CN115880395A - Intersection surface virtual lane line generation method and device based on extended stop line - Google Patents
Intersection surface virtual lane line generation method and device based on extended stop line Download PDFInfo
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- CN115880395A CN115880395A CN202211723474.XA CN202211723474A CN115880395A CN 115880395 A CN115880395 A CN 115880395A CN 202211723474 A CN202211723474 A CN 202211723474A CN 115880395 A CN115880395 A CN 115880395A
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Abstract
The application provides a method and a device for generating a virtual lane line of an intersection surface based on an extended stop line. The method comprises the following steps: inquiring the high-precision map database to obtain intersection surface data, and lane line data and stop line data corresponding to the intersection surface data; connecting the end points of the lane lines on the same side according to the lane line data so as to extend the stop line on the same side in the intersection surface and obtain an extended stop line; determining a left adjacent stop line and a right adjacent stop line corresponding to each extended stop line, and constructing an extended stop line loop linked list; judging the type of the road surface according to the road surface data, starting from any extended stop line in the extended stop line loop chain table, and automatically generating a virtual lane line in the road surface according to the preset connection rule of the exit point and the entrance point of the extended stop line corresponding to the type of the road surface. The method and the device have the advantages that the virtual lane line of the intersection surface is automatically generated, the drawing efficiency and precision of the high-precision map are improved, and the success rate of generating the virtual lane line of the intersection surface is improved.
Description
Technical Field
The application relates to the technical field of high-precision maps, in particular to a method and a device for generating a virtual lane line of a crossing surface based on extension of a stop line.
Background
The unmanned vehicle is a comprehensive system integrating functions of environmental perception, planning decision, multi-level auxiliary driving and the like, and is also called as an automatic driving vehicle and an unmanned vehicle. In an unmanned software system, a high-precision map is used as a priori brain of a plurality of modules for assisting perception, positioning, decision planning and the like, map elements in a static road can be provided for an automatic driving system, and the automatic driving is ensured to still normally operate when information is not identified through perception or lost through positioning.
In the process of manufacturing a high-precision map, a map manufacturer acquires fusion information such as radar and a camera by using a multi-sensor acquisition vehicle, then point clouds are imported into an editing platform after map building processing, and map element information is manually drawn by using information such as the point clouds and pictures. However, as the intersection surface does not have a real lane line, the lane line of the intersection surface needs to be drawn by hands, and the lane line of the intersection surface is different from the specification due to manual intervention, so that the specification of the map cannot be unified, manual errors are easily superposed, the drawing efficiency and precision of the high-precision map are reduced, and the later-stage incremental updating of the map is not facilitated; in addition, the existing method for generating the virtual lane lines on the intersection surface cannot perform algorithm classification processing on different types of intersection surfaces, so that the error rate of the virtual lane lines on the intersection surface is high.
Disclosure of Invention
In view of this, the embodiment of the present application provides a method and an apparatus for generating a virtual lane line of an intersection surface based on an extended stop line, so as to solve the problems that in the prior art, manual intervention causes a difference between a lane line of an intersection surface and a specification, a map specification cannot be unified, manual errors are easily superimposed, the mapping efficiency and precision of a high-precision map are reduced, later-stage incremental updating of the map is not facilitated, and the error rate of the virtual lane line of the intersection surface is high.
In a first aspect of the embodiments of the present application, a method for generating a virtual lane line at an intersection surface based on an extended stop line is provided, where the method includes: inquiring the high-precision map database to obtain intersection surface data, and lane line data and stop line data corresponding to the intersection surface data; connecting the end points of the lane lines on the same side according to the lane line data so as to extend the stop lines on the same side in the intersection surface to obtain extended stop lines; determining a left adjacent stop line and a right adjacent stop line corresponding to each extended stop line, and constructing an extended stop line loop linked list; judging the type of the road junction surface according to the road junction surface data, starting from any extension stop line in the extension stop line loop chain table, and automatically generating a virtual lane line in the road junction surface according to the connection rule of the departure point and the arrival point of the extension stop line corresponding to the type of the road junction surface, wherein the departure point is a point on the extension stop line in the departure direction, and the arrival point is a point on the extension stop line in the entrance direction.
In a second aspect of the embodiments of the present application, there is provided an intersection surface virtual lane line generation apparatus based on an extended stop line, including: the query module is configured to query the high-precision map database to obtain intersection surface data, and lane line data and stop line data corresponding to the intersection surface data; the extension module is configured to connect the end points of the lane lines on the same side according to the lane line data so as to extend the stop line on the same side in the intersection surface to obtain an extended stop line; a building module configured to determine a left adjacent stop line and a right adjacent stop line corresponding to each extended stop line and build an extended stop line loop chain table; the generating module is configured to judge the type of the intersection surface according to the intersection surface data, start from any extended stop line in the extended stop line loop chain table, and automatically generate a virtual lane line in the intersection surface according to a connection rule of an out-degree point and an in-degree point of the extended stop line corresponding to the type of the predetermined intersection surface, wherein the out-degree point is a point on the extended stop line in the exit direction, and the in-degree point is a point on the extended stop line in the entrance direction.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
acquiring intersection surface data, and lane line data and stop line data corresponding to the intersection surface data by inquiring the high-precision map database; connecting the end points of the lane lines on the same side according to the lane line data so as to extend the stop line on the same side in the intersection surface and obtain an extended stop line; determining a left adjacent stop line and a right adjacent stop line corresponding to each extended stop line, and constructing an extended stop line loop linked list; judging the type of the stop line according to the intersection surface data, starting from any extended stop line in the extended stop line loop chain table, and automatically generating a virtual lane line in the intersection surface according to the preset connection rule of the exit point and the entry point of the extended stop line corresponding to the type of the intersection surface, wherein the exit point is a point on the extended stop line in the exit direction, and the entry point is a point on the extended stop line in the entrance direction. This application can the virtual lane line of automatic generation crossing face, need not artificial intervention, reduces artifical error or error stack, promotes high-accuracy map drawing efficiency and precision, and the increase update is made to the map to the convenient later stage to unified map specification, and to the crossing face of different grade type, uses different algorithm to handle, promotes the success rate that generates the virtual lane line of crossing face.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for generating a virtual lane line of an intersection surface based on an extended stop line according to an embodiment of the present application;
FIG. 2 is a schematic illustration of three types of road surfaces to which embodiments of the present application relate;
FIG. 3 is a schematic diagram of generating a virtual lane line at a crossroad surface according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of generating a virtual lane line at a T-shaped intersection according to an embodiment of the present application;
FIG. 5 is a schematic diagram of generating a virtual lane line at a Y-shaped intersection according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an intersection surface virtual lane line generation device based on an extended stop line according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
As described in the background art, an unmanned vehicle, also called an autonomous vehicle, an unmanned vehicle, or a wheeled mobile robot, is an integrated and intelligent new-generation technical product that integrates multiple elements such as environmental awareness, path planning, state recognition, and vehicle control. In an unmanned software system, a high-precision map is used as a priori brain of a plurality of modules for assisting perception, positioning, decision planning and the like, map elements in a static road can be provided for an automatic driving system, and the automatic driving is ensured to still normally operate when information is not identified through perception or lost through positioning.
