CN110288675B - Lane reference line construction method and device and storage medium - Google Patents
Lane reference line construction method and device and storage medium Download PDFInfo
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Abstract
The invention relates to a lane reference line construction method, a lane reference line construction device and a storage medium, and belongs to the field of automatic driving. The method comprises the following steps: collecting the trajectory of the original lane, dividing the trajectory of the original lane according to a certain distance, calculating the course angle of the trajectory of the original lane in each divided distance interval, calculating the mean value of the course angles of the trajectory, obtaining the trajectory with the minimum difference with the mean value of the interval course angles and the corresponding minimum difference value, selecting the minimum value of the minimum difference values of each distance interval, taking the trajectory corresponding to the minimum value as an initial reference line, and selecting the trajectory to splice with the initial reference line according to the deviation of the course angles of the initial reference line and the trajectory of the trajectory in the adjacent distance interval to obtain the lane reference line. By the scheme, the precision of the lane reference line can be improved, and the lane marking line can be accurately drawn conveniently.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a method and a device for constructing a lane reference line and a storage medium.
Background
In the high-precision map making process, the crowdsourcing updating can reduce the acquisition and updating cost, so that the method is widely applied to the high-precision map making and updating of automatic driving. However, crowdsourcing data is acquired by multiple vehicles, and the acquired devices and methods have differences, so that errors also exist in the finally extracted lane lines, and the extracted lane marking lines have unclear outlines, scattered line segments and defects, so that the construction of high-precision lanes is difficult to meet.
The original lane marking can be reconstructed by constructing the reference line of the lane marking, so that lane division is facilitated, and a high-precision map is drawn. At present, lane reference lines are often obtained by means of cluster analysis in the construction of lane lines, and the accuracy of the reference lines obtained through the cluster analysis is low, so that the lane line drawing reconstruction at the lane level cannot be achieved.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, and a storage medium for constructing a lane reference line, which can draw a high-precision lane reference line and provide a reference for dividing and reconstructing a lane line.
In a first aspect of an embodiment of the present invention, a lane reference line construction method is provided, including:
collecting original lane trajectory lines, and selecting any lane trajectory line as an initial line;
dividing the trajectory of the original lane according to a preset distance along the direction of the initial line, calculating course angles of head and tail points of the trajectory line segment of the original lane in each divided distance interval, and solving the mean value of the course angles of all the trajectory line segments of the original lane in each distance interval;
acquiring an original lane track line segment with the minimum difference with the interval course angle mean value in each distance interval and a corresponding minimum difference value;
comparing the minimum difference values of the distance intervals, selecting the minimum value of the minimum difference values of the distance intervals, and taking the original lane track line segment corresponding to the minimum value as an initial reference line;
and selecting the original lane track line segment in the adjacent distance interval to be spliced with the initial reference line according to the course angle deviation between the initial reference line and the original lane track line segment in the adjacent distance interval until a lane reference line is obtained.
In a second aspect of the embodiments of the present invention, there is provided a lane reference line constructing apparatus including:
the collecting module is used for collecting original lane track lines and selecting any lane track line as an initial line;
the calculation module is used for dividing the trajectory of the original lane according to the preset distance along the direction of the initial line, calculating the course angle of the head and tail points of the trajectory line segment of the original lane in each divided distance interval and solving the mean value of the course angles of all the trajectory line segments of the original lane in each distance interval;
the acquisition module is used for acquiring an original lane track line segment with the minimum difference with the interval course angle mean value in each distance interval and a corresponding minimum difference value;
the selection module is used for comparing the minimum difference values of the distance intervals, selecting the minimum value of the minimum difference values of the distance intervals and taking the original lane track line segment corresponding to the minimum value as an initial reference line;
and the splicing module is used for selecting the original lane track line segment in the adjacent distance interval to splice with the initial reference line according to the course angle deviation between the initial reference line and the original lane track line segment in the adjacent distance interval until the lane reference line is obtained.
