CN115526959A

CN115526959A - Method, device, equipment and product for drawing lane center line

Info

Publication number: CN115526959A
Application number: CN202211184788.7A
Authority: CN
Inventors: 柳春青; 向哲
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2022-09-27
Filing date: 2022-09-27
Publication date: 2022-12-27

Abstract

The embodiment of the disclosure relates to a method, a device, equipment and a product for drawing lane center lines, wherein the lane center lines of a separation and combination scene are obtained, a plurality of lanes in the separation and combination scene are connected with a single lane, for each lane in the plurality of lanes, the lane center lines with the same starting point are extracted from the lane center line of the connection area of the lane and the single lane and used as lane center lines to be smoothed, smoothing is respectively performed on the lane center lines to be smoothed, smoothing results are obtained, for the plurality of smoothing results corresponding to the same lane, the smoothing result with the largest curvature is used as a target smoothing result corresponding to the lane, so that the target smoothing result corresponding to each lane is connected with the remaining lane center lines of the separation and combination scene, the target lane center line after the separation and combination scene is smoothed can be obtained, the smoothness of the lane center lines of the separation and combination scene is improved, and data guarantee is provided for the driving safety of automatic driving.

Description

Method, device, equipment and product for drawing lane center line

Technical Field

The embodiment of the disclosure relates to the technical field of high-precision maps, in particular to a method, a device, equipment and a product for drawing lane center lines.

Background

During autonomous driving, autonomous vehicles plan driving trajectories and driving speeds based on lane centerlines in a map. The smoothness of the lane center line affects the safety of autonomous driving. In practice, the road condition of a scene that a plurality of lanes are combined into one lane and a scene that a lane is separated into a plurality of lanes is complex, and under the condition, how to ensure the smoothness of the center line of the lane and improve the driving safety is a technical problem to be solved.

Disclosure of Invention

In order to solve the technical problem, the embodiments of the present disclosure provide a method, an apparatus, a device and a product for drawing a lane center line.

A first aspect of the embodiments of the present disclosure provides a method for drawing a lane center line, including: acquiring an original lane center line of a separation and combination scene, wherein the separation and combination scene is a lane scene formed by connecting a plurality of lanes and a single lane; for each lane in the lanes, extracting lane center lines with the same starting point from lane center lines of a connection area of the lane and the single lane as lane center lines to be smoothed; respectively smoothing the center line of each lane to be smoothed to obtain a smoothing result; regarding a plurality of smoothing results corresponding to the same lane, taking the smoothing result with the maximum curvature as a target smoothing result corresponding to the lane; and connecting the target smoothing result corresponding to each lane with the center line of the remaining lanes of the separation and combination scene to obtain the center line of the target lane of the separation and combination scene.

A second aspect of the embodiments of the present disclosure provides a lane center line drawing device, including:

the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring the center line of an original lane of a separation and combination scene, and the separation and combination scene is a lane scene formed by connecting a plurality of lanes and a single lane;

the extracting module is used for extracting a plurality of lane central lines with the same starting point from the lane central lines of the connecting areas of the lanes and the single lane as the lane central lines to be smoothed for each lane in the plurality of lanes;

the smoothing module is used for smoothing the center line of each lane to be smoothed respectively to obtain a smoothing result;

the determining module is used for taking a smoothing result with the maximum curvature as a target smoothing result corresponding to the lane for a plurality of smoothing results corresponding to the same lane;

and the connecting module is used for connecting the target smoothing result corresponding to each lane with the center line of the remaining lane of the separation and combination scene to obtain the center line of the target lane of the separation and combination scene.

A third aspect of embodiments of the present disclosure provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the method of the first aspect may be implemented.

A fourth aspect of embodiments of the present disclosure provides a computer program product, wherein the computer program product is stored in a storage medium, and when the computer program product is executed by a computer device, the computer device performs the method of the first aspect described above.

