CN115965713A

CN115965713A - Method, device and equipment for generating U-turn lane and storage medium

Info

Publication number: CN115965713A
Application number: CN202310260536.6A
Authority: CN
Inventors: 柳春青
Original assignee: Autonavi Software Co Ltd
Current assignee: Autonavi Software Co Ltd
Priority date: 2023-03-17
Filing date: 2023-03-17
Publication date: 2023-04-14
Anticipated expiration: 2043-03-17
Also published as: CN115965713B

Abstract

The application provides a method, a device, equipment and a storage medium for generating a U-turn lane, wherein the method comprises the following steps: determining the intersection line of at least two groups of target entering lanes and the intersection line of the road where the target exiting lane is located and the target intersection, wherein one group of target entering lanes and one group of target exiting lanes are communicated through a turning lane; determining a boundary direction based on an included angle between the intersection line and a set direction, and dividing the target intersection into two turning areas along the boundary direction; and generating a U-turn lane positioned in each U-turn area based on a group of target entering lanes and target exiting lanes corresponding to the U-turn area. By dividing the turning areas, the turning lanes corresponding to the turning areas are enabled not to conflict, the quality of the drawn turning lanes is improved, and the safety of vehicle turning is improved.

Description

Method, device and equipment for generating U-turn lane and storage medium

Technical Field

The application relates to the technical field of high-precision maps and intelligent driving, in particular to a method, a device, equipment and a storage medium for generating a U-turn lane.

Background

The high-precision map is an important tool for realizing intelligent driving, and lane lines in the high-precision map can be used for supporting an intelligent driving vehicle to autonomously make corresponding driving behaviors (such as straight running, steering, turning around, lane changing and the like) or supporting an advanced auxiliary driving system to generate a prompt (such as safe distance prompt and the like) for helping a driver to safely drive.

In the high-precision map, the lane lines of some lanes are called marking lines (marking lines refer to corresponding lines of the lane lines drawn on the roads in the real world in the high-precision map), and the marking lines may be single solid lines, broken lines, and the like. The lane lines of still some lanes in the high-precision map are called virtual lines because there are road regions in the real world, such as intersections, where no lane lines are drawn for some reason. For these road areas, the driver can drive the vehicle on such roads by visual observation and accumulated driving experience. However, in the case of the smart driving vehicle, if the lane line is short, the smart driving vehicle cannot know the driving area, and therefore, in the high-precision map making process, it is also necessary to make the lane line in the road area where the lane line is not drawn in the real world, and these lane lines are called virtual lane lines or virtual lines.

In the related art, for the intersection shown in fig. 1, two opposite roads (for example, two opposite entering lanes) at the intersection support vehicle turning, but the intersection does not actually draw a turning lane, and two turning lanes shown in fig. 1 need to be made in a high-precision map, that is, a turning lane expressed by a virtual lane line needs to be made, when a driving area covered by the two turning lanes appears in an overlapping area of the graphic representation, a problem of vehicle turning collision at the intersection can be caused, that is, the vehicle is likely to collide in an area where the turning lanes coincide, especially in an intelligent driving scene, driving safety can be affected.

Therefore, it is highly desirable to provide a generation scheme for a u-turn lane to generate a lane without collision area and ensuring u-turn safety.

Disclosure of Invention

The application provides a method, a device, equipment and a storage medium for generating a U-turn lane, which enable two opposite U-turn lanes to be free from conflict through reasonable setting of a U-turn area, improve the drawing quality of the U-turn lane and improve the driving safety of a vehicle based on U-turn of the U-turn lane.

In a first aspect, the present application provides a method for generating a u-turn lane, including:

determining the intersection line of at least two groups of target entering lanes and the intersection line of a road where a target exiting lane is located and the target intersection, wherein one group of target entering lanes is communicated with the target exiting lane through a turning lane;

determining a boundary direction based on an included angle between the intersection line and a set direction, and dividing the target intersection into two turning areas along the boundary direction;

and generating a U-turn lane positioned in each U-turn area based on a group of target entering lanes and target exiting lanes corresponding to the U-turn area.

In a second aspect, the present application provides a u-turn lane generation apparatus, including:

the intersection line determining module is used for determining the intersection line between the road where at least two groups of target entering lanes and target exiting lanes of a target intersection are located and the target intersection, and one group of target entering lanes and one group of target exiting lanes are communicated through a turning lane;

the boundary module is used for determining a boundary direction based on an included angle between the intersection line and a set direction, and dividing the target intersection into two turning areas along the boundary direction;

and the U-turn lane generation module is used for generating a U-turn lane positioned in each U-turn area based on a group of target entering lanes and a group of target exiting lanes corresponding to the U-turn area.

In a third aspect, the present application provides a u-turn lane generation device, including:

a processor, and a memory communicatively coupled to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method for generating the u-turn lane provided by any aspect of the present application.

In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the u-turn lane generation method provided in any aspect of the present application when the computer-executable instructions are executed by a processor.

In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the u-turn lane generation method provided in any aspect of the present application.