However, the high-precision map has high precision requirement, the traditional 2D map standard cannot meet the requirement of unmanned scenes, and many scenes cannot be extracted automatically, so that most map manufacturers still continue to use manual drawing. In the current drawing process of high-precision maps, because the high-precision maps need high and accurate and detailed lane information, the precision requirements cannot be met only by remote sensing images and other modes, current map manufacturers acquire fusion information of radars, cameras and the like by using a multi-sensor acquisition vehicle, then point clouds are led into an editing platform after being subjected to drawing processing, and map element information is manually drawn by using the information of the point clouds, pictures and the like.
However, the current map making process of high-precision maps still has the following defects:
a) The manual production can generate overlay manual errors or errors, so that the map is repeatedly modified;
b) The map making period is long, the cost is high, the manually made map needs to be subjected to secondary verification, rework modification is needed when the map does not meet the specification, and certain timeliness is lacked;
c) For the intersection surface, because no real lane line exists (namely no line mark exists in the actual intersection surface), the virtual lane line needs to be drawn by manual hand, and the difference between the virtual lane line and the specification of the intersection surface is caused by manual intervention, so that troubles are caused to the later-stage increment updating of the map;
d) The existing method for generating the virtual lane lines of the road surface cannot perform algorithm classification processing on different types of road surfaces, so that the error rate of automatic generation is high, and more manual intervention is required.
Therefore, in the existing high-precision map manufacturing process, the lane lines on the intersection surface need to be manually drawn, the map specification cannot be unified, secondary verification is needed, manual errors are easily superposed, the drawing efficiency and precision of the high-precision map are reduced, and later-stage increment updating of the map is not facilitated.
In view of this, an embodiment of the present application provides a method for generating a virtual lane line of an intersection surface based on an extended stop line, where the method is applicable to a high-precision map drawing scene of L3-L4 level assisted driving, and the method includes querying intersection surface data, lane line data, and stop line data in a high-precision map database, automatically extending the stop line, constructing an extended stop line loop chain table according to a left adjacent stop line and a right adjacent stop line of each extended stop line, starting from any extended stop line in the extended stop line loop chain table, and automatically generating a virtual lane line in the intersection surface according to a connection rule between an out-of-order point and an in-order point of the extended stop line corresponding to different intersection surface types. The virtual lane line automatic generation of complex crossing scenes can be realized, the map specification is convenient to unify, secondary verification is not required to be carried out on the map, the high-precision map drawing efficiency and precision are improved, incremental updating is conveniently carried out on the map subsequently, and different algorithm processing can be adapted to different types of crossing surfaces, so that the success rate of generating the virtual lane line of the crossing surfaces is greatly improved.
The technical solution of the present application will be described in detail with reference to specific examples.
Fig. 1 is a schematic flowchart of a method for generating a virtual lane line of an intersection surface based on an extended stop line according to an embodiment of the present application. The extended stop-line based intersection face virtual lane line generation method of fig. 1 may be performed by a high-precision mapping system. As shown in fig. 1, the method for generating a virtual lane line of an intersection surface based on an extended stop line may specifically include:
s101, inquiring a high-precision map database to obtain intersection surface data, and lane line data and stop line data corresponding to the intersection surface data;
s102, connecting end points of the lane lines on the same side according to lane line data so as to extend the stop line on the same side in the intersection surface and obtain an extended stop line;
s103, determining a left adjacent stop line and a right adjacent stop line corresponding to each extended stop line, and constructing an extended stop line loop linked list;
and S104, judging the type of the road junction surface according to the road junction surface data, starting from any extended stop line in the extended stop line loop chain table, and automatically generating a virtual lane line in the road junction surface according to a connection rule of the out-degree point and the in-degree point of the extended stop line corresponding to the preset road junction surface type, wherein the out-degree point is a point on the extended stop line in the exit direction, and the in-degree point is a point on the extended stop line in the entrance direction.
The intersection surface of the present application refers to a road surface region surrounded by pedestrian crossings on the periphery, and for example, an intersection may include pedestrian crossings in four directions, and a middle region surrounded by the pedestrian crossings in four directions is referred to as an intersection surface. The operation of generating the virtual lane lines in the intersection surface is realized in the drawing process of the high-precision map, and the high-precision map can be manufactured manually, namely the high-precision map is manufactured in a manual drawing mode.