A fifth aspect of embodiments of the present disclosure provides a computer-readable storage medium having a computer program stored therein, which, when executed by a computer device, causes the computer device to perform the method of the first aspect described above.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

according to the method and the device, the lane center line of the separation and combination scene is obtained, a plurality of lanes in the separation and combination scene are connected with a single lane, for each lane in the plurality of lanes, lane center lines with the same starting point are extracted from the lane center line of the connection area of the lane and the single lane to serve as lane center lines to be smoothed, smoothing is conducted on each lane center line to be smoothed respectively, a smoothing result is obtained, for the plurality of smoothing results corresponding to the same lane, the smoothing result with the largest curvature serves as a target smoothing result corresponding to the lane, therefore, the target smoothing result corresponding to each lane is connected with the lane center lines of the rest of the separation and combination scene, and the target lane center line after the separation and combination scene is smoothed can be obtained. In the separation and combination scene, the unsmooth part of the lane center line is mainly concentrated in the connection area of a plurality of lanes and a single lane, therefore, for each lane in the plurality of lanes connected with the single lane, the lane center lines with the same starting points are extracted from the lane center lines of the connection area of the lane and the single lane for smoothing treatment, and the result with the maximum curvature in the smoothing result is taken as a target smoothing result, so that the smoothness of the lane center line of the connection area of each lane and the single lane can be improved, and then the target smoothing result corresponding to each lane is connected with the remaining lane center line of the separation and combination scene, so that the smoothness of the center lines of the lanes and the single lane connection area in the separation and combination scene can be improved, and further, data guarantee is provided for the driving safety of automatic driving.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a diagram of a split merge scenario provided by the related art;

FIG. 2 is a schematic diagram of a rendering scenario of a lane centerline provided by an embodiment of the present disclosure;

fig. 3 is a flowchart of a method for plotting lane center lines according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a method for extracting lane center lines provided by the embodiments of the present disclosure;

FIG. 5 is a schematic diagram of a method for obtaining a lane center line starting from a reference point according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a set of candidate lane centerlines provided by an embodiment of the present disclosure;

FIG. 7 is a schematic view of the effect of the lane center line smoothing in FIG. 1;

fig. 8 is a schematic structural diagram of a lane center line drawing device provided in an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a computer device in an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

In the related art, the separation-merging scene refers to a lane scene in which a plurality of lanes are connected with a single lane. For example, fig. 1 is a schematic diagram of a separation and combination scenario provided in the related art. Lane lines L1 and L3 in fig. 1 are lane lines of a lane traveling leftward, and L2 and L4 are lane lines of a lane traveling rightward, and the two lanes merge into one lane at the position of the straight line z1, thereby constituting a split-merge scene.

Referring to fig. 1, in the related art, a lane center line is generally generated by connecting midpoints between lane lines on both sides of a lane. In this method, the data of the lane is generally divided into a plurality of segments, and then the lane center lines of the segments belonging to the same lane are connected to obtain the lane center line of the lane. However, for the separation and combination scene, because the road condition of the separation and combination scene is complex, especially in the region where multiple lanes are connected to a single lane (for example, in the section from the dashed line z2 to z1 in fig. 1, the region where the intersection positions of z2 and z1 and the lane center line are located), if only the midpoint between the lane lines is connected to generate the lane center line, the lane center line is not smooth enough, and the requirement of automatic driving cannot be met.

In order to meet the automatic driving requirement, the embodiment of the disclosure provides a lane center line drawing method. For example, fig. 2 is a schematic diagram of a drawing scene of a lane center line provided by an embodiment of the present disclosure. In fig. 2, the data source 11 may be understood as a device storing lane line data and origin lane center line data of the separate merging scenario, such as, but not limited to, a storage server, a hard disk, and the like. The lane line data stored in the data source 11 may include data such as coordinates of a point on the lane line, a direction of the lane line at the point, and the like. The primitive lane center line data may include data such as coordinates of a point on the primitive lane center line and a direction of the primitive lane center line at the point.

In the embodiment of the present disclosure, the data source 11 may be a device that is independent from the computer device 12, a stand-alone device, or a device that is installed on or integrated with the computer device 12.

Computer device 12 may be understood to mean a device having computing and processing capabilities such as, but not limited to, a computer, a server, a vehicle machine, and the like.

