。
该步骤中驶入车道组中驶入车道与路口区域的驶入相接点可以为驶入车道组中驶入车道的车道线与路口区域的交点；示例性地，驶入车道组中驶入车道与路口区域的驶入相接点可以为驶入车道组中驶入车道的车道中心线与路口区域的交点，和/或驶入车道组中驶入车道的车道边线与路口区域的交点。
步骤1703、确定至少一个驶出车道组中的至少一个驶出车道与路口区域的至少一个驶出相接点。
该步骤中，驶出车道组中驶出车道与路口区域的驶出相接点可以为驶出车道组中驶出车道的车道线与路口区域的交点；示例性地，驶出车道组中驶出车道与路口区域的驶出相接点可以为驶出车道组中驶出车道的车道中心线与路口区域的交点，和/或驶出车道组中驶出车道的车道边线与路口区域的交点。
举例来说，图18示出根据本申请一实施例的驶入相接点及驶出相接点的示意图，图18示出了上述图1中部分驶入相接点及驶出相接点，在图18中，驶入车道组A中车道b与十字路口区域的驶入相接点为U、V、W，其中，U、W为车道b的车道边线与十字路口区域的交点，V为车道b的车道中心线与十字路口区域的交点；驶出车道组B’中车道d与十字路口区域的驶出相接点为U’、V’、W’，其中，U’、W’为车道d的车道边线与十字路口区域的交点，V’为车道d的车道中心线与十字路口区域的交点。
步骤1704、根据至少一个驶入相接点、至少一个驶出相接点及至少一个标注曲线，在路 口区域内，标注连接至少一个驶入车道到至少一个驶出车道组中的至少一个驶出车道的车道线。
根据上述步骤1701确定的标注曲线及步骤1702和1703中确定的驶入车道组中各车道及驶出车道组中各车道与路口区域的相接点，在路口区域内，自动标注连接驶入车道组中的各车道到驶出车道组中的各相应车道的车道线。
示例性地，驶入车道组中的驶入车道和驶出车道组中的驶出车道之间，可以根据预设的规则建立对应关系，将相对应的驶入车道和驶出车道之间以车道线进行标注。
示例性地，可以通过驶入相接点和/或驶出相接点确定控制点，进而根据控制点及标注曲线，标注路口区域内的车道线。当从驶入车道组至驶出车道组的行驶方向特征为直线时，可以根据驶入车道组车道与路口区域的相接点、驶出车道组中车道与路口区域的相接点，绘制一阶贝塞尔曲线。
当从驶入车道组至驶出车道组的行驶方向特征为左转或右转时，可以通过驶入相接点和/或驶出相接点确定3个或者5个控制点，例如，控制点可以包括：驶入车道组车道与路口区域的驶入相接点、驶出车道组中驶入车道与路口区域的驶出相接点、以及驶入车道组驶入车道的车道线与驶出车道组中驶出车道的车道线的交点，通过这3个控制点绘制二阶贝塞尔曲线；再例如，控制点可以包括：驶入车道组中驶入车道与路口区域的驶入相接点、驶出车道组中驶出车道与路口区域的驶出相接点、驶入车道组驶入车道的车道线与驶出车道组中驶出车道的车道线的交点、驶入车道组中驶入车道与路口区域的驶入相接点与该交点之间连线上的某点、驶出车道组中驶出车道与路口区域的驶出相接点与该交点之间连线上的某点，通过这5个控制点绘制一个一阶贝塞尔曲线、一个二阶贝塞尔曲线及一个一阶贝塞尔曲线。
当从驶入车道组至驶出车道组的行驶方向特征为掉头时，可以通过驶入相接点和/或驶出相接点确定3个或者5个控制点，例如，控制点可以包括：驶入车道组驶入车道与路口区域的驶入相接点、驶出车道组中驶出车道与路口区域的驶出相接点、以及驶入车道组中驶入车道与路口区域的驶入相接点和驶出车道组中驶出车道与路口区域的驶出相接点的中垂线上一定长度(如8米)的点，通过这3个控制点绘制二阶贝塞尔曲线。再例如，控制点可以包括：驶入车道组中驶入车道与路口区域的驶入相接点、驶出车道组中驶出车道与路口区域的驶出相接点、以及驶入车道组中驶入车道的车道线上一定长度(如8米)的点、驶出车道组中驶出车道的车道线上一定长度(如8米)的点，通过这4个控制点绘制三阶贝塞尔曲线。
本申请实施例中，根据至少一个行驶方向特征，确定至少一个行驶方向特征对应的至少一个标注曲线，并确定驶入相接点及驶出相接点，从而标注连接第一驶入车道组中的至少一个驶入车道到至少一个驶出车道组中的至少一个驶出车道的车道线，这样，利用不同的标注曲线标注不同行驶方向特征所对应的第一驶入车道组中的至少一个驶入车道到至少一个驶出车道组中的至少一个驶出车道的车道线，从而使所标注的路口区域内的车道线更加平滑，从而使得导航车辆沿该车道线行驶时更加平稳。
图19示出根据本申请一实施例的一种根据驶入车道的行驶方向规定标注车道线的方法的流程图，如图19所示，在上述步骤103中，根据所述至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线，可以包括以下步骤：
步骤1901、确定第一驶入车道组中的至少一个驶入车道的行驶方向规定。
其中，行驶方向规定表示交通规则对各车道指定车辆行驶的方向的规定，行驶方向规定可以包括直行、左转、右转、掉头中的一项或多项，表示相应车道为交通规则所指定的直行车道、左转车道、右转车道、掉头车道、或直行加左转车道、直行加右转车道等。行驶方向规定还可表示交通规则禁止的行驶方向，例如禁止右转、禁止掉头等。