In a third aspect of the embodiments of the present invention, there is provided an apparatus, including a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the steps of the method according to the first aspect of the embodiments of the present invention.
In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the steps of the method provided by the first aspect of the embodiments of the present invention.
In a fifth aspect of embodiments of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by one or more processors, performs the steps of the method provided in the first aspect of embodiments of the present invention.
In the embodiment of the invention, the trajectory line of the original lane is divided, the course angle mean value of the trajectory line in each divided distance interval is calculated, the trajectory line with the minimum difference with the mean value is obtained, a plurality of minimum trajectory lines are compared, the trajectory line segment corresponding to the minimum value in the minimum trajectory lines is selected as the initial reference line, and then the adjacent trajectory line segments are continuously selected and spliced with the initial reference line according to the deviation between the trajectory line segments in the adjacent distance intervals and the initial reference line until all the trajectory lines are spliced. The lane reference lines are obtained by continuously selecting and splicing the original lane track lines after division, the lane reference lines drawn based on the original lane lines are high in precision, reference can be provided for construction of lane marking lines, and lane acquisition errors in crowdsourcing data can be reduced conveniently.
Drawings
Fig. 1 is a schematic flow chart of a lane reference line construction method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a method for constructing a lane reference line according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lane reference line constructing apparatus according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a lane reference line method, a lane reference line device and a storage medium, which are used for accurately drawing lane reference lines and facilitating the reconstruction of lane marking lines.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1, a flow chart of a lane reference line construction method according to an embodiment of the present invention includes:
s101, collecting original lane track lines, and selecting any lane track line as an initial line;
the original lane trajectory line is an original lane marking line or trajectory route obtained by crowdsourcing data acquisition vehicles, a plurality of lane trajectory lines can exist in the same lane, and the extracted lane trajectory lines may be discontinuous and disordered. If the original lane tracks are directly clustered, the lanes are represented by a line obtained by clustering, and the characteristics of lane division and the like in the lanes cannot be represented. In this embodiment, from the original lane trajectory lines, lane reference lines may be constructed and lane markings may be reconstructed.
S102, dividing the trajectory of the original lane according to a preset distance along the direction of the initial line, calculating course angles of head and tail points of the trajectory line segment of the original lane in each divided distance interval, and solving the mean value of course angles of all the trajectory line segments of the original lane in each distance interval;
and expressing a plurality of different lane track lines through a two-dimensional plane, and equally dividing formed lane track line clusters according to a certain distance. It should be noted that the starting point and the ending point of each original lane trajectory are the same or substantially the same, and may be set as the lane trajectory of a certain road or a certain section of road.
After the original lane track line is divided, original lane tracks are formed by original lane track line segments in each distance interval, the distances of the distance intervals are the same, and a plurality of original lane track line segments exist. And calculating the course angle of each track line segment in each distance interval to obtain the course angle mean value of the interval.
S103, acquiring an original lane track line segment with the minimum difference with the interval course angle mean value in each distance interval and a corresponding minimum difference value;
in each distance interval, one original lane track line segment has the minimum difference with the distance interval course angle mean value, and a plurality of distance intervals have a plurality of original lane track line segments which are closest to the interval course angle mean value.
S104, comparing the minimum difference values of the distance intervals, selecting the minimum value of the minimum difference values of the distance intervals, and taking the original lane track line segment corresponding to the minimum value as an initial reference line;
and selecting the minimum value in the original lane track line segment closest to the interval course angle mean value, and setting the original lane track line corresponding to the minimum value as an initial reference line. And selecting one track line segment from the plurality of original lane track line segments as an initial reference line, and further continuously selecting original lane track line segments of other intervals on the basis of the initial reference line to join.
And S105, selecting the original lane track line segment in the adjacent distance interval to splice with the initial reference line according to the course angle deviation between the initial reference line and the original lane track line segment in the adjacent distance interval until the lane reference line is obtained.