In one example, the computer device 12 may directly obtain data of the origin lane center line of the separation and combination scene from the data source 11, then smooth the lane center line of the origin lane center line corresponding to the connection area of the multiple lanes and the single lane, and connect the smoothed lane center line with the lane center lines remaining in the separation and combination scene, to obtain the target lane center line of the separation and combination scene.

In practice, the unsmooth part of the lane center line of the separation and combination scene is mainly concentrated in the connection area of the multiple lanes and the single lane, so that the lane center line corresponding to the connection area of the multiple lanes and the single lane in the separation and combination scene is subjected to smoothing treatment, and the smoothed lane center line is connected with the center line of the remaining lane of the separation and combination scene, so that the smoothness of the lane center line of the separation and combination scene can be improved, and further data guarantee is provided for driving safety of automatic driving.

In order to better understand the aspects of the embodiments of the present disclosure, the following describes the aspects of the embodiments of the present disclosure with reference to exemplary embodiments.

Fig. 3 is a flowchart of a lane center line drawing method provided by an embodiment of the present disclosure, which may be exemplarily executed by a computer device in the scene shown in fig. 2. As shown in fig. 3, the method includes:

step 301, obtaining an original lane center line of a separation and combination scene, wherein the separation and combination scene is a lane scene in which a plurality of lanes are connected with a single lane.

The origin lane center line referred to in the embodiments of the present disclosure may be understood as a lane center line generated by a method of the related art. For example, in one method, the insertion operation may be performed on the left and right lane lines of the lane at a point of 1 meter, the points inserted on the left and right lane lines are sorted from the same side of the left and right lane lines, the points with the same sort on the left and right lane lines are connected, and then the center points of the connected lines are connected to obtain the lane center line.

In the embodiment of the present disclosure, data of the origin lane center line of the separation merging scene may be obtained in advance and stored in a preset data source. The data of the origin lane center line of the different split merging scenes in the data source can be marked with different identifications. When the operation of acquiring the origin lane center line of the separation-merging scene is performed, the corresponding origin lane center line may be acquired from the data source based on the identification of the origin lane center line of the separation-merging scene acquired by the target.

Alternatively, in other embodiments, the computer device may also request the origin lane center line of the separation and combination scene from the data source through a request message, and the request message may not carry an identifier of the origin lane center line of the separation and combination scene, but the data source decides which origin lane center line of the separation and combination scene is sent to the computer device.

It should be noted that the above two methods for acquiring the center line of the origin lane are only two exemplary methods and are not the only methods, and actually, in other embodiments, other customized methods may be adopted to acquire the center line of the origin lane of the separation and combination scene as needed.

Step 302, for each lane in the multiple lanes, extracting multiple lane center lines with the same starting point from the lane center lines of the connection areas of the lane and the single lane as lane center lines to be smoothed.

In an exemplary embodiment, the center line of the origin lane obtained from the data source may include mark information for connecting areas of the plurality of lanes and the single lane, and the connecting area of each lane and the single lane of the plurality of lanes may be accurately determined from the center line of the origin lane according to the mark information. For example, in fig. 1, the dotted lines z1 and z2 may be understood as marks for a plurality of lanes and a single lane connection area, and data of the dotted lines z1 and z2, such as a position and a length, etc., may be carried in the data of the center line of the original lane. In the example shown in fig. 1, the portion of the lane center line of each lane between z1 and z2 is the connection area between each lane and a single lane. After the connection region between each lane and a single lane is obtained, for each lane of the multiple lanes, the end of the lane where the lane falls on the lane center line of the connection region (i.e., the part marked by the marking information) may be used as a starting point, and the lane center lines with the same starting points may be extracted as the lane center lines to be smoothed. The lengths of the extracted lane center lines to be smoothed can be different.