步骤1902、根据至少一个行驶方向特征和行驶方向规定，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线。
示例性地，若驶入车道组中某一车道的行驶方向规定为右转，驶入车道组至驶出车道组的行驶方向特征也为右转，则自动标注连接该车道与驶出车道组中的一个或多个车道的车道线。其中，自动标注车道线的方式可以参照上述图17，在此不再赘述。若驶入车道组中某一车道的行驶方向规定为直行加左转、禁止掉头，而驶入车道组至驶出车道组的行驶方向特征为掉头，则不在路口区域中标注连接该驶入车道组和该驶出车道组中车道的车道线，如果存在对应行驶方向特征为左转或直行的其他驶出车道组，则标注连接驶入车道组的驶入车道和这些驶出车道组中的驶出车道的车道线。
本申请实施例中，考虑到第一驶入车道组中至少一个驶入车道通常具有行驶方向规定，因此，根据至少一个行驶方向特征和第一驶入车道组中的至少一个驶入车道的行驶方向规定，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线，从而满足路口区域的实际交通规则。
在一种可能的实现方式中，针对驶出车道组不大于4个或路口区域复杂的场景，例如，环形路口区域、错位路口区域、多叉路口区域等，可以将路口区域拆分为多个子路口区域，针对每个子路口区域，执行上述步骤101-步骤103，从而自动标注各子路口区域内的车道线，将所有子路口区域内的车道线进行拼接处理，得到该路口区域内的车道线。
下面以某一实际路口区域为例对本申请实施例中车道线标注方法进行说明。
获取路口区域的已知信息，图20示出根据本申请一实施例的一个实际十字路口区域的示意图，如图20所示，获取的路口区域的已知信息可以包括：路口区域的编号为：50002511。与路口区域相接的车道边线(图20中实线)，各车道边线的编号(图20中未示出)分别为：6000235759,6000235760，6000235998，6000235999，6000235921，6000235920，6000235574，6000235573，6000235575，6000235，6000235762，6000235761，6000236037，6000236036，6000235564，6000235563，6000236019，6000236018，6000236020。与路口区域相接的车道中心线(图20中虚线)，各车道中心线的编号分别为：40136477,40136619,40136580,40136374,40136373,40136478,40136640,40136367,40136631,40136630、各车道的方向角。
可以参照上述步骤100、将上述与路口区域相接的车道划分为驶入车道组及驶出车道组，其中，驶入车道组中包括沿相同方向驶入路口区域的驶入车道，驶出车道组中包括沿相同方向驶出路口区域的驶出车道。采用车道中心线进行分组，可得：
驶入车道组1，方向角是：1.82134，所包括的车道中心线编号为：40136374,40136373。
驶入车道组2，方向角是：-2.89603，所包括的车道中心线编号为：40136640。
驶入车道组3，方向角是：-1.34238，所包括的车道中心线编号为：40136631,40136630。
驶入车道组4，方向角是：0.286245，所包括的车道中心线编号为：40136619。
驶出车道组1，方向角是：-1.31801，所包括的车道中心线编号为：40136580。
驶出车道组2，方向角是：0.253121，所包括的车道中心线编号为：40136478。
驶出车道组3，方向角是：1.7987，所包括的车道中心线编号为：40136367。
驶出车道组4，方向角是：-2.8541，所包括的车道中心线编号为：40136477。
可以参照上述步骤101、确定上述各驶入车道组所在方向与各驶出车道组所在方向之间的夹角。表2示出了各驶入车道组所在方向与各驶出车道组所在方向之间的夹角。
表2-驶入车道组所在方向与驶出车道组所在方向之间的夹角
Figure PCTCN2021098118-appb-000002
可以参照上述步骤102、根据上述驶入车道组所在方向与驶出车道组所在方向之间的夹角，确定从驶入车道组至驶出车道组的行驶方向特征。其中，可以根据驶入车道组的方向角及预设阈值Δ，设定预设范围；设π＝3.141593，Δ取π/4＝0.785398,可以确定驶入车道组对应的四个预设范围，表3示出了驶入车道组对应的四个预设范围。
表3-驶入车道组对应的四个预设范围。
预设范围 行驶方向特征
[0.785398,2.356195],[-5.497788，-3.926991] 左转
[-7.068584，-5.497788],[-0.785398,0.785398],[5.497788，7.068584] 直行