Further, the intersection surface data, the lane line data and the stop line data are data queried based on a high-precision map database, and intersection surface data, lane line data and stop line data corresponding to an intersection surface where a virtual lane line needs to be generated are derived from the high-precision map database, wherein the intersection surface data includes a point set corresponding to a road surface area, the lane line data includes a point set composed of points on the lane line, and the stop line data includes a point set composed of points on the stop line.
In some embodiments, the extended stop line is obtained by connecting the end points of the lane lines belonging to the same side in the intersection plane, and the extended stop line covers all the out-degree points and the in-degree points on the lane lines on the same side, that is, the extended stop line can be obtained by connecting all the out-degree points and the in-degree points on the lane lines on the same side, and the extended stop line includes the original stop line; taking the intersection surface as an example, the intersection surface includes lane lines in four directions, the lane lines in each direction are taken as the lane lines on the same side, each lane line corresponds to respective end points (i.e., a departure point and an entrance point), and all departure points and entrance points on the lane lines on the same side are connected to form an extended stop line in the direction.
In some embodiments, determining the corresponding left and right abutting stop-lines for each elongated stop-line comprises: and determining a left edge line and a right edge line corresponding to each extended stop line, and performing space inquiry by using the left edge line and the right edge line to determine a left adjacent stop line and a right adjacent stop line corresponding to each extended stop line respectively.
Specifically, a connecting line between the central point of each extended stop line and the central point of the road junction surface is established, the vector direction of the connecting line is calculated, and the left edge line and the right edge line corresponding to each extended stop line are determined according to the vector direction of the connecting line, namely the left edge line and the right edge line are judged according to the centroid direction of the extended stop lines and the road junction surface.
Further, after determining the left and right edge lines to which each extended stop-line corresponds, respectively, a left and right adjacent stop-line to which each extended stop-line corresponds is determined by means of a spatial query. In practical application, the spatial query refers to spatial geometric operation of a geographic position, and the left edge line and the right edge line of each extended stop line are used for performing the spatial geometric operation of the geographic position to obtain a left adjacent stop line and a right adjacent stop line which are adjacent to each extended stop line, namely, the nearest adjacent stop line is spatially queried through the left edge line and the right edge line.
In some embodiments, constructing an extended stop-line loopback linked list comprises: determining the connection sequence between the extended stop lines according to the left adjacent stop line and the right adjacent stop line corresponding to each extended stop line, and establishing an extended stop line loop linked list according to the connection sequence; each extension stop line in the extension stop line loop chain table is used as an object, and the out-degree point and the in-degree point corresponding to the extension stop line are stored in each object.
Specifically, a left adjacent stop line and a right adjacent stop line adjacent to each extended stop line are queried spatially, and each extended stop line is sequentially connected according to the arrangement sequence between the left adjacent stop line and the right adjacent stop line to obtain the extended stop line loop linked list.
It should be noted that the extended stop-line looping chain table includes a plurality of objects, each object corresponds to one extended stop-line, the objects are connected by pointers, and the pointers are used for representing the logical connection sequence between the objects; the objects in the loopback list may also be referred to as data elements, and thus, the loopback list may also be considered a data structure consisting of data elements and pointers between the data elements.
Furthermore, each object in the extended stop line loop chain table may store an out-degree point and an in-degree point corresponding to the extended stop line, where the out-degree point represents an intersection point of a lane line in the exit direction and the extended stop line, the in-degree point represents an intersection point of a lane line in the entry direction and the extended stop line, and the extended stop line and the lane line have a topological relationship.
In some embodiments, determining the type of intersection face from the intersection face data comprises: judging the Type of the intersection surface according to the Type field in the intersection surface data, wherein the Type of the intersection surface comprises an intersection surface, a T-shaped intersection surface and a Y-shaped intersection surface.
Specifically, the intersection surface data includes a Type field, where the Type field is used to indicate a Type of an intersection surface, the following describes three types of intersection surfaces related to the present application with reference to the drawings, and fig. 2 is a schematic diagram of the three types of intersection surfaces related to an embodiment of the present application.
As shown in fig. 2, the method for generating a virtual lane line at an intersection surface of the present application relates to three different types of intersection surfaces, namely, an intersection surface, a T-shaped intersection surface, and a Y-shaped intersection surface.
In addition, the three intersection surface types also include some special cases, for example, the X-shaped plane intersection in fig. 2 can be regarded as a special intersection surface, the offset plane intersection can be regarded as a special T-shaped intersection surface, and the circular plane intersection and the multi-path plane intersection can be regarded as special Y-shaped intersection surfaces.
The purpose of judging the type of the road junction surface is to facilitate subsequent calculation according to different road junction surface types, and the method and the device are used for carrying out classification processing on different types of road junction surfaces adapted to different algorithms, so that the success rate of generating the virtual lane lines of the road junction surface is improved.
In some embodiments, when the type of the road surface is an intersection surface, automatically generating a virtual lane line in the road surface according to a connection rule of a predetermined intersection surface type corresponding to the out-degree point and the in-degree point of the extended stop line, including:
when the out-degree point corresponding to the extended stop line contains left-turn and/or right-turn information, a left-turn and/or right-turn virtual lane line is generated between the out-degree point of the extended stop line and the in-degree point of the left and/or right adjacent stop line;
when the departure point corresponding to the extension stop line contains straight-going information, a straight-going virtual lane line is generated between the departure point of the extension stop line and the entry point of the opposite extension stop line;
when the lanes corresponding to the extended stop line include the paved lane, a virtual lane line is generated between the starting point and the end point using the departure point of the paved lane on the extended stop line as the starting point and the entry point of the auxiliary lane on the extended stop line in the entrance direction as the end point.
Specifically, starting from any extended stop line, a connection between an out-degree point and an in-degree point is established (i.e., a virtual lane line is generated), each out-degree point contains steering information of the lane line (inherited from the steering information of the original lane line), and whether the in-degree point of a left neighbor (left adjacent stop line) or the in-degree point of a right neighbor (right adjacent stop line) is connected is distinguished according to the steering information.