In another exemplary embodiment, for each lane of the multiple lanes, an intersection point of a lane center line of the lane and a lane center line of a single lane may also be used as a reference point, then, with the reference point as a starting point, multiple lane center lines of different lengths (i.e., a part of lane center lines of the lane) are acquired in a direction away from the single lane toward the lane, and the acquired multiple lane center lines of different lengths are determined as the lane center lines to be smoothed. For example, fig. 4 is a schematic diagram of a method for extracting a lane center line provided by an embodiment of the present disclosure, as shown in fig. 4, an intersection point of lane center lines of a lane H1 and a lane H2 and a lane center line of a single lane H3 is G, and then the intersection point may be extended toward the lane center lines of the lane H1 and the lane H2 by taking the point G as a starting point, so as to obtain a lane center line l1 (i.e., a portion where the lane center line of the H1 is located between z1 and z2 in fig. 4) of a preset length on the lane H1 and a lane center line l2 (i.e., a portion where the lane center line of the H2 is located between z1 and z2 in fig. 4) of the preset length on the lane H1 and a lane center line l2 (i.e., a portion where the lane center line of the H2 is located between z1 and z2 in fig. 4), and then l1 and l2 may be understood as lane center lines of a lane in a connection area where the lane H1, the lane H2 and the single lane H3. For the lane H1, after obtaining the lane center line of the connection area between the lane H1 and the single lane H3, the intersection point G may be used as a starting point, and the lane center lines of the connection area may be extended by different extension lengths, and a plurality of lane center lines with different lengths may be taken from the lane center line and the intersection point G is used as a starting point, and the lane center lines with different lengths are used as the lane center lines to be smoothed. Similar to the lane H1, a similar method may also be used for the lane H2 to obtain a plurality of lane center lines to be smoothed.

For example, fig. 5 is a schematic diagram of a method for acquiring a lane center line with a reference point as a starting point according to an embodiment of the present disclosure. Referring to fig. 5, in one embodiment, for each lane of the plurality of lanes, lane center lines of 50 meters, 40 meters, 30 meters, 20 meters, 10 meters, and 5 meters may be sequentially acquired toward the direction of the lane from a reference point as the lane center line to be smoothed. The lengths of the lane central lines of 50 meters, 40 meters, 30 meters, 20 meters, 10 meters and 5 meters can be understood as preset lengths of the lane central lines, or lengths of the lane central lines selected at random, and are not described herein again.

Of course, fig. 5 is only an illustration and not a limitation, and how many lane centerlines of different lengths are actually obtained, and the specific length of each lane centerline may be set as required, and is not necessarily limited to the above listed 50 meters, 40 meters, 30 meters, 20 meters, 10 meters, and 5 meters.

By taking the reference point as a starting point, a plurality of lane center lines with different lengths are obtained from the connecting area of each lane and a single lane respectively by taking the reference point as the starting point and taking the lane center lines with different lengths as the lane center lines to be smoothed, the length of the lane center line to be smoothed can be flexibly controlled, and therefore fine control of lane center line smoothing is achieved.

And step 303, smoothing the center line of each lane to be smoothed respectively to obtain a smoothing result.

After obtaining the lane center line to be smoothed (hereinafter referred to as the lane center line to be smoothed), a preset smoothing method may be adopted to smooth the lane center line to be smoothed. The predetermined smoothing method includes, but is not limited to, a pentanomial curve method and an hermitian curve method. Taking an Hermite curve method as an example, when the center line of the lane to be smoothed is smoothed, the average direction variation of the center line of the lane to be smoothed on the length of the center line of the unit lane can be determined according to the length of the center line of the lane to be smoothed and the directions of the center line of the lane to be smoothed on two endpoints of the center line of the lane to be smoothed; and then determining a plurality of coordinate points which are passed by moving from one endpoint to the other endpoint on the center line of the lane to be smoothed according to the coordinate of any endpoint on the center line of the lane to be smoothed, the direction of the center line of the lane to be smoothed on the endpoint and the average direction variation of the center line of the lane to be smoothed on the length of the center line of the unit lane, and then connecting the coordinate points and the two endpoints of the center line of the lane to be smoothed to obtain the smoothed center line of the lane. The detailed implementation of the hermitian curve method can be found in the related art and is not described herein.