The invention provides a method, a device, equipment and a storage medium for generating a non-conflicted U-turn virtual line in an intersection, guiding vehicles to safely turn around in the intersection, comprehensively considering intersection conditions of roads on two opposite sides of the intersection, which can turn around, and the intersection, which can be relatively, of the intersection, namely, firstly determining intersections of a target intersection and a plurality of groups of target entering lanes and target exiting lanes, which correspond to the U-turn, determining a boundary direction based on included angles between each intersection and a set direction, so that the target intersection is divided into two mutually independent U-turn areas along the boundary direction, and in each U-turn area, drawing a U-turn lane based on a group of target entering lanes and target exiting lanes corresponding to the U-turn, wherein the U-turn lanes do not conflict because the U-turn areas do not conflict, so that when two opposite sides of the intersection can turn around, the U-turn lanes generated in the U-turn areas on the two sides do not have overlapping areas, thereby improving accuracy of drawing the safety of the U-turn.

Drawings

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

Fig. 1 is a schematic view of a u-turn lane provided in an embodiment of the present application;

fig. 2 is a schematic flowchart of a method for generating a u-turn lane according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of the intersection of the target intersection and the u-turn related road in the embodiment of FIG. 2;

fig. 4 is a schematic flowchart of another method for generating a u-turn lane according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram illustrating the distribution of U-turn regions in the target intersection according to the embodiment of FIG. 4;

fig. 6 is a schematic flowchart of another method for generating a u-turn lane according to an embodiment of the present disclosure;

FIG. 7 is a schematic view of a curved lane line and a straight virtual line provided in accordance with an embodiment of the present application;

fig. 8 is a schematic flowchart of another method for generating a u-turn lane according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a u-turn lane generation device according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a u-turn lane generation device according to an embodiment of the present application.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. The drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the concepts of the application by those skilled in the art with reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

First, the title to which the present application relates is explained:

lane marking: lines made in the high-precision map for defining lane boundaries, the lane lines may include marked lines and virtual lines. More than one lane can be arranged on one road, and one lane corresponds to at least one driving direction.

Turning the lane around: the lane line for indicating the vehicle turning driving area is usually a virtual line, and is a line which is specially made in the high-precision map and is not drawn in the turning lane in the real world.

Fig. 1 is a schematic diagram of a u-turn lane provided in an embodiment of the present application, and as shown in fig. 1, when a high-precision map that an intelligent driving vehicle depends on is generated, a corresponding u-turn lane needs to be drawn at an intersection where the vehicle can turn around to guide the vehicle to turn around along the u-turn lane. The intersection shown in fig. 1 may turn on opposite sides, i.e. the vehicle may turn from lane W11 to lane W12 and from lane W13 to lane W14.

In the related art, when a u-turn lane is drawn, the u-turn lane is drawn by considering only the u-turn situation of one side, for example, the u-turn lane is drawn when the lane W11 turns to the lane W12 based on the intersection situation of the lane W11 and the lane W12 and the intersection.

For an intersection capable of turning around on both sides, due to irregularity of the intersection or deviation of lane modeling, a plurality of turning lanes of the intersection may have a collision, that is, an overlapping region exists in a region corresponding to the turning lane, so that vehicles driving on the plurality of turning lanes collide in the overlapping region, the overlapping region is, for example, a region A1 and a region A2 in fig. 1, and the region A1 and the region A2 are a region corresponding to a turning lane L1 (turning from a lane W11 to a turning lane corresponding to a lane W12) and a region corresponding to a turning lane L2 (turning from a lane W13 to a turning lane corresponding to a lane W14) which are overlapped. The arrow in fig. 1 indicates the direction of the corresponding u-turn lane.

In some embodiments, the vehicle may turn around from the lane W11 to the lane W15, from the lane W13 to the lane W16, or from other lanes, which is not limited in the present application, and fig. 1 is only an example of a turn-around scenario and does not constitute a limitation to the application scenario of the present application.

For intersections with two sides capable of turning around, in order to avoid overlapping regions of drawn turning around lanes, that is, avoiding a turning around lane conflict, embodiments of the present application provide a method for generating a turning around lane, which comprehensively considers directions of intersections of roads with two sides opposite to the intersection, determines a boundary direction, divides the intersection into two non-conflicting turning around regions along the boundary direction, and generates a turning around lane on a corresponding side in the turning around region, so that when two sides opposite to each other can turn around, the generated corresponding two turning around lanes do not conflict, that is, there is no overlapping region. Therefore, the vehicle intelligently driven based on the U-turn lane can not collide, and the safety of intelligent driving is improved.

Two regions do not conflict may appear as two regions not intersecting, intersecting at a point, or intersecting at a line.

The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 2 is a flowchart illustrating a method for generating a u-turn lane according to an embodiment of the present disclosure, where the method for generating a u-turn lane may be executed by an electronic device with corresponding data processing capability, such as a device for generating a u-turn lane, and the device for generating a u-turn lane may be a computer or a server, such as a physical server or a virtual server.