An algorithm for generating a virtual lane line on an intersection surface according to the present application is described below with reference to the accompanying drawings, and fig. 3 is a schematic diagram of generating a virtual lane line on an intersection surface according to the embodiment of the present application. As shown in fig. 3, the generating of the virtual lane line in the intersection plane may specifically include:
for the case of a non-auxiliary road lane, when the departure point corresponding to the extended stop line contains left-turn information, the departure point of the extended stop line is connected with the arrival point of the left adjacent stop line, namely a second-order Bezier curve is generated between the departure point and the arrival point. At the moment, a preset left-turn hanging rule is adopted between the out-degree point and the in-degree point, the lanes are numbered from left to right according to the driving direction of the lanes, the lane with the minimum inlet serial number is hung on the lane with the minimum outlet serial number according to the serial numbers corresponding to the lanes, the lanes with the minimum inlet serial number are hung and hung independently from small to large in sequence, and the remaining lanes with the maximum outlet serial number are hung and hung.
For the case of a non-auxiliary road lane, when the departure point corresponding to the extended stop line contains right turn information, the departure point of the extended stop line is connected with the arrival point of the right adjacent stop line, namely a second-order Bezier curve is generated between the departure point and the arrival point. At the moment, a preset right turn hanging rule is adopted between the out-degree point and the in-degree point, the lanes are numbered from left to right according to the driving direction of the lanes, the lane with the largest serial number at the inlet is hung on the lane with the largest serial number at the outlet according to the serial numbers corresponding to the lanes, the lanes with the largest serial number at the inlet are hung and independently hung from large to small in sequence, and the rest lanes with the smallest serial number at the outlet are hung.
In a specific example, when the lanes are numbered from left to right according to the driving direction of the lanes, the driving direction of the vehicle in the lanes is taken as the direction of the lanes, and at this time, the lanes are numbered in sequence along the leftmost lane to the rightmost lane, for example, for a straight four-lane, the leftmost lane is numbered as 1, the middle lanes are numbered as 2 and 3, and the rightmost lane is numbered as 4.
For the situation of a non-auxiliary road lane, when the departure point corresponding to the extension stop line contains straight-going information, the departure point of the extension stop line is connected with the entry point of the extension stop line in the straight-going direction, a second-order Bezier curve does not need to be generated, and the straight-going virtual lane line is directly obtained.
For the condition of the auxiliary road lane, the departure point of the paving lane is used as a starting point, the connection relation is established along the direction of the right adjacent stop line of the corresponding extension stop line of the paving lane until the approach point of the paving lane of the left adjacent stop line, a left turn lane of the auxiliary road is formed, and a second-order Bezier curve is generated at the turn for connection.
In some embodiments, when the type of the intersection surface is a T-shaped intersection surface, automatically generating a virtual lane line in the intersection surface according to a connection rule of an out-degree point and an in-degree point of an extended stop line corresponding to a predetermined type of the intersection surface, includes:
determining a right-angle stop line corresponding to the T-shaped intersection surface, and determining a left adjacent stop line and a right adjacent stop line corresponding to the right-angle stop line;
when the out-degree point corresponding to the right-angle stop line contains left-turn and/or right-turn information, a left-turn and/or right-turn virtual lane line is generated between the out-degree point of the right-angle stop line and the in-degree point of the left and/or right adjacent stop line;
generating a virtual lane line between the out-degree point of a right-turn lane line which is adjacent to the stop line at the left side and the in-degree point of the right-angle stop line, and generating a virtual lane line between the out-degree point of the left-turn lane line which is adjacent to the stop line at the right side and the in-degree point of the right-angle stop line;
taking the departure point of a side road lane on the right-angle stop line as a starting point, generating a side road left-turning virtual lane line between the direction of the right adjacent stop line and the approach point of the left adjacent stop line, and generating a second-order Bezier curve at the corner;
and generating a straight virtual lane line between the out-degree point and the in-degree point of the straight lane line between the left adjacent stop line and the right adjacent stop line.
Specifically, the right-angle stop line refers to a stop line that does not include a straight lane line, and a left edge line and a right edge line corresponding to the right-angle stop line are determined according to a vector direction of a connecting line by calculating the vector direction of the connecting line according to the connecting line between a center point of the right-angle stop line and a center point of a junction surface (i.e., an intersection surface), that is, the left edge line and the right edge line are determined according to the centroid direction of the right-angle stop line and the junction surface. And then determining the left adjacent stop line and the right adjacent stop line of the right-angle stop line by means of space inquiry.
An algorithm for generating a virtual lane line at a T-shaped intersection according to the present application is described below with reference to the accompanying drawings, and fig. 4 is a schematic diagram of generating a virtual lane line at a T-shaped intersection according to the present application. As shown in fig. 4, the generating of the virtual lane line in the T-shaped intersection plane may specifically include:
and starting from the right-angle stop line, respectively establishing connection between the out-degree point of the right-angle stop line and the in-degree points of the left adjacent stop line and the right adjacent stop line, namely respectively generating a left-turn virtual lane line and a right-turn virtual lane line.
In one specific example, when the out-degree point corresponding to the right-angled stop line contains left-turn information, the out-degree point of the right-angled stop line is connected with the in-degree point of the left adjacent stop line, and a second-order bezier curve is generated between the out-degree point and the in-degree point. At this time, a preset left-turn hooking rule is adopted between the out-degree point and the in-degree point, and the left-turn hooking rule refers to the description of the foregoing embodiments and is not described herein again.