[-2.356195,-0.785398],[3.926991，5.497788] 右转
[-3.926991,-2.356195],[2.356195，3.926991] 掉头
通过查表3，确定表2中的各夹角所属于的目标预设范围，从而确定该夹角对应的驶入车道组到驶出车道组的行驶方向特征。查表结果如表4所示，表4示出了从驶入车道组至驶出车道组的行驶方向特征。
表4-从驶入车道组至驶出车道组的行驶方向特征
Figure PCTCN2021098118-appb-000003
可以参照上述步骤103、根据行驶方向特征，自动在路口区域内标注连接驶入车道组中的驶入车道及驶出车道组中的驶出车道的车道线。图21示出根据本申请一实施例的在图20中实际十字路口区域内标注的车道的示意图。如图21所示，在上述图20中的路口区域内自动标注的车道线。
图22示出根据本申请一实施例的在一个实际T字路口区域内标注的车道线的示意图；如图22所示，对于某一编号为50002509的实际路口区域，执行本申请实施例中上述方法，从 而可以快速的在该路口区域内自动标注车道线。
图23示出根据本申请一实施例的在一个实际Y字路口区域内标注的车道线的示意图；如图23所示，对于某一编号为50002516的实际路口区域，执行本申请实施例中上述方法，从而可以快速的在该路口区域内自动标注车道线。
基于上述方法实施例的同一发明构思，本申请的实施例还提供了一种车道线标注装置，该标注装置用于执行上述方法实施例所描述的技术方案。
图24示出根据本申请一实施例的车道线标注装置的结构示意图；该装置用于在地图中的路口区域内标注车道线，路口区域与至少一个驶入车道组和至少一个驶出车道组相接，至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入所述路口区域的至少一个驶入车道，所述至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出所述路口区域的至少一个驶出车道；装置包括：夹角确定模块2401，用于确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；行驶方向特征确定模块2402，用于根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；自动标注模块2403，用于根据至少一个行驶方向特征，在路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
在一种可能的实现方式中，该装置还可以包括：车道组分类模块2400，用于将与路口区域相接的多个车道划分为至少一个驶入车道组及至少一个驶出车道组。
在一种可能的实现方式中，行驶方向特征确定模块2402，还用于：从第一驶入车道组对应的多个预设范围中，确定至少一个夹角所属的至少一个目标预设范围，其中，多个预设范围与多个行驶方向特征一一对应；根据至少一个目标预设范围对应的至少一个行驶方向特征，确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征。
在一种可能的实现方式中，第一驶入车道组对应的多个预设范围可以根据驶入车道组所在方向和预设阈值确定。
在一种可能的实现方式中，行驶方向特征确定模块2402，还用于：在所述多个预设范围中的每个预设范围至多对应于一个所述夹角时，将所述至少一个目标预设范围对应的至少一个行驶方向特征，确定为从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征。
在一种可能的实现方式中，行驶方向特征确定模块2402，还用于：在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，确定所述多个夹角中绝对值最小的夹角；将所述同一目标预设范围对应的行驶方向特征，确定为所述多个夹角中绝对值最小的夹角对应的第一行驶方向特征，所述第一行驶方向特征表示从所述第一驶入车道组到所述多个夹角中绝对值最小的夹角对应的驶出车道组的行驶方向特征；根据所述多个夹角中其他夹角与所述多个夹角中绝对值最小的夹角之间的相对方向关系，以及所述第一行驶方向特征，确定从所述第一驶入车道组到所述其他夹角对应的驶出车道组的行驶方向特征。
在一种可能的实现方式中，行驶方向特征确定模块2402，还用于：在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，调整所述多个预设范围中的至少一个预设范围，以使所述调整后的每个目标预设范围仅对应于一个所述夹角；将所述调整后的多个目标预设范围对应的多个行驶方向特征，确定为从所述第一驶入车道组至所述多个夹角对应的多个驶 出车道组的多个行驶方向特征。