The course angle deviation comprises course angle deviations of the initial reference line and all track line segments in the adjacent distance intervals, and course angle deviations of all track line segments in the adjacent distance intervals and the average value of the course angles in the adjacent distance intervals.
Specifically, calculating a course angle of a first preset length of the head end or the tail end of the initial reference line and course angles of second preset lengths of all original lane track line segments in the adjacent distance interval, and setting a difference value of the two course angles as a first difference value;
calculating the difference between the mean value of the course angles of all the corresponding original lane track line segments in the adjacent distance intervals and the interval, and setting the difference value as a second difference value;
and respectively weighting the first difference value and the second difference value, and selecting the original lane track line segment with the minimum deviation with the initial reference line according to the weighting calculation result for splicing.
Optionally, original lane track line segments in all adjacent distance intervals on the same side of the original lane track line segment spliced with the initial reference line are continuously selected in a traversing manner for splicing to form a new reference line, and then original lane track line segments in all adjacent distance intervals on the other side are selected for splicing until the lane reference line is obtained, wherein the splicing process comprises the step of translating the original lane track line segments to realize connection with the reference line. And continuously selecting original lane track line segments in each adjacent interval to splice to form a new reference line, and when the original lane track line segments on the two sides of the initial reference line are respectively selected and spliced according to the sequence, traversing all distance intervals to obtain the final lane reference line.
Optionally, the missing part in the original lane track line segment is completed according to the course angle calculated from the head point of the original lane track line segment in the adjacent distance interval. In each distance interval, the original lane track line segment may have loss, and may have loss of a part of the line segment in the middle or at two ends, and the loss part is supplemented according to the existing line segment course angle in the distance interval, and specifically, the loss part can be supplemented according to the course angle of the adjacent line segment or the course angle of the head and tail points of the interval.
It should be noted that, when the original lane trajectory line segments are missing more in the distance interval, the initial reference line may be selected and the corresponding trajectory line segments may be supplemented according to the degree of parallelism between the lane trajectory lines.
Fig. 2 is a schematic diagram of a lane reference line construction principle provided by an embodiment of the present invention, and details of a lane reference line construction process are described with reference to fig. 2, as shown in fig. 2: dividing the trajectory line 21 of the origin lane into a plurality of trajectory line segments by using a dotted line 22, wherein each distance segment comprises six distance segments of 01, 02, 03, 04, 05 and 06, calculating the mean value of the line angle of each distance segment, obtaining the trajectory line segment which is closest to the mean value in each of the 6 distance segments, selecting the minimum value of the distance value of the closest trajectory line segment in the 6 distance segments, setting the trajectory line segment corresponding to the minimum value as an initial reference line, assuming that the initial reference line is the trajectory line segment of the origin lane in the segment 03, the adjacent distance segments are 02 and 04, continuing to select the trajectory line segment in the segment 01 which is on the same side as the segment 02 to splice after the trajectory line segment in the selected segment 02 is spliced with the initial trajectory line, and then selecting the trajectory line segments in the segments 04, 05 and 06 to splice to obtain a lane reference line 23.
According to the method provided by the embodiment, the original lane track line is divided, and then the track line splicing lane reference line of each section is selected, so that the lane reference line is adaptive to the original lane line in precision, the trend of the original lane is fitted, and compared with the reference line obtained by track line clustering, the precision is greatly improved.
Example two:
fig. 3 is a schematic structural diagram of a lane reference line constructing apparatus according to a second embodiment of the present invention, including:
the collecting module 310 is configured to collect original lane trajectory lines, and select any lane trajectory line as an original line;
the calculation module 320 is configured to divide the trajectory of the origin lane according to a predetermined distance along the direction of the initial line, calculate a course angle of a head-tail point of the trajectory line segment of the origin lane in each divided distance interval, and obtain a mean value of course angles of all trajectory line segments of the origin lane in each distance interval;
the obtaining module 330 is configured to obtain an original lane track segment with a minimum difference from the interval course angle mean value within each distance interval and a corresponding minimum difference value;
a selecting module 340, configured to compare the minimum difference values of the distance intervals, select a minimum value of the minimum difference values of the distance intervals, and use the original lane trajectory line segment corresponding to the minimum value as an initial reference line;
and the splicing module 350 is configured to select the original lane track segment in the adjacent distance interval to be spliced with the initial reference line according to the course angle deviation between the initial reference line and the original lane track segment in the adjacent distance interval until the lane reference line is obtained.