Similarly, when the out-degree point corresponding to the right-angle stop line contains right-turn information, the out-degree point of the right-angle stop line is connected with the in-degree point adjacent to the right-angle stop line, and a second-order Bezier curve is generated between the out-degree point and the in-degree point. At this time, a preset right-turn hooking rule is adopted between the out-degree point and the in-degree point, and the right-turn hooking rule refers to the description of the foregoing embodiments and is not described herein again.
In one specific example, the out-of-degree point of the right-turn lane line left-adjacent to the stop line is connected with the in-degree point of the right-angle stop line, and a second-order bezier curve is generated between the out-of-degree point and the in-degree point. At this time, a preset right turn hooking rule is adopted between the out-degree point and the in-degree point, and the description of the right turn hooking rule refers to the description of the foregoing embodiment, which is not repeated herein.
Similarly, the out-degree point of the left-turn lane line adjacent to the right stop line is connected with the in-degree point of the right-angle stop line, and a second-order Bezier curve is generated between the out-degree point and the in-degree point. At this time, a preset left-turn hooking rule is adopted between the out-degree point and the in-degree point, and the left-turn hooking rule refers to the description of the foregoing embodiments and is not described herein again.
In one specific example, for the assistant road lane, starting from the out-degree point of the assistant road lane of the right-angle stop line, the assistant road lane travels along the direction of the right adjacent stop line, and a bezier curve is generated at the included angle between the right adjacent stop line and the transverse road of the T-shaped intersection surface for joining, and then the connection is continuously established between the transverse road of the T-shaped intersection surface and the in-degree point of the left adjacent stop line, and finally the assistant road left-turn virtual lane line is formed.
In one specific example, for a straight lane, the out-degree point of the straight lane adjacent to the left stop line is connected with the in-degree point of the straight lane adjacent to the right stop line, and similarly, the out-degree point of the straight lane adjacent to the right stop line is connected with the in-degree point of the straight lane adjacent to the left stop line, so as to generate a straight virtual lane line.
In some embodiments, when the type of the intersection surface is a Y-type intersection surface, automatically generating a virtual lane line in the intersection surface according to a connection rule between an out-degree point and an in-degree point of a corresponding extended stop line of a predetermined type of the intersection surface, includes:
when the departure point corresponding to the extended stop line contains left-turn information, a left-turn virtual lane line is generated between the departure point of the extended stop line and the departure point of the left adjacent stop line;
when the out-degree point corresponding to the extended stop line contains right turn and/or straight information, a right turn virtual lane line is generated between the out-degree point of the extended stop line and the in-degree point of the right adjacent stop line;
when the departure point corresponding to the extended stop line contains left-turn information, a right-turn virtual lane line is generated between the departure point of the straight lane line of the extended stop line and the entry point of the right adjacent stop line;
when the departure point corresponding to the extended stop line does not contain left-turn information, a left-turn virtual lane line is generated between the departure point of the straight lane line of the extended stop line and the entry point of the left adjacent stop line;
when the lane corresponding to the extended stop line includes a paved lane, a secondary virtual lane line is generated between an out-of-degree point of the paved lane on the extended stop line and an in-degree point of the secondary lane on the extended stop line in the entrance direction.
Specifically, the left adjacent stop line and the right adjacent stop line of the extended stop line in the Y-shaped intersection plane can also be determined by connecting the center point of the extended stop line with the center point of the junction plane. An algorithm for generating a virtual lane line at a Y-intersection according to the present application will be described below with reference to the accompanying drawings, and fig. 5 is a schematic diagram of generating a virtual lane line at a Y-intersection according to the embodiment of the present application. As shown in fig. 5, the generating of the virtual lane line in the Y-shaped intersection plane may specifically include:
in one specific example, starting from any extended stop line, when the departure lane line of the extended stop line is a left-turn lane line (i.e., when the departure point of the extended stop line contains left-turn information), the departure point of the left-turn lane line is connected with the entry point of the left adjacent stop line, and a second-order bezier curve is generated between the departure point and the entry point. At this time, a preset left-turn hooking rule is adopted between the out-degree point and the in-degree point, and the left-turn hooking rule refers to the description of the foregoing embodiments and is not described herein again.
In a specific example, when the departure lane line of the extended stop line is a right-turn lane line and/or a straight-going lane line, the departure point of the right-turn lane line and/or the straight-going lane line is connected with the entry point of the right adjacent stop line, and a second-order bezier curve is generated between the departure point and the entry point. That is to say, the second-order bezier curve is generated in a right-turn manner under both the right-turn and the straight-going conditions, and at this time, a preset right-turn hooking rule is adopted between the out-degree point and the in-degree point, and the right-turn hooking rule refers to the description of the foregoing embodiments and is not described herein again.
In one specific example, when the departure lane line of the extended stop line contains a left-turn lane line (i.e., when the departure point of the extended stop line contains left-turn information), the departure point of the straight-going lane line is connected with the entry point of the right adjacent stop line, and a second-order bezier curve is generated between the departure point and the entry point. That is, when the departure lane line includes left-turn information, the straight-ahead is processed according to a right-turn, and at this time, a preset right-turn hooking rule is adopted between the departure point and the entry point, and the right-turn hooking rule refers to the description of the foregoing embodiment and is not described herein again.
Conversely, when the departure lane line of the extended stop line does not include a left-turn lane line (i.e., when the departure point of the extended stop line does not include left-turn information), the departure point of the straight-ahead lane line is connected to the entry point of the left adjacent stop line, and a second-order bezier curve is generated between the departure point and the entry point. That is, when the departure lane line does not include the left-turn information, the straight-ahead is processed according to the left-turn, and at this time, a preset left-turn hooking rule is adopted between the departure point and the entry point, and the left-turn hooking rule refers to the description of the foregoing embodiment and is not described herein again.