As shown in fig. 2, the method for generating a u-turn lane includes the following steps:

step S201, determining the intersection line of the road where at least two groups of target entering lanes and target exiting lanes of the target intersection are located and the target intersection.

The target intersection can be any intersection in the map which can turn around. The at least two groups of target entering lanes and target exiting lanes comprise entering lanes and exiting lanes which are communicated through the U-turn lanes. When the vehicle turns around, the vehicle enters the turning lane through the entering lane and turns around to the corresponding exiting lane through the turning lane. The lanes are the roads comprising the lanes, the driving directions of the vehicles on one road are consistent, and one road can comprise one or more lanes.

When the target intersection is a one-side U-turn intersection, the at least two groups of target entering lanes and target exiting lanes further comprise opposite lanes of the entering lane and the target exiting lane which are communicated through the U-turn lane.

The at least two sets of object entry lanes and object exit lanes include lanes on opposite sides of the object intersection.

When the vehicle travels from the lane to its opposite lane, or from the opposite lane of the lane to the lane, the vehicle is straight and does not need to change lanes.

For example, taking the target intersection as an intersection, the opposite lane of the lane may be the opposite lane of the lane.

When both opposite sides of the target intersection can turn around, the at least two sets of target entering lanes and target exiting lanes include two sets of entering lanes and exiting lanes which are located on the opposite sides of the target intersection and are connected by the turning lanes, such as the lane W11 and the lane W12 in fig. 1, and the lane W13 and the lane W14, wherein the lane W11 and the lane W12 are one set of target entering lane and target exiting lane, and the lane W13 and the lane W14 are the other set of target entering lane and target exiting lane located on the opposite side.

In some embodiments, lane W11 and lane W15 may also be considered a set of target entry lanes and target exit lanes.

The opposite sides of the target intersection can be any set of opposite sides, such as east-west sides, north-south sides, left-right sides, upper-lower sides, and the like.

Specifically, the intersection line of the road and the target intersection may be determined based on the intersection point of the lane line of each lane in the road (including the road where the target enters the lane and the road where the target exits the lane) and the target intersection.

And fitting to obtain the intersection line of the road and the target intersection based on the position, such as coordinates, of the intersection point of the lane line of each lane of the road and the target intersection aiming at each road of the road where the target enters the lane and the road where the target exits the lane.

In some embodiments, the road on which the target enters the lane and the road on which the target exits the lane may be collectively referred to as a u-turn related road.

For example, fig. 3 is a schematic view of an intersection between a target intersection and a u-turn associated road in the embodiment shown in fig. 2 of the present application, where in fig. 3, the target intersection is a one-side u-turn intersection as an example, the target intersection is an intersection, a boundary of the target intersection is represented by a dotted line, a vehicle can turn around from a lane W31 to a lane W32, an opposite side of the side cannot turn around, an opposite side of the lane W31 is a lane W33, an opposite side of the lane W32 is a lane W34, then at least two groups of target entry lanes and target exit lanes include a group of target entry lane and target exit lane composed of the lanes W31 and W32, and another group of target entry lane and target exit lane composed of the lanes W33 and W34, the u-turn associated road includes roads R1 to R4 where the lanes W31 to W34 are located respectively, and in fig. 3, a road where the roads R1 to R4 are both dual lanes is taken as an example. The intersection point between the lane line of the lanes from the road R1 to the road R4 and the target intersection is shown by the solid dots in fig. 3, and a corresponding intersection line is obtained by fitting the intersection point, the intersection lines from the road R1 to the road R4 are respectively the intersection lines L1 to L4, and the intersection lines L1 to L4 in fig. 3 are represented by bold straight lines.

In some embodiments, the target intersection can be an intersection through which the vehicle navigation route passes that needs to turn around.

After the navigation route of the vehicle is determined, all the intersections which need to turn around and are passed by the vehicle in the navigation route are determined as the target intersections, and the turning lanes required by the turning around of the vehicle at all the target intersections are sequentially generated based on the sequence of the passing of the vehicle so as to guide the vehicle to turn around at the corresponding target intersections.

Step S202, determining a boundary direction based on an included angle between the intersection line and a set direction, and dividing the target intersection into two turning areas along the boundary direction.

The included angle between the intersection line and the set direction is used for describing the direction of the intersection line, and can be referred to as the angle of the intersection line for short. The set direction can be any one of the specified directions, such as the right north, the right south and the like. The dividing direction can be understood as the direction of a u-turn dividing line, and the dividing line is used for dividing the target intersection into two u-turn areas.

Vectors corresponding to each intersection line can be synthesized, and the direction of the synthesized vectors is the demarcation direction.

In some embodiments, the angle between the dividing direction and the setting direction may be an average value of the angles between the intersection lines and the setting direction.

In other embodiments, an average value of the included angles between each intersection line and the set direction may be calculated, and the dividing direction may be determined as the direction of the intersection line with the smallest absolute value of the difference between the included angle between each intersection line and the set direction and the average value.