It should be noted that the smoothing method is only an exemplary method and not a unique method, for example, in other embodiments, after obtaining a plurality of coordinate points based on the hermitian curve method, the coordinate points may be grouped to obtain a plurality of coordinate point groups, and then, for each coordinate point group, sequentially connecting the points in the coordinate point group and two end points on the center line of the lane to be smoothed, and drawing to obtain the center line of the lane corresponding to each coordinate group; and then, respectively judging the distance between each drawn lane central line and the lane lines on the two sides of the lane, if the distance between each drawn lane central line and at least one lane line on one side is less than a preset safe distance, deleting the lane central line to obtain a candidate lane central line set (such as the lane central line set shown in fig. 6), and further taking the maximum curvature in the candidate lane central line set as the final smoothed lane central line, namely a target smoothing result. Or after obtaining a plurality of smoothing results corresponding to the lanes, determining the maximum curvature as the target smoothing result corresponding to the lanes from the smoothing results with the same steering direction and the same steering direction of the lanes

The center line of the lane to be smoothed is smoothed for multiple times, the center line of the lane to be smoothed is subjected to multiple smoothing, the center line meets the requirement of the preset safety distance, the center line with the largest curvature is used as the final smoothing result, and the smoothing effect can be improved.

And 304, regarding a plurality of smoothing results corresponding to the same lane, taking the smoothing result with the maximum curvature as a target smoothing result corresponding to the lane.

The method has the advantages that the center lines of the lanes to be smoothed are extracted from the connecting area of each lane, so that the center lines of the lanes to be smoothed are smoothed to obtain a plurality of smoothing results, and the smoothing result with the largest curvature in the plurality of smoothing results is used as the target smoothing result corresponding to the lane, so that the smoothness of the lane in the connecting area can be improved.

And 305, connecting the target smoothing result corresponding to each lane with the center line of the remaining lane of the separation and combination scene to obtain the center line of the target lane of the separation and combination scene.

For example, in fig. 1, after smoothing the lane center line between z1 and z2, the smoothed lane center line is connected to the remaining lane center lines, so as to obtain the target lane center line shown in fig. 7.

For example, after the center line of the target lane is obtained, the center line of the target lane may be cut according to the length of each lane in the separation and combination scene, so as to obtain the lane center line corresponding to each lane in the separation and combination scene.

Fig. 8 is a schematic structural diagram of a lane center line drawing device provided in an embodiment of the present disclosure. The apparatus may be understood as the computer device or a part of the functional modules in the computer device. As shown in fig. 8, the drawing device 80 includes:

the acquiring module 81 is configured to acquire an original lane center line of a separation and combination scene, where the separation and combination scene is a lane scene in which a plurality of lanes are connected to a single lane;

an extracting module 82, configured to, for each lane of the multiple lanes, extract multiple lane center lines with the same starting point from lane center lines of a connection area between the lane and the single lane as lane center lines to be smoothed;

the smoothing module 83 is configured to smooth the center line of each lane to be smoothed, respectively, to obtain a smoothing result;

a determining module 84, configured to, for multiple smoothing results corresponding to the same lane, take a smoothing result with the largest curvature as a target smoothing result corresponding to the lane;

and the connecting module 85 is configured to connect the target smoothing result corresponding to each lane with the remaining lane center line of the separation and combination scene to obtain a target lane center line of the separation and combination scene.

In one embodiment, the extraction module 82 is configured to:

determining the intersection point of the lane center line of the lane and the lane center line of the single lane as a reference point;

taking the reference point as a starting point, and acquiring a plurality of lane central lines with different lengths towards the lane direction;

and determining the obtained lane center lines with different lengths as the lane center line to be smoothed.

In one embodiment, the extraction module 82 is configured to:

for each lane in the plurality of lanes, based on the mark information on the lane center line of the lane, taking one end of a part marked by the mark information as a starting point, and extracting a plurality of lane center lines with the same starting point and different lengths from each other to serve as the lane center line to be smoothed;

wherein the marking information is used for marking the lane center line of the lane and the single lane connection area.