在一种可能的实现方式中，行驶方向特征确定模块2402，还用于：在所述至少一个夹角的数量大于所述多个预设范围的数量，且所述至少一个夹角中的多个夹角对应于同一目标预设范围时，划分所述同一目标预设范围为多个子预设范围，所述多个子预设范围与多个子行驶方向特征一一对应，且每个所述子预设范围至多对应于所述多个夹角中的一个夹角；将与多个子目标预设范围对应的多个子行驶方向特征，确定为从所述第一驶入车道组至与所述多个夹角对应的多个驶出车道组的多个行驶方向特征。
在一种可能的实现方式中，自动标注模块2403，还用于：根据所述至少一个行驶方向特征，确定与所述至少一个行驶方向特征对应的至少一个标注曲线；确定至少一个驶入车道与所述路口区域的至少一个驶入相接点；确定所述至少一个驶出车道组中的至少一个驶出车道与所述路口区域的至少一个驶出相接点；根据所述至少一个驶入相接点、所述至少一个驶出相接点及所述至少一个标注曲线，在所述路口区域内，标注连接所述至少一个驶入车道到所述至少一个驶出车道组中的至少一个驶出车道的车道线。
在一种可能的实现方式中，自动标注模块2403，还用于：确定所述第一驶入车道组中的至少一个驶入车道的行驶方向规定；根据所述至少一个行驶方向特征和所述行驶方向规定，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
在一种可能的实现方式中，行驶方向特征可以包括左转、右转、掉头、直行中的一项或多项。
本申请实施例中，路口区域可以与至少一个驶入车道组和至少一个驶出车道组相接，其中，至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入该路口区域的至少一个驶入车道，至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出该路口区域的至少一个驶出车道，通过确定至少一个驶入车道组中的第一驶入车道组所在方向与至少一个驶出车道组所在方向之间的至少一个夹角；根据至少一个夹角确定从第一驶入车道组至至少一个驶出车道组的至少一个行驶方向特征；进而根据至少一个行驶方向特征，在路口区域内标注连接第一驶入车道组中的至少一个驶入车道与至少一个驶出车道组中的至少一个驶出车道的车道线；无需在路口区域内采集行驶数据，计算时间复杂度低，实现了路口区域内车道线的快速自动化标注，提高了高精度地图的制图效率，节约了制图成本。
上述实施例的各种可能的实现方式或说明参见上文，此处不再赘述。
本申请的实施例提供了一种车道线标注装置，包括：处理器以及用于存储处理器可执行指令的存储器；其中，所述处理器被配置为执行所述指令时实现上述方法。
图25示出根据本申请一实施例的一种车道线标注装置的结构示意图，如图25所示，该车道线标注装置可以包括：至少一个处理器3101，通信线路3102，存储器3103以及至少一个通信接口3104。
处理器3101可以是一个通用中央处理器(central processing unit，CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制本申请方案程序执行的集成电路。
通信线路3102可包括一通路，在上述组件之间传送信息。
通信接口3104，使用任何收发器一类的装置，用于与其他设备或通信网络通信，如以太 网，RAN，无线局域网(wireless local area networks，WLAN)等。
存储器3103可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过通信线路3102与处理器相连接。存储器也可以和处理器集成在一起。本申请实施例提供的存储器通常可以具有非易失性。其中，存储器3103用于存储执行本申请方案的计算机执行指令，并由处理器3101来控制执行。处理器3101用于执行存储器3103中存储的计算机执行指令，从而实现本申请上述实施例中提供的方法。
可选的，本申请实施例中的计算机执行指令也可以称之为应用程序代码，本申请实施例对此不作具体限定。
在具体实现中，作为一种实施例，处理器3101可以包括一个或多个CPU，例如图25中的CPU0和CPU1。
在具体实现中，作为一种实施例，车道线标注装置可以包括多个处理器，例如图25中的处理器3101和处理器3107。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
在具体实现中，作为一种实施例，车道线标注装置还可以包括输出设备3105和输入设备3106。输出设备3105和处理器3101通信，可以以多种方式来显示信息。例如，输出设备3105可以是液晶显示器(liquid crystal display，LCD)，发光二级管(light emitting diode，LED)显示设备，阴极射线管(cathode ray tube，CRT)显示设备，或投影仪(projector)等。输入设备3106和处理器3101通信，可以以多种方式接收用户的输入。例如，输入设备3106可以是鼠标、键盘、触摸屏设备或传感设备等。
本申请的实施例提供了一种非易失性计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。