Optionally, determining the boundary direction based on the included angle between the intersection line and the set direction includes:

determining a target intersection line from the multiple intersection lines based on an included angle between the intersection line and a set direction; and taking the direction of the target intersection line as a boundary direction.

The target intersection line may be an intersection line of the direction closest to the set direction, that is, an intersection line having the smallest included angle with the set direction. The target intersection line may also be the closest intersection line of the included angle with the set direction and the average value of the included angles in the intersection lines.

After the target intersection is determined, as an intersection L2 in fig. 3, a u-turn boundary is generated with the direction of the target intersection as a boundary direction, so as to divide the target intersection into two non-conflicting u-turn regions through the u-turn boundary.

The two u-turn regions may intersect at the u-turn boundary, or the two u-turn regions may not intersect, i.e. be spaced apart.

The non-conflict of two regions in the present application means that the area of the region where the two regions overlap is 0, for example, the two regions do not have an intersection, the two regions intersect at a limited number of points, or the two regions intersect at a straight line.

The areas of the two u-turn regions divided based on the u-turn boundary should be as equal as possible. The u-turn boundary line can be positioned in the middle of the target intersection to divide the target intersection into two u-turn areas.

The distance between the turning dividing line and the target intersecting line can be half of the length of the target intersecting line in the direction perpendicular to the target intersecting line.

When the target intersection can turn around only on one side, in order to improve the accuracy of determining the boundary direction, the dependent intersection lines can be expanded, specifically, the target intersection line can be determined from the intersection lines based on the intersection lines of the target intersection line and the target intersection line in the road where a group of target entering lanes and target exiting lanes are located and the opposite side road, and the set angle between the intersection line of each road and the target intersection line, and the direction of the target intersection line is taken as the boundary direction.

The specific way of determining the target intersection is the same as that in the above embodiment, and the aimed intersection is only expanded to be the intersection of each road and the target intersection in the group of roads where the target entry lane and the target exit lane are located and the opposite side road.

When the opposite sides of the target intersection can turn around, the target intersection can be determined from the intersection lines of the target intersection and each of the two groups of roads where the target entering lane and the target exiting lane are located and the set direction based on the included angle between the intersection line and the set direction, and the direction of the target intersection line is taken as the dividing direction.

Based on the direction of the intersection line (namely the included angle between the intersection line and the set direction), a well-modeled intersection line is selected from the intersection lines to serve as a target intersection line so as to guide the generation of a subsequent turning region and a turning lane, the conditions of roads on two sides of the intersection are fully considered, the accuracy of the target intersection line is improved, the speed of determining the target intersection line is high, and a foundation is provided for improving the accuracy of drawing the turning virtual line.

Step S203, aiming at each U-turn area, generating a U-turn lane positioned in the U-turn area based on a group of target entering lanes and target exiting lanes corresponding to the U-turn area.

Any one mode can be adopted to generate the lane line of the corresponding side of the u-turn lane in the u-turn area, and the lane line is recorded as a curve part, such as the lane line of the u-turn lane generated based on a Hermite curve (Hermite).

In some embodiments, the u-turn lane further includes a portion outside the corresponding u-turn region, which is marked as a straight line portion, and the lane line of the portion is a straight line for indicating that the vehicle is going straight.

When the two opposite sides of the target intersection can turn around, the curve parts of the turning lanes on the two opposite sides can be generated in the turning areas respectively, and the two obtained turning lanes do not conflict because the two turning areas do not conflict.

When only one side of the target intersection can turn around, a curve part of the turning lane at the side is generated in the turning area corresponding to the side which can turn around.

Optionally, generating a u-turn lane located in the u-turn region based on a group of target entering lanes and target exiting lanes corresponding to the u-turn region, including:

and based on the Hermite curve, generating the U-turn lane positioned in the U-turn area by taking the intersection point of the lane lines of a group of target entering lanes and target exiting lanes corresponding to the U-turn area and the U-turn area as an endpoint.

Specifically, two hermite curves are generated in the turning area by taking the intersection point of the turning area and the intersection point of the lane lines of the target entering lane and the target exiting lane on the corresponding side and the turning area as an endpoint and taking the direction of the lane line at the intersection point as a tangent, and the two hermite curves are respectively used as two curve lane lines of the turning lane on the side.

The curve part of the U-turn lane is generated in the U-turn area based on the Hermite curve, and smoothness of the curve part of the U-turn lane is improved, so that smoothness of a vehicle in U-turn is improved, calculation related to the Hermite curve is simple, calculated amount of the U-turn lane is reduced, and efficiency of generating the U-turn lane is improved.