In a specific example, there may be a situation of a secondary road lane in the Y-shaped intersection surface, and when the extended stop line of the Y-shaped intersection surface corresponds to a lane containing a paving lane, three different secondary road virtual lane lines may be generated by using the following manners, which may specifically include:
turning left the virtual lane line of the auxiliary road: and taking the out-degree point of the auxiliary road lane on the extended stop line as a starting point, connecting the out-degree point with the in-degree point of the left adjacent stop line along the direction of the right adjacent stop line, and generating a second-order Bezier curve at a corner to obtain the left-turn virtual lane line of the auxiliary road.
Turning the virtual lane line to the right of the auxiliary road: and connecting the out-degree point of the auxiliary road lane on the extended stop line with the in-degree point of the auxiliary road lane adjacent to the right stop line, and generating a second-order Bezier curve between the out-degree point and the in-degree point to obtain an auxiliary road right-turn virtual lane line.
Turning around the virtual lane line by the auxiliary road: and taking the departure point of the auxiliary road lane on the extended stop line as a starting point, sequentially advancing along the directions of the right adjacent stop line and the left adjacent stop line until the departure point of the paving lane corresponding to the current extended stop line is connected, and generating a second-order Bessel curve at the corner to obtain the auxiliary road turn-around virtual lane line.
It should be noted that, when the virtual lane line is generated, the out-degree point and the in-degree point are connected by using the second-order bezier curve, and the second-order bezier curve is also adopted to be connected at the corner of the straight line. The formula of the second order bezier curve is: b () = (1-) 2 P 0 +2t(1-) 1 + 2 P 2 ,∈[0,1](ii) a The principle is as follows: q 0 Is P 0 To P 1 Upper moving point, Q 1 Is P 1 To P 2 Moving points of upper, they are at P 0 P 1 And P 1 P 2 Is proportionally shifted, that is, when Q is 0 Move to P 0 P 1 At the midpoint of (1), Q 1 Also just move to P 1 P 2 Mid point of (A), Q 0 Move to P 1 When is, Q 1 Also just move to P 2 . And B () is Q 0 To Q 1 Is also proportionally moved, the track of B () is P 0 As a starting point, with P 2 As an end point, with P 1 Is a second order bezier curve of the control points.
In some embodiments, after automatically generating the virtual lane line within the intersection plane, the method further comprises: and establishing an association relation among the central line, the left boundary line and the right boundary line of each lane line according to lane line data in the high-precision map data.
Specifically, after the virtual lane lines are generated in the road surface in the high-precision map, the association relationship between the lane center line of each lane and the left and right lane boundary lines, that is, the attribute mapping relationship between the lane center line, the left lane boundary line and the right lane boundary line, can be established according to the lane line grouping relationship in the original data (data queried from the high-precision map database).
Further, after the attribute mapping relation is established, virtual lane line data generated by the road surface is added into a high-precision map database, data with the specification required by the unmanned vehicle end is generated in the high-precision map database, namely a format file which can be recognized by the vehicle end is generated, and the file is sent to the vehicle end for actual measurement.
According to the technical scheme provided by the embodiment of the application, the virtual lane lines are automatically generated in the intersection surface, manual intervention is not needed, the automation degree of the virtual lane lines is improved, and the problem that manual errors or error superposition occur in manual drawing due to the fact that manual intervention drawing is needed in complex intersection scenes is fundamentally solved. The method and the device have the advantages that the drawing efficiency and precision of the high-precision map are improved, fine differences caused by manual drawing are avoided, the specification of the map is convenient to unify, and the map is convenient to be updated in an incremental mode in the later period; according to the method, the specification conditions are verified in the high-precision map generating process, so that secondary verification is not needed, and cost reduction and efficiency improvement are achieved for the manufacturing process of the high-precision map; finally, the method and the device adapt to different algorithm generation aiming at different types of road surface, can flexibly expand the road surface types and corresponding algorithms for adaptation of complex road surfaces, and improve the success rate of generating the virtual lane lines of the road surface.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
Fig. 6 is a schematic structural diagram of an intersection surface virtual lane line generation device based on an extended stop line according to an embodiment of the present application. As shown in fig. 6, the intersection surface virtual lane line generation device based on the extended stop line includes:
the query module 601 is configured to query the high-precision map database to obtain intersection surface data, and lane line data and stop line data corresponding to the intersection surface data;
an extension module 602 configured to connect end points of the lane lines on the same side according to the lane line data, so as to extend the stop line on the same side in the intersection plane, thereby obtaining an extended stop line;
a building module 603 configured to determine a left adjacent stop-line and a right adjacent stop-line corresponding to each extended stop-line and build an extended stop-line loop-back linked list;
the generating module 604 is configured to determine a type of an intersection surface according to the intersection surface data, and automatically generate a virtual lane line in the intersection surface from any extended stop line in the extended stop line loop chain table according to a connection rule between an out-degree point and an in-degree point of the extended stop line corresponding to a predetermined intersection surface type, where the out-degree point is a point on the extended stop line in the exit direction, and the in-degree point is a point on the extended stop line in the entrance direction.
In some embodiments, the building module 603 of fig. 6 determines a left edge line and a right edge line for each extended stop-line, and performs a spatial query using the left edge line and the right edge line to determine a left-adjacent stop-line and a right-adjacent stop-line for each extended stop-line, respectively.
In some embodiments, the building module 603 of fig. 6 determines a connection order between the extended stop-lines according to the left and right adjacent stop-lines corresponding to each extended stop-line, and builds the extended stop-line loop chain table according to the connection order;
each extension stop line in the extension stop line loop chain table is used as an object, and the out-degree point and the in-degree point corresponding to the extension stop line are stored in each object.
In some embodiments, the generation module 604 of FIG. 6 determines the intersection face Type based on the Type field in the intersection face data, wherein the intersection face types include an intersection face, a T-intersection face, and a Y-intersection face.