本申请的实施例提供了一种计算机程序产品，包括计算机可读代码，或者承载有计算机可读代码的非易失性计算机可读存储介质，当所述计算机可读代码在电子设备的处理器中运行时，所述电子设备中的处理器执行上述方法。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(Random Access Memory，RAM)、只读存储器(Read Only Memory，ROM)、可擦式可编程只读存储器(Electrically Programmable Read-Only-Memory，EPROM或闪存)、静态随机存取存储器(Static Random-Access Memory，SRAM)、便携式压缩盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、数字多功能盘(Digital Video Disc，DVD)、记忆棒、软盘、机械编码设备、例如 其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。
这里所描述的计算机可读程序指令或代码可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本申请操作的计算机程序指令可以是汇编指令、指令集架构(Instruction Set Architecture，ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或可编程逻辑阵列(Programmable Logic Array，PLA)，该电子电路可以执行计算机可读程序指令，从而实现本申请的各个方面。
这里参照根据本申请实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本申请的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本申请的多个实施例的装置、系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行， 它们有时也可以按相反的顺序执行，这依所涉及的功能而定。
也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行相应的功能或动作的硬件(例如电路或ASIC(Application Specific Integrated Circuit，专用集成电路))来实现，或者可以用硬件和软件的组合，如固件等来实现。
尽管在此结合各实施例对本发明进行了描述，然而，在实施所要求保护的本发明过程中，本领域技术人员通过查看所述附图、公开内容、以及所附权利要求书，可理解并实现所述公开实施例的其它变化。在权利要求中，“包括”(comprising)一词不排除其他组成部分或步骤，“一”或“一个”不排除多个的情况。单个处理器或其它单元可以实现权利要求中列举的若干项功能。相互不同的从属权利要求中记载了某些措施，但这并不表示这些措施不能组合起来产生良好的效果。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (21)

  1. 一种车道线标注方法，其特征在于，所述方法用于在地图中的路口区域内标注车道线，所述路口区域与至少一个驶入车道组和至少一个驶出车道组相接，所述至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入所述路口区域的至少一个驶入车道，所述至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出所述路口区域的至少一个驶出车道；
    所述方法包括：
    确定所述至少一个驶入车道组中的第一驶入车道组所在方向与所述至少一个驶出车道组所在方向之间的至少一个夹角；
    根据所述至少一个夹角确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征；
    根据所述至少一个行驶方向特征，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：将与所述路口区域相接的多个车道划分为所述至少一个驶入车道组及所述至少一个驶出车道组。
  3. 根据权利要求1所述的方法，其特征在于，所述根据所述至少一个夹角确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征，包括：
    从所述第一驶入车道组对应的多个预设范围中，确定所述至少一个夹角所属的至少一个目标预设范围，其中，所述多个预设范围与多个行驶方向特征一一对应；
    根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征，包括：