Optionally, the selecting module 350 includes:
the first calculation unit is used for calculating the course angle of the head end or the tail end of the initial reference line within a first preset length and the course angles of all original lane track line segments within the adjacent distance interval within a second preset length, and setting the difference value of the two course angles as a first difference value;
the second calculation unit is used for calculating the difference between the original lane track line segments corresponding to the adjacent distance intervals and the interval course angle mean value, and setting the difference value as a second difference value;
and the selecting unit is used for respectively weighting the first difference and the second difference, and selecting the original lane track line segment with the minimum deviation with the initial reference line for splicing according to the weighting calculation result.
Optionally, the selecting and splicing the original lane track line segment with the minimum deviation from the initial reference line further includes:
and continuously traversing and selecting the original lane track line segments in all adjacent distance intervals on the same side of the original lane track line segment spliced with the initial reference line for splicing to form a new reference line, then selecting and splicing the original lane track line segments in all adjacent distance intervals on the other side until the lane reference line is obtained, wherein the splicing process comprises the step of translating the original lane track line segments to realize the connection with the reference line.
Optionally, the splicing module 350 further includes:
and the filling module is used for filling missing parts in the original lane track line segment according to the course angle calculated by the initial point of the original lane track line segment in the adjacent distance interval.
Through the device of the embodiment, the characteristic that the representative lane line is close to the line cluster in shape can be simply and quickly extracted, the accuracy is high, and the device can be widely applied to the aspects of extracting the representative trajectory line, generating the lane line group and the like of the crowd-sourced map.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A lane reference line construction method is characterized by comprising the following steps:
collecting original lane trajectory lines, and selecting any lane trajectory line as an initial line;
dividing the original lane track line according to a preset distance along the initial line direction, calculating the course angles of head and tail points of the original lane track line segment in each divided distance interval, and solving the course angle average value of all the original lane track line segments in each distance interval;
acquiring an original lane track line segment with the minimum difference with the interval course angle mean value in each distance interval and a corresponding minimum difference value;
comparing the minimum difference values of the distance intervals, selecting the minimum value of the minimum difference values of the distance intervals, and taking the original lane track line segment corresponding to the minimum value as an initial reference line;
and selecting the original lane track line segment in the adjacent distance interval to be spliced with the initial reference line according to the course angle deviation between the initial reference line and the original lane track line segment in the adjacent distance interval until a lane reference line is obtained.
2. The method as claimed in claim 1, wherein the selecting, according to the course angle deviation between the initial reference line and the original lane track segment in the adjacent distance interval, the original lane track segment in the adjacent distance interval to be spliced with the initial reference line specifically comprises:
calculating a course angle of the head end or the tail end of the initial reference line within a first preset length and course angles of all original lane track line segments within the adjacent distance interval within a second preset length, and setting a difference value of the two course angles as a first difference value;
calculating the difference between the inside of all corresponding original lane track line segments in the adjacent distance intervals and the interval course angle mean value, and setting the difference value as a second difference value;
and respectively weighting the first difference value and the second difference value, and selecting the original lane track line segment with the minimum deviation with the initial reference line according to the weighting calculation result for splicing.
3. The method of claim 2, wherein the selecting the starting lane trajectory segment splice with the smallest deviation from the initial reference line further comprises:
and continuously traversing and selecting the original lane track line segments in all adjacent distance intervals on the same side of the original lane track line segment spliced with the initial reference line for splicing to form a new reference line, then selecting and splicing the original lane track line segments in all adjacent distance intervals on the other side until the lane reference line is obtained, wherein the splicing process comprises the step of translating the original lane track line segments to realize the connection with the reference line.