In one embodiment, the smoothing module 83 is configured to:

determining the average direction variation of the lane central line to be smoothed in unit length according to the length of the lane central line to be smoothed and the directions of the lane central line to be smoothed at two endpoints of the lane central line to be smoothed;

determining a plurality of coordinate points passing from one endpoint to the other endpoint of the lane central line to be smoothed according to the coordinate of any endpoint on the lane central line to be smoothed, the direction of the lane central line to be smoothed at any endpoint and the average direction variation of the lane central line to be smoothed in unit length;

and drawing the lane central line based on the two end points of the lane central line to be smoothed and the plurality of coordinate points, and taking the drawn lane central line as a smoothing result.

In one embodiment, the rendering device 80 further comprises:

a first processing module to:

dividing the coordinate points to obtain a plurality of coordinate point groups;

the step of drawing the lane central line based on the two end points of the lane central line to be smoothed and the plurality of coordinate points, and taking the drawn lane central line as a smoothing result, comprises:

for each coordinate point group, drawing a lane center line based on coordinate points contained in the coordinate point group and the two end points;

and taking the maximum curvature of the center lines of the plurality of lanes drawn based on the plurality of coordinate point groups as a smoothing result.

In one embodiment, the rendering device 80 further comprises:

a second processing module to:

determining a lane central line with the distance between the lane central line and the lane line smaller than a preset safety distance from the plurality of drawn lane central lines;

and deleting the lane central lines with the distance less than the preset safe distance from the plurality of lane central lines obtained by drawing.

In one embodiment, the determining module 84 is configured to: and for a plurality of smoothing results corresponding to the same lane, determining the target smoothing result corresponding to the lane with the maximum curvature from the smoothing results with the same steering direction and the steering direction of the lane.

The device provided by the embodiment of the present disclosure can execute the method in any embodiment of fig. 3 to 7, and the execution manner and the beneficial effects are similar, which are not described herein again.

The embodiment of the present disclosure further provides a computer device, which includes a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the method of any one of the above method embodiments may be implemented.

For example, fig. 9 is a schematic structural diagram of a computer device in the embodiment of the present disclosure. Referring now in particular to fig. 9, there is shown a schematic block diagram of a computer device 1400 suitable for use in implementing embodiments of the present disclosure. The computer device 1400 in the disclosed embodiments may include, but is not limited to, devices with computing and data processing capabilities such as notebook computers, PADs (tablets), desktop computers, servers, car machines, and the like. The computer device shown in fig. 9 is only an example, and should not bring any limitation to the function and the scope of use of the embodiments of the present disclosure.

As shown in fig. 9, computer device 1400 may include a processing means (e.g., central processing unit, graphics processor, etc.) 1401 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 1402 or a program loaded from storage device 1408 into a Random Access Memory (RAM) 1403. In the RAM 1403, various programs and data necessary for the operation of the computer device 1400 are also stored. The processing device 1401, the ROM 1402, and the RAM 1403 are connected to each other by a bus 1404. An input/output (I/O) interface 1405 is also connected to bus 1404.

Generally, the following devices may be connected to the I/O interface 1405: input devices 1406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 1407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, or the like; storage devices 1408 including, for example, magnetic tape, hard disk, etc.; and a communication device 1409. The communication means 1409 may allow the computer device 1400 to communicate wirelessly or by wire with other devices to exchange data. While fig. 9 illustrates a computer device 1400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may be alternatively implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a non-transitory computer readable medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 1409, or installed from the storage device 1408, or installed from the ROM 1402. The computer program, when executed by the processing device 1401, performs the functions defined in the methods of the embodiments of the present disclosure.

It should be noted that the computer readable medium of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The computer readable medium may be embodied in the computer device; or may exist separately and not be incorporated into the computer device.