The method for generating the U-turn lane includes the steps of determining intersections of a target intersection and a plurality of groups of target entering lanes and target exiting lanes corresponding to the U-turn, determining a boundary direction based on included angles between each intersection and a set direction, dividing the target intersection into two mutually independent U-turn areas along the boundary direction, drawing one U-turn lane in each U-turn area based on one group of target entering lanes and one group of target exiting lanes corresponding to the U-turn, and when the U-turn areas do not conflict with each other, the U-turn lanes generated in the U-turn areas on the two sides do not have overlapped areas so as to ensure that when vehicles on the two sides of the intersection do not conflict with each other, the vehicles do not turn based on the corresponding U-turn, so that the accuracy of drawing the U-turn lanes is improved and the safety of vehicle drawing is improved.

Fig. 4 is a schematic flow chart of another method for generating a u-turn lane according to an embodiment of the present application, and the present embodiment is further detailed in step S202 and step S203 based on the embodiment shown in fig. 2. As shown in fig. 4, the method for generating a u-turn lane according to this embodiment may include the following steps:

step S401, determining the intersection line of the road where at least two groups of target entering lanes and target exiting lanes of the target intersection are located and the target intersection.

And S402, determining two intersection lines with the minimum included angle difference from the multiple intersection lines based on the included angles between the intersection lines and the set direction.

Step S403, determining the target intersection line from the two intersection lines with the smallest difference between the included angles, and taking the direction of the target intersection line as the boundary direction.

And calculating the difference of the included angles between the two intersection lines and the set direction aiming at every two intersection lines in the multiple intersection lines, determining the two intersection lines with the minimum included angle difference as alternative intersection lines, and randomly selecting one of the two alternative intersection lines as a target intersection line.

And if a plurality of groups of two intersection lines with the minimum included angle difference exist, taking the two intersection lines with the minimum included angle difference as alternative intersection lines, and randomly selecting one from the alternative intersection lines as a target intersection line.

The target intersection line is determined on the basis of the two intersection lines with the minimum included angle difference, so that the probability that the determined target intersection line is located on the road with the better modeling is improved, and the accuracy of determining the target intersection line is improved.

In some embodiments, the target intersection is used to indicate a departure direction of the vehicle when the corresponding entering lane makes a u-turn, i.e. to indicate a starting direction of the u-turn lane, which is perpendicular to the direction of the target intersection.

Optionally, the target intersecting line is an intersecting line with a larger included angle with the set direction in the two intersecting lines with the smallest included angle difference.

And selecting the intersection line with the largest included angle with the set direction from the two intersection lines with the smallest included angle difference as the target intersection line, so that the target intersection line is more consistent with the actual condition of the target intersection, and the accuracy of the drawn turning lane is improved.

Taking the intersection line shown in fig. 3 as an example, the intersection lines of the target intersection and the roads R1 to R4 in fig. 3 are the intersection line L1 to the intersection line L4, and the due north direction is taken as the set direction, and it is assumed that the included angles between the intersection line L1 to the intersection line L4 and the due north direction are: 7 °, 8 °, 3 ° and 15 °, the intersection line L1 and the intersection line L2 are two intersection lines with the smallest difference between the included angles, and then the intersection line with the larger included angle, i.e., the intersection line L2, is selected as the target intersection line from the intersection line L1 and the intersection line L2.

And S404, determining an opposite side reference point which is closest to the straight line where the target intersecting line is located from intersecting lines on opposite sides of the target intersecting line.

One side of the target intersection where the target intersection line is located is marked as a first side, the opposite side of the first side is marked as a second side, and the intersection line of the second side comprises the intersection line of the road where the target of the second side enters the lane and the road where the target exits the lane and the target intersection.

And step S405, drawing a first boundary parallel to the target intersection line through the contralateral reference point.

And drawing a straight line parallel to the target intersection line by taking the extension line of the target intersection line as one boundary and passing through the opposite side reference point, wherein the part of the straight line intercepted by the target intersection forms the other boundary, namely the first boundary.

The extension line of the target intersection line and the first boundary are used as the upper boundary and the lower boundary, so that the target intersection area is reduced, and the obtained areas for turning around are all located in the target intersection.

In some embodiments, the first boundary is aligned with both ends of an extension of the object intersection.

Step S406, dividing the target intersection into two turning areas based on the target intersection line and the central line of the first boundary.

Wherein, the two divided U-turn regions do not intersect or intersect at the U-turn boundary (i.e. the middle line of the object intersection line and the first boundary).

And dividing the target intersection into two non-overlapping turning areas by taking the central line of the first boundary and the target intersection as a turning boundary.

In some embodiments, the two divided u-turn regions are each bounded by a u-turn dividing line.

In some embodiments, the area of the target intersection between the first boundary and the u-turn boundary may be one of the u-turn areas, and the area of the target intersection between the delay line of the target intersection and the u-turn boundary may be the other u-turn area.

In other embodiments, the distance between the u-turn region and the u-turn boundary is at least a predetermined distance, and the predetermined distance is a safety distance configured, such as 10cm, 20cm, and the like.