4. The method of claim 1, wherein the selecting the original lane track segment in the adjacent distance interval to be spliced with the initial reference line according to the course angle deviation between the initial reference line and the original lane track segment in the adjacent distance interval further comprises:
and according to the course angle of the original lane track line segment existing in the adjacent distance interval, filling up the missing part in the original lane track line segment.
5. A lane reference line construction apparatus, characterized by comprising:
the collecting module is used for collecting original lane track lines and selecting any lane track line as an initial line;
the calculation module is used for dividing the trajectory of the original lane according to the preset distance along the direction of the initial line, calculating the course angle of the head and tail points of the trajectory line segment of the original lane in each divided distance interval and solving the mean value of the course angles of all the trajectory line segments of the original lane in each distance interval;
the acquisition module is used for acquiring an original lane track line segment with the minimum difference with the interval course angle mean value in each distance interval and a corresponding minimum difference value;
the selection module is used for comparing the minimum difference values of the distance intervals, selecting the minimum value of the minimum difference values of the distance intervals and taking the original lane track line segment corresponding to the minimum value as an initial reference line;
and the splicing module is used for selecting the original lane track line segment in the adjacent distance interval to splice with the initial reference line according to the course angle deviation between the initial reference line and the original lane track line segment in the adjacent distance interval until the lane reference line is obtained.
6. The apparatus of claim 5, wherein the splicing module comprises:
the first calculation unit is used for calculating the course angle of the head end or the tail end of the initial reference line within a first preset length and the course angles of all original lane track line segments within the adjacent distance interval within a second preset length, and setting the difference value of the two course angles as a first difference value;
the second calculation unit is used for calculating the difference between the original lane track line segments corresponding to the adjacent distance intervals and the interval course angle mean value, and setting the difference value as a second difference value;
and the selecting unit is used for respectively weighting the first difference and the second difference, and selecting the original lane track line segment with the minimum deviation with the initial reference line for splicing according to the weighting calculation result.
7. The apparatus of claim 6, wherein the selecting the starting lane trajectory segment with the smallest deviation from the initial reference line for stitching further comprises:
and splicing the original lane track line segment with the initial reference line to form a new reference line, traversing and selecting the original lane track line segment in the adjacent distance interval on one side of the new reference line for splicing, then selecting and splicing the original lane track line segments in all the adjacent distance intervals on the other side to obtain the lane reference line, wherein the splicing process comprises the step of translating the original lane track line segment to realize the connection with the reference line.
8. The apparatus of claim 5, wherein the splicing module further comprises:
and the filling module is used for filling missing parts in the original lane track line segment according to the course angle calculated by the initial point of the original lane track line segment in the adjacent distance interval.
9. An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the lane reference line construction method according to any of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the lane reference line construction method according to any one of claims 1 to 4.
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| CN110749329B (en) * | 2019-10-26 | 2021-08-17 | 武汉中海庭数据技术有限公司 | Lane level topology construction method and device based on structured road |
| CN110806218B (en) * | 2019-11-29 | 2021-09-07 | 北京京东乾石科技有限公司 | Parking path planning method, device and system |
| CN111340908B (en) * | 2020-02-10 | 2023-07-25 | 兰州交通大学 | Rail electronic map generation method |
| CN111537990B (en) * | 2020-04-27 | 2022-02-22 | 西安象德信息技术有限公司 | Lane calibration method and device and electronic equipment |
| CN111950434B (en) * | 2020-08-07 | 2022-06-17 | 武汉中海庭数据技术有限公司 | Lane line structuralization method and system based on discrete point scanning |
| CN113050621B (en) * | 2020-12-22 | 2023-04-28 | 北京百度网讯科技有限公司 | Track planning method, track planning device, electronic equipment and storage medium |
| CN114485609B (en) * | 2021-12-15 | 2023-08-01 | 武汉中海庭数据技术有限公司 | Road skeleton line optimization method and system based on original track |
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