The computer readable medium carries one or more programs which, when executed by the computing device, cause the computing device to: acquiring an original lane center line of a separation and combination scene, wherein the separation and combination scene is a lane scene formed by connecting a plurality of lanes and a single lane; for each lane in the lanes, extracting lane center lines with the same starting points from lane center lines of a connection area of the lane and the single lane as lane center lines to be smoothed; respectively smoothing the center line of each lane to be smoothed to obtain a smoothing result; regarding a plurality of smoothing results corresponding to the same lane, taking the smoothing result with the largest curvature as a target smoothing result corresponding to the lane; and connecting the target smoothing result corresponding to each lane with the center line of the remaining lanes of the separation and combination scene to obtain the center line of the target lane of the separation and combination scene.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C + +, including conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, 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. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown 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. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The embodiments of the present disclosure further provide a computer-readable storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by a processor, the method of any one of the embodiments in fig. 3 to 7 may be implemented, where the execution manner and the beneficial effects are similar, and are not described herein again.

The embodiments of the present disclosure further provide a computer program product, where the program product is stored in a storage medium, and when the program product is executed by a processor of a computer device, the processor is enabled to execute the method in any one of fig. 3 to 7, where an execution manner and beneficial effects are similar, and are not described herein again.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for drawing a lane center line comprises the following steps:

acquiring an original lane center line of a separation and combination scene, wherein the separation and combination scene is a lane scene formed by connecting a plurality of lanes and a single lane;

for each lane in the lanes, extracting lane center lines with the same starting points from lane center lines of a connection area of the lane and the single lane as lane center lines to be smoothed;

respectively smoothing the center line of each lane to be smoothed to obtain a smoothing result;

regarding a plurality of smoothing results corresponding to the same lane, taking the smoothing result with the maximum curvature as a target smoothing result corresponding to the lane;

and connecting the target smoothing result corresponding to each lane with the center line of the remaining lanes of the separation and combination scene to obtain the center line of the target lane of the separation and combination scene.

2. The method according to claim 1, wherein the extracting, for each of the plurality of lanes, lane center lines having a same starting point from lane center lines of the lane and the single lane connection region as lane center lines to be smoothed comprises:

3. The method according to claim 1, wherein the extracting, for each of the plurality of lanes, lane center lines having a same starting point from lane center lines of the lane and the single lane connection region as lane center lines to be smoothed comprises:

for each lane in the lanes, based on mark information on lane center lines of the lanes, taking one end of a part marked by the mark information as a starting point, and extracting a plurality of lane center lines with the same starting point and different lengths from each other from the other end of the part as lane center lines to be smoothed;

4. The method of claim 1, wherein the smoothing of each lane center line to be smoothed, respectively, results in a smoothing result, comprising:

determining a plurality of coordinate points passing by moving from one end point to the other end point of the lane center line to be smoothed according to the coordinate of any end point on the lane center line to be smoothed, the direction of the lane center line to be smoothed at any end point and the average direction change of the lane center line to be smoothed in unit length;

5. The method of claim 4, wherein after determining a plurality of coordinate points passing from one end point to the other end point of the lane center line to be smoothed according to the coordinates of any end point on the lane center line to be smoothed, the direction of the lane center line to be smoothed at any end point, and the average direction change amount of the lane center line to be smoothed in unit length, the method further comprises:

for each coordinate point group, drawing a lane central line based on coordinate points contained in the coordinate point group and the two endpoints;

6. The method according to claim 5, wherein before the step of maximizing curvature of lane center lines drawn based on the plurality of coordinate point groups as a smoothing result, the step of:

7. The method according to any one of claims 1-6, wherein the taking, as the target smoothing result corresponding to the lane, the smoothing result with the largest curvature for a plurality of smoothing results corresponding to the same lane comprises:

and for a plurality of smoothing results corresponding to the same lane, determining the target smoothing result corresponding to the lane with the largest curvature from the smoothing results with the consistent steering direction of the lane.

8. A drawing apparatus of a lane center line, comprising:

the extraction module is used for extracting a plurality of lane central lines with the same starting point from the lane central lines of the connecting areas of the lane and the single lane as the lane central lines to be smoothed for each lane in the plurality of lanes;

9. A computer device, comprising:

memory and a processor, wherein the memory has stored therein a computer program which, when executed by the processor, implements the method of any of claims 1-7.

10. A computer-readable storage medium, in which a computer program is stored which, when executed by a computer device, causes the computer device to carry out the method according to any one of claims 1-7.