Exemplarily, fig. 5 is a schematic distribution diagram of the u-turn region in the target intersection in the embodiment shown in fig. 4 of the present application, as shown in fig. 5, one of the boundaries is obtained by extending the target intersection, which is denoted as a second boundary L51, a point closest to the second boundary L51, which is an opposite reference point O, is found in the intersection opposite to the second boundary L51, namely on the intersection L52 and the intersection L53, and a straight line parallel to the second boundary L51 is drawn through the opposite reference point O, so as to obtain a first boundary L54, and a central line L55 between the second boundary L51 and the first boundary L54 is taken as the u-turn boundary, in fig. 5, two ends of the second boundary L51, the first boundary L54, and the central line L55 are aligned. Taking the u-turn boundary as a boundary, the target intersection is divided into two non-conflicting u-turn regions, i.e., region 1 and region 2, and in fig. 5, the two u-turn regions intersect at the u-turn boundary, i.e., the center line L55, as an example.

In some embodiments, zone 1 and zone 2 may be separated by a distance, such as a predetermined distance.

Step S407, for each U-turn area, generating a U-turn lane located in the U-turn area based on a group of target entering lanes and target exiting lanes corresponding to the U-turn area.

When the target intersection can turn around on two opposite sides, two turning lanes on two opposite sides of the target intersection are generated based on the two turning areas on the two opposite sides.

Further, after two turning lanes on two opposite sides of the target intersection are generated, the method further comprises the following steps: and judging whether the two U-turn lanes conflict or not.

And if the area of the overlapped area of the areas corresponding to the two U-turn lanes is 0, the two U-turn lanes do not conflict.

One U-turn lane corresponds to one U-turn area, and the curve part of the U-turn lane is positioned in the U-turn area.

In the embodiment, a good basis is provided for determining a subsequent turning boundary through reasonable selection of the target intersection line, and the speed of determining the target intersection line is high; the method has the advantages that the first boundary parallel to the target intersection is obtained on the opposite side of the target intersection in a mode of the point closest to the straight line where the target intersection is located, the obtained turning areas are guaranteed to be located in the target intersection, the target area is divided into two non-conflicting turning areas through the first boundary and the central line of the target intersection, so that the turning lanes respectively drawn in the two turning areas are not conflicted, the area division of the target intersection is carried out by taking the central line of the first boundary and the central line of the target intersection as a boundary, the dividing efficiency is high, the turning areas are as large as possible under the non-conflicted condition, the turning radius of a vehicle during turning is improved, and the safety of the vehicle during turning is improved.

Optionally, one turning lane corresponds to one group of entering lane and exiting lane, so that the corresponding entering lane is turned to the corresponding exiting lane through the turning lane; the U-turn area comprises an upper boundary and a lower boundary which are parallel, and the upper boundary and the lower boundary are boundaries of the U-turn area in the corresponding driving direction of the entering lane.

Fig. 6 is a schematic flow chart of another method for generating a u-turn lane according to an embodiment of the present application, and this embodiment is based on the embodiment shown in fig. 2, and further details step S203, and adds a step related to determining a first u-turn lane and a second u-turn lane existing in advance at a target intersection before step S201, and a step of adding a u-turn lane storage after step S203.

As shown in fig. 6, the method for generating a u-turn lane provided in this embodiment may specifically include the following steps:

step S601, aiming at each target intersection in the map, judging whether the first U-turn lane and the second U-turn lane in the target intersection have an overlapped area or not.

The target intersection comprises a first turning lane and a second turning lane which are drawn in advance, the first turning lane is a turning lane turning from the first lane to the second lane, and the second turning lane is a turning lane turning from the lane on the opposite side of the second lane to the lane on the opposite side of the first lane.

The first U-turn lane and the second U-turn lane are lanes corresponding to the target intersection when the road on two opposite sides of the target intersection turns around.

Specifically, it may be determined whether an overlapping region having an area that is not 0 exists in a region where the first u-turn lane is located and a region where the second u-turn lane is located. If the target intersection exists, the first u-turn lane and the second u-turn lane conflict, and when two vehicles turn around along the first u-turn lane and the second u-turn lane, collision may occur in an overlapped area, so that for the target intersection, the u-turn lane of the target intersection can be regenerated based on the method provided by any embodiment of the application.

Specifically, target intersections of the first u-turn lane and the second u-turn lane in the map can be traversed according to a certain sequence, and whether an overlapping area exists between the first u-turn lane and the second u-turn lane of the traversed target intersection is judged.

Step S602, if the first u-turn lane and the second u-turn lane have an overlapped area, deleting the first u-turn lane and the second u-turn lane, and determining the intersection line of the target intersection and the road where at least two groups of target entering lanes and target exiting lanes of the target intersection are located.

And when two turning lanes, namely a first turning lane and a second turning lane, exist before the target intersection and an overlapped area exists, the first turning lane and the second turning lane are indicated to conflict, the first turning lane and the second turning lane are deleted, and the two turning lanes are redrawn for the target intersection based on subsequent steps.

Further, if the first u-turn lane and the second u-turn lane do not have an overlapped region, if the first u-turn lane and the second u-turn lane do not intersect or intersect in a straight line, the first u-turn lane and the second u-turn lane are reserved and traversed to the next target intersection, so as to determine the first u-turn lane and the second u-turn lane of the next target intersection.