    在所述多个预设范围中的每个预设范围至多对应于一个所述夹角时，将所述至少一个目标预设范围对应的至少一个行驶方向特征，确定为从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征。
  5. 根据权利要求3所述的方法，其特征在于，所述根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征，包括：
    在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，确定所述多个夹角中绝 对值最小的夹角；
    将所述同一目标预设范围对应的行驶方向特征，确定为所述多个夹角中绝对值最小的夹角对应的第一行驶方向特征，所述第一行驶方向特征表示从所述第一驶入车道组到所述多个夹角中绝对值最小的夹角对应的驶出车道组的行驶方向特征；
    根据所述多个夹角中其他夹角与所述多个夹角中绝对值最小的夹角之间的相对方向关系，以及所述第一行驶方向特征，确定从所述第一驶入车道组到所述其他夹角对应的驶出车道组的行驶方向特征。
  6. 根据权利要求3所述的方法，其特征在于，所述根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征，包括：
    在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，调整所述多个预设范围中的至少一个预设范围，以使所述调整后的每个目标预设范围仅对应于一个所述夹角；
    将所述调整后的多个目标预设范围对应的多个行驶方向特征，确定为从所述第一驶入车道组至所述多个夹角对应的多个驶出车道组的多个行驶方向特征。
  7. 根据权利要求6所述的方法，其特征在于，所述在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，调整所述多个预设范围中的至少一个预设范围，包括：
    在所述至少一个夹角的数量大于所述多个预设范围的数量，且所述至少一个夹角中的多个夹角对应于同一目标预设范围时，划分所述同一目标预设范围为多个子预设范围，所述多个子预设范围与多个子行驶方向特征一一对应，且每个所述子预设范围至多对应于所述多个夹角中的一个夹角；
    所述将所述调整后的多个目标预设范围对应的多个行驶方向特征，确定为从所述第一驶入车道组至所述多个夹角对应的多个驶出车道组的多个行驶方向特征，包括：
    将与多个子目标预设范围对应的多个子行驶方向特征，确定为从所述第一驶入车道组至与所述多个夹角对应的多个驶出车道组的多个行驶方向特征。
  8. 根据权利要求1所述的方法，其特征在于，所述根据所述至少一个行驶方向特征，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线，包括：
    根据所述至少一个行驶方向特征，确定与所述至少一个行驶方向特征对应的至少一个标注曲线；
    确定所述至少一个驶入车道与所述路口区域的至少一个驶入相接点；
    确定所述至少一个驶出车道组中的至少一个驶出车道与所述路口区域的至少一个驶出相 接点；
    根据所述至少一个驶入相接点、所述至少一个驶出相接点及所述至少一个标注曲线，在所述路口区域内，标注连接所述至少一个驶入车道到所述至少一个驶出车道组中的至少一个驶出车道的车道线。
  9. 根据权利要求1所述的方法，其特征在于，所述根据所述至少一个行驶方向特征，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线，包括：
    确定所述第一驶入车道组中的至少一个驶入车道的行驶方向规定；
    根据所述至少一个行驶方向特征和所述行驶方向规定，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
  10. 一种车道线标注装置，其特征在于，所述装置用于在地图中的路口区域内标注车道线，所述路口区域与至少一个驶入车道组和至少一个驶出车道组相接，所述至少一个驶入车道组中的每个驶入车道组包括沿相同方向驶入所述路口区域的至少一个驶入车道，所述至少一个驶出车道组中的每个驶出车道组包括沿相同方向驶出所述路口区域的至少一个驶出车道；
    所述装置包括：
    夹角确定模块，用于确定所述至少一个驶入车道组中的第一驶入车道组所在方向与所述至少一个驶出车道组所在方向之间的至少一个夹角；
    行驶方向特征确定模块，用于根据所述至少一个夹角确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征；
    自动标注模块，用于根据所述至少一个行驶方向特征，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