In some embodiments, when the road surface type is an intersection surface, the generation module 604 of fig. 6 is configured to:
when the out-degree point corresponding to the extended stop line contains left-turn and/or right-turn information, a left-turn and/or right-turn virtual lane line is generated between the out-degree point of the extended stop line and the in-degree point of the left and/or right adjacent stop line;
when the out-degree point corresponding to the extended stop line contains straight-going information, a straight-going virtual lane line is generated between the out-degree point of the extended stop line and the in-degree point of the opposite extended stop line;
when the lanes corresponding to the extended stop line include the paved lane, a virtual lane line is generated between the starting point and the end point using the departure point of the paved lane on the extended stop line as the starting point and the entry point of the auxiliary lane on the extended stop line in the entrance direction as the end point.
In some embodiments, when the intersection surface type is a T-shaped intersection surface, the generation module 604 of fig. 6 is configured to:
determining a right-angle stop line corresponding to the T-shaped intersection surface, and determining a left adjacent stop line and a right adjacent stop line corresponding to the right-angle stop line;
when the out-degree point corresponding to the right-angle stop line contains left-turn and/or right-turn information, a left-turn and/or right-turn virtual lane line is generated between the out-degree point of the right-angle stop line and the in-degree point of the left and/or right adjacent stop line;
generating a virtual lane line between the out-degree point of a right-turn lane line left-adjacent to the stop line and the in-degree point of the right-angle stop line, and generating a virtual lane line between the out-degree point of a left-turn lane line right-adjacent to the stop line and the in-degree point of the right-angle stop line;
taking the out-degree point of the auxiliary road lane on the right-angle stop line as a starting point, generating an auxiliary road left-turning virtual lane line between the direction of the right adjacent stop line and the in-degree point of the left adjacent stop line, and generating a second-order Bezier curve at a corner;
and generating a straight virtual lane line between the out-degree point and the in-degree point of the straight lane line between the left adjacent stop line and the right adjacent stop line.
In some embodiments, when the intersection surface type is a Y-type intersection surface, the generation module 604 of fig. 6 is configured to:
when the departure point corresponding to the extended stop line contains left-turn information, a left-turn virtual lane line is generated between the departure point of the extended stop line and the departure point of the left adjacent stop line;
when the departure point corresponding to the extended stop line contains right turn and/or straight information, a right turn virtual lane line is generated between the departure point of the extended stop line and the entry point of the right adjacent stop line;
when the departure point corresponding to the extended stop line contains left-turn information, a right-turn virtual lane line is generated between the departure point of the straight lane line of the extended stop line and the entry point of the right adjacent stop line;
when the departure point corresponding to the extended stop line does not contain left-turn information, a left-turn virtual lane line is generated between the departure point of the straight lane line of the extended stop line and the entry point of the left adjacent stop line;
when the lane corresponding to the extended stop line includes a paved lane, a sub virtual lane line is generated between an out-of-order point of the paved lane on the extended stop line and an in-order point of the sub lane on the extended stop line in the entrance direction.
In some embodiments, after the generation module 604 of fig. 6 automatically generates the virtual lane lines in the intersection plane, the association relationship between the center line, the left boundary line and the right boundary line of each lane line is established according to the lane line data in the high-precision map data.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 7 is a schematic structural diagram of an electronic device 7 provided in an embodiment of the present application. As shown in fig. 7, the electronic apparatus 7 of this embodiment includes: a processor 701, a memory 702, and a computer program 703 stored in the memory 702 and executable on the processor 701. The steps in the various method embodiments described above are implemented when the computer program 703 is executed by the processor 701. Alternatively, the processor 701 implements the functions of each module/unit in each device embodiment described above when executing the computer program 703.
Illustratively, the computer program 703 may be partitioned into one or more modules/units, which are stored in the memory 702 and executed by the processor 701 to accomplish the present application. One or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 703 in the electronic device 7.
The electronic device 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other electronic devices. The electronic device 7 may include, but is not limited to, a processor 701 and a memory 702. Those skilled in the art will appreciate that fig. 7 is merely an example of the electronic device 7, does not constitute a limitation of the electronic device 7, and may include more or less components than those shown, or combine certain components, or different components, e.g., the electronic device may also include input-output devices, network access devices, buses, etc.
The Processor 701 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 702 may be an internal storage unit of the electronic device 7, for example, a hard disk or a memory of the electronic device 7. The memory 702 may also be an external storage device of the electronic device 7, such as a plug-in hard disk provided on the electronic device 7, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 702 may also include both an internal storage unit and an external storage device of the electronic device 7. The memory 702 is used to store computer programs and other programs and data required by the electronic device. The memory 702 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
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.
Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/computer device and method may be implemented in other ways. For example, the above-described apparatus/computer device embodiments are merely illustrative, and for example, a division of modules or units, a division of logical functions only, an additional division may be made in actual implementation, multiple units or components may be combined or integrated with another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by the present application, and the computer program can be stored in a computer readable storage medium to instruct related hardware, and when the computer program is executed by a processor, the steps of the method embodiments described above can be realized. The computer program may comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain suitable additions or additions that may be required in accordance with legislative and patent practices within the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals or telecommunications signals in accordance with legislative and patent practices.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method for generating a virtual lane line of an intersection surface based on an extended stop line is characterized by comprising the following steps:
inquiring a high-precision map database to obtain intersection surface data, and lane line data and stop line data corresponding to the intersection surface data;
connecting the end points of the lane lines on the same side according to the lane line data so as to extend the stop line on the same side in the crossing surface and obtain an extended stop line;
determining a left adjacent stop line and a right adjacent stop line corresponding to each extended stop line, and constructing an extended stop line loop linked list;
judging the type of the opening surface according to the intersection surface data, starting from any extended stop line in the extended stop line loop chain table, and automatically generating a virtual lane line in the intersection surface according to a preset connection rule of an out-degree point and an in-degree point of the extended stop line corresponding to the type of the intersection surface, wherein the out-degree point is a point on the extended stop line in the exit direction, and the in-degree point is a point on the extended stop line in the entrance direction.