Step S603, determining a boundary direction based on the included angle between the intersection line and the set direction, and dividing the target intersection into two turning areas along the boundary direction.

Step S604, for each u-turn region, determining a first central point in the u-turn region.

The first central point is an intersection point of a first central line and an upper boundary of the turning area, and the first central line is a straight line where central lines of two adjacent lane lines in a group of target entering lanes and target exiting lanes corresponding to the turning area are located. The upper boundary of the turning region is a boundary far away from the target entering lane or the target exiting lane corresponding to the turning region, the lower boundary is a boundary close to the target entering lane or the target exiting lane corresponding to the turning region, and the upper boundary and the lower boundary of the turning region are parallel to the target intersection line or the turning boundary line.

And the U-turn lane generated in the U-turn area is the U-turn lane required for turning the group of target entering lanes corresponding to the U-turn area to the corresponding target exit lane.

And determining a first central point from each of two turning areas corresponding to the target intersection.

And two adjacent lane lines in a group of target entering lanes and target exiting lanes corresponding to the turning area are left lane lines of the target entering lanes and the target exiting lanes. The left and right of the lane (including the target entry lane and the target exit lane) are left and right of the vehicle traveling on the lane, the left lane line of the lane is the lane line positioned on the left side of the vehicle traveling on the lane among the lane lines of the lane, and the right lane line of the lane is the lane line positioned on the right side of the vehicle traveling on the lane among the lane lines of the lane.

The first midline is a straight line where the midline of the left lane line of a set of target entry lanes and target exit lanes lies. The intersection point of the first central line and the upper boundary of the U-turn region is the first central point.

And step S605, determining a second central point in the U-turn area.

The second central point is located on the first central line, and the distance between the second central point and the first central point is the average value of lane widths of a group of target entering lanes and a group of target exiting lanes corresponding to the turning area. The lane width is the length of the lane in the vertical direction of travel.

The U-turn lane comprises a left lane line and a right lane line, the left lane line is positioned on the left side of the U-turn vehicle, and the right lane line is positioned on the right side of the U-turn vehicle. The first central point is the central point of the right lane line, and the second central point is the central point of the left lane line.

The distance between the second central point and the first central point is set to be the average value of the lane widths of a group of corresponding targets entering the lane and a group of corresponding targets exiting the lane, the overall smoothness of the turning lane is improved, particularly the situation that the lane widths of the entering lane and the exiting lane are different greatly is avoided, the part with higher curvature of the turning lane is avoided, the overall turning lane is smooth, and the turning safety is improved.

Step S606, based on the intersection point of the lower boundary of the U-turn region and the straight line where the lane lines of a group of target entering lanes and target exiting lanes corresponding to the U-turn region are located, the first central point and the second central point, the U-turn lane located in the U-turn region is generated in a segmented mode.

Dividing the curve part of the right lane line of the U-turn lane into two sections through the first central point; and dividing the curve part of the left lane line of the U-turn lane into two sections through the second central point. And generating the curve part of the U-turn lane in the U-turn region in two sections by taking the intersection point of the straight line of the lane line of the target entering the lane and the corresponding lower boundary of the U-turn region as a starting point, taking the intersection point of the straight line of the lane line of the target exiting the lane and the corresponding lower boundary of the U-turn region as an end point, and taking the first central point and the second central point as intermediate points.

And aiming at the curve part of the right lane line of the U-turn lane, taking the intersection point of the straight line of the right lane line of the target entering lane and the corresponding lower boundary of the U-turn area as a starting point, taking the intersection point of the straight line of the right lane line of the target exiting lane and the corresponding lower boundary of the U-turn area as an end point, and taking the first central point as an intermediate point, generating the right lane line by two sections, wherein one section passes through the starting point and the intermediate point, and the other section passes through the intermediate point and the end point.

Aiming at the curve part of the left U-turn lane of the U-turn lane, the intersection point of the straight line of the left lane line of the target entering the lane and the corresponding lower boundary of the U-turn area is taken as a starting point, the intersection point of the straight line of the left lane line of the target exiting the lane and the corresponding lower boundary of the U-turn area is taken as a terminal point, the second central point is taken as an intermediate point, the left lane line is generated in two sections, one section passes through the starting point and the intermediate point, and the other section passes through the intermediate point and the terminal point.

The U-turn lane further comprises a straight line part, the straight line part is located between the U-turn area and the target lane, and the target lane is a lane which is not intersected with the U-turn area in a group of target entering lanes and target exiting lanes corresponding to the U-turn area. The lane line of the straight portion of the u-turn area is a straight line to indicate that the vehicle thereon is running straight.

The overall smoothness of the U-turn lane is improved by the way of generating the lane line of the U-turn lane in a segmented manner.