  11. 根据权利要求10所述的装置，其特征在于，所述装置还包括：车道组分类模块，用于将与所述路口区域相接的多个车道划分为所述至少一个驶入车道组及所述至少一个驶出车道组。
  12. 根据权利要求10所述的装置，其特征在于，所述行驶方向特征确定模块，还用于：从所述第一驶入车道组对应的多个预设范围中，确定所述至少一个夹角所属的至少一个目标预设范围，其中，所述多个预设范围与多个行驶方向特征一一对应；根据所述至少一个目标预设范围对应的至少一个行驶方向特征，确定从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征。
  13. 根据权利要求12所述的装置，其特征在于，所述行驶方向特征确定模块，还用于：在所述多个预设范围中的每个预设范围至多对应于一个所述夹角时，将所述至少一个目标预设范围对应的至少一个行驶方向特征，确定为从所述第一驶入车道组至所述至少一个驶出车道组的至少一个行驶方向特征。
  14. 根据权利要求12所述的装置，其特征在于，所述行驶方向特征确定模块，还用于：在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，确定所述多个夹角中绝对值最小的夹角；将所述同一目标预设范围对应的行驶方向特征，确定为所述多个夹角中绝对值最小的夹角对应的第一行驶方向特征，所述第一行驶方向特征表示从所述第一驶入车道组到所述多个夹角中绝对值最小的夹角对应的驶出车道组的行驶方向特征；根据所述多个夹角中其他夹角与所述多个夹角中绝对值最小的夹角之间的相对方向关系，以及所述第一行驶方向特征，确定从所述第一驶入车道组到所述其他夹角对应的驶出车道组的行驶方向特征。
  15. 根据权利要求12所述的装置，其特征在于，所述行驶方向特征确定模块，还用于：在所述至少一个夹角中的多个夹角对应于同一目标预设范围时，调整所述多个预设范围中的至少一个预设范围，以使所述调整后的每个目标预设范围仅对应于一个所述夹角；将所述调整后的多个目标预设范围对应的多个行驶方向特征，确定为从所述第一驶入车道组至所述多个夹角对应的多个驶出车道组的多个行驶方向特征。
  16. 根据权利要求15所述的方法，其特征在于，所述行驶方向特征确定模块，还用于：在所述至少一个夹角的数量大于所述多个预设范围的数量，且所述至少一个夹角中的多个夹角对应于同一目标预设范围时，划分所述同一目标预设范围为多个子预设范围，所述多个子预设范围与多个子行驶方向特征一一对应，且每个所述子预设范围至多对应于所述多个夹角中的一个夹角；将与多个子目标预设范围对应的多个子行驶方向特征，确定为从所述第一驶入车道组至与所述多个夹角对应的多个驶出车道组的多个行驶方向特征。
  17. 根据根权利要求10所述的装置，其特征在于，所述自动标注模块，还用于：根据所述至少一个行驶方向特征，确定与所述至少一个行驶方向特征对应的至少一个标注曲线；确定至少一个驶入车道与所述路口区域的至少一个驶入相接点；确定所述至少一个驶出车道组中的至少一个驶出车道与所述路口区域的至少一个驶出相接点；根据所述至少一个驶入相接点、所述至少一个驶出相接点及所述至少一个标注曲线，在所述路口区域内，标注连接所述至少一个驶入车道到所述至少一个驶出车道组中的至少一个驶出车道的车道线。
  18. 根据权利要求10所述的装置，其特征在于，所述自动标注模块，还用于：确定所述第一驶入车道组中的至少一个驶入车道的行驶方向规定；根据所述至少一个行驶方向特征和所述行驶方向规定，在所述路口区域内标注连接所述第一驶入车道组中的至少一个驶入车道与所述至少一个驶出车道组中的至少一个驶出车道的车道线。
  19. 一种车道线标注装置，其特征在于，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为执行所述指令时实现权利要求1至9任一项所述的方法。
  20. 一种非易失性计算机可读存储介质，其特征在于，所述计算机可读存储介质包括计算机指令，当所述计算机指令在计算机上运行时，使得计算机执行如权利要求1至9任一项所述的方法。
  21. 一种包含指令的计算机程序产品，其特征在于，当其在计算机上运行时，使得计算机执行如权利要求1至9任一项所述的方法。
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CN116045996B (zh) * 2023-03-31 2023-07-04 高德软件有限公司 路口道路连接关系的确定、路口虚拟线的生成方法及设备
CN116534021A (zh) * 2023-06-26 2023-08-04 小米汽车科技有限公司 虚拟车道生成方法、装置、车辆及存储介质
CN116534021B (zh) * 2023-06-26 2023-12-12 小米汽车科技有限公司 虚拟车道生成方法、装置、车辆及存储介质

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