2. The method of claim 1, wherein the determining a left abutting stop-line and a right abutting stop-line for each of the elongated stop-lines comprises:
and determining a left edge line and a right edge line corresponding to each extended stop line, and performing space query by using the left edge line and the right edge line to determine a left adjacent stop line and a right adjacent stop line corresponding to each extended stop line respectively.
3. The method of claim 1, wherein constructing the extended stop-line loopback list comprises:
determining a connection sequence between the extended stop lines according to the left adjacent stop line and the right adjacent stop line corresponding to each extended stop line, and establishing the extended stop line loop linked list according to the connection sequence;
each extended stop line in the extended stop line loop chain table serves as an object, and a departure point and an entry point corresponding to the extended stop line are stored in each object.
4. The method of claim 1, wherein said determining an intersection face type from said intersection face data comprises:
and judging the Type of the road surface according to a Type field in the road surface data, wherein the Type of the road surface comprises a crossroad surface, a T-shaped intersection road surface and a Y-shaped intersection road surface.
5. The method according to claim 4, wherein when the type of the road surface is an intersection surface, the automatically generating a virtual lane line in the road surface according to a predetermined connection rule between an out-degree point and an in-degree point of an extended stop line corresponding to the type of the road surface comprises:
when the out-degree point corresponding to the extended stop line contains left-turn and/or right-turn information, generating a left-turn and/or right-turn virtual lane line between the out-degree point of the extended stop line and the in-degree point of a left and/or right adjacent stop line;
when the departure point corresponding to the extended stop line contains straight-going information, a straight-going virtual lane line is generated between the departure point of the extended stop line and the entry point of the opposite extended stop line;
when the lanes corresponding to the extended stop line include a paved lane, a virtual lane line is generated between a starting point and an end point, using an out-degree point of the paved lane on the extended stop line as the starting point, and using an in-degree point of a secondary lane on the extended stop line in the entrance direction as the end point.
6. The method according to claim 4, wherein when the type of the intersection surface is a T-shaped intersection surface, the automatically generating a virtual lane line in the intersection surface according to a predetermined connection rule between an out-degree point and an in-degree point of an extended stop line corresponding to the type of the intersection surface comprises:
determining a right-angle stop line corresponding to the T-shaped intersection surface, and determining a left adjacent stop line and a right adjacent stop line corresponding to the right-angle stop line;
when the out-degree point corresponding to the right-angle stop line contains left-turn and/or right-turn information, a left-turn and/or right-turn virtual lane line is generated between the out-degree point of the right-angle stop line and the in-degree point of a left and/or right adjacent stop line;
generating a virtual lane line between the out-degree point of the right-turn lane line of the left adjacent stop line and the in-degree point of the right-angle stop line, and generating a virtual lane line between the out-degree point of the left-turn lane line of the right adjacent stop line and the in-degree point of the right-angle stop line;
taking the departure point of the auxiliary road lane on the right-angle stop line as a starting point, generating an auxiliary road left-turning virtual lane line between the direction of the right adjacent stop line and the entry point of the left adjacent stop line, and generating a second-order Bezier curve at the corner;
and generating a straight virtual lane line between the out-degree point and the in-degree point of the straight lane line between the left adjacent stop line and the right adjacent stop line.
7. The method according to claim 4, wherein when the type of the intersection surface is a Y-type intersection surface, the automatically generating a virtual lane line in the intersection surface according to a predetermined rule of connecting the out-degree point and the in-degree point of the extended stop line corresponding to the type of the intersection surface comprises:
when the out-degree point corresponding to the extended stop line contains left-turn information, a left-turn virtual lane line is generated between the out-degree point of the extended stop line and the in-degree point of the left adjacent stop line;
when the out-degree point corresponding to the extended stop line contains right turn and/or straight information, a right turn virtual lane line is generated between the out-degree point of the extended stop line and the in-degree point of the right adjacent stop line;
when the departure point corresponding to the extended stop line contains left-turn information, a right-turn virtual lane line is generated between the departure point of the straight lane line of the extended stop line and the entry point of the right adjacent stop line;
when the departure point corresponding to the extended stop line does not contain left-turn information, a left-turn virtual lane line is generated between the departure point of the straight lane line of the extended stop line and the entry point of the left adjacent stop line;
when the lane corresponding to the extended stop line includes a paved lane, a secondary virtual lane line is generated between an out-degree point of the paved lane on the extended stop line and an in-degree point of the secondary lane on the extended stop line in the entrance direction.
8. The method of claim 1, wherein after automatically generating the virtual lane line within the intersection face, the method further comprises:
and establishing an association relation among the central line, the left boundary line and the right boundary line of each lane line according to the lane line data in the high-precision map data.
9. An intersection surface virtual lane line generation device based on an extended stop line, comprising:
the system comprises a query module, a storage module and a processing module, wherein the query module is configured to query a high-precision map database to obtain intersection surface data, and lane line data and stop line data corresponding to the intersection surface data;
the extension module is configured to connect the end points of the lane lines on the same side according to the lane line data so as to extend the stop line on the same side in the intersection surface to obtain an extended stop line;
a building module configured to determine a left adjacent stop line and a right adjacent stop line corresponding to each of the extended stop lines and build an extended stop line loop chain table;
and the generating module is configured to judge the type of the intersection surface according to the intersection surface data, and automatically generate a virtual lane line in the intersection surface from any extended stop line in the extended stop line loop chain table according to a preset connection rule between an out-degree point and an in-degree point of the extended stop line corresponding to the type of the intersection surface, wherein the out-degree point is a point on the extended stop line in the exit direction, and the in-degree point is a point on the extended stop line in the entrance direction.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 8 when executing the program.
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