Optionally, the u-turn lane includes four curved lane lines, which are curved portions of the u-turn lane; based on the intersection point of the lower boundary of the U-turn region and the straight line where the lane lines of a group of targets entering the lane and a group of targets exiting the lane corresponding to the U-turn region are located, the first central point and the second central point, the U-turn lane in the U-turn region is generated in a segmented mode and comprises the following steps:

respectively drawing a curve lane line by taking a first intersection point and the first central point as end points, the first central point and the second intersection point as end points, a third intersection point and the second central point as end points, and the second central point and the fourth intersection point as end points based on an Hermite curve to obtain four curve lane lines corresponding to a U-turn lane in the U-turn area; the first intersection point, the second intersection point, the third intersection point and the fourth intersection point are respectively a straight line where a right lane line of a target entering a lane corresponding to the turning region is located, a straight line where a right lane line of a target exiting the lane corresponding to the turning region is located, a left lane line of a target entering a lane corresponding to the turning region and a straight line where a left lane line of a target exiting the lane corresponding to the turning region is located, and the intersection point of the lower boundary of the turning region.

Optionally, the u-turn lane further includes a straight lane line, and the straight lane line is a straight line portion of the u-turn lane, and the method further includes:

and generating a straight lane between a target lane and the U-turn area, wherein the target lane comprises a lane which is not intersected with the U-turn area in a group of target entering lanes and target exiting lanes corresponding to the U-turn area, and the straight lane is used for enabling a vehicle to go straight on the straight lane.

The straight lane line is a straight line part of the U-turn lane, and the line type is a straight line.

The lane line of the straight lane is aligned with the lane line of the target lane to guide the vehicle to go straight from the corresponding turning area to the target lane, or from the target lane to the corresponding turning area.

Taking the target lane as the target exit lane as an example, the straight lane line between the target exit lane and the corresponding u-turn region can be obtained by extending the lane line of the target exit lane in the reverse direction to intersect with the lower boundary of the corresponding u-turn region. Taking the target lane as the target entering lane as an example, the straight lane line between the target entering lane and the corresponding u-turn region can be obtained by extending the lane line of the target entering lane to intersect with the lower boundary of the corresponding u-turn region.

When the target entering lane or the target exiting lane is separated from the corresponding turning area by a certain distance, a straight lane line needs to be drawn between the target entering lane and the target exiting lane so as to form a complete turning lane through the straight lane line and the turning lane in the turning area and guide the vehicle to turn around from the target entering lane to the target exiting lane.

Fig. 7 is a schematic diagram of a curved lane line and a straight lane line according to an embodiment of the present application, as shown in fig. 7, a target intersection is divided into two u-turn regions, i.e., a region a71 and a region a72, by a u-turn boundary line L71, taking the generation of a u-turn lane in the region a71 as an example, a first center point O1 in the region a71 is an intersection point of a first center line L72 and an upper boundary of the region a71, and a second center point O2 is located on the first center line L72 and is at a distance from the first center point O1: (lane width of target entering lane + lane width of target exiting lane)/2. The right lane line and the left lane line of the target entry lane intersect the lower boundary of the area a71 at a point a (first intersection) and a point B (third intersection), respectively, and the right lane line and the left lane line of the target exit lane intersect the lower boundary of the area a71 at a point C (second intersection) and a point D (fourth intersection), respectively. One of the four plotted curved lane lines takes the point a and the point O1 as end points, one takes the point O1 and the point C as end points, one takes the point B and the point O2 as end points, and the other takes the point O2 and the point D as end points.

With continued reference to fig. 7, in fig. 7, taking the certain interval between the area a71 and the corresponding target exit lane (target lane) as an example, in order to improve the integrity of the u-turn lane, a straight lane needs to be generated between the target exit lane and the area a71, and the straight lane may be obtained by extending the lane of the target exit lane in a reverse direction to intersect with the area a 71.

And step S607, storing the generated turning lane to a database to draw a map based on the turning lane stored in the database.

And aiming at the U-turn lanes regenerated for each target intersection, storing the U-turn lanes into the database so as to draw the U-turn lanes at the corresponding target intersections based on the data corresponding to the U-turn lanes stored in the database.

In this embodiment, for a target intersection of a drawn u-turn lane, it is first determined whether u-turn lanes (a first u-turn lane and a second u-turn lane) on opposite sides of the u-turn lanes drawn by the target intersection collide, if so, the colliding u-turn lanes are deleted, and two u-turn lanes are redrawn, so that the necessity of drawing the u-turn lanes is improved through collision check of the target intersection; when the part of the U-turn lane, which is located in the U-turn area, is generated, the smoothness of the U-turn lane is improved through the reasonable arrangement of the first central point and the second central point, the quality of the U-turn lane is improved, and the driving stability and the driving safety of the vehicle which turns on the basis of the U-turn lane are improved.

Fig. 8 is a schematic flow chart of another method for generating a u-turn lane according to an embodiment of the present application, where in this embodiment, on the basis of the embodiment shown in fig. 2, a step related to determining that a target enters a lane and a target exits the lane is added before step S201, and a step related to determining a target intersection is added before step S202, as shown in fig. 8, the method for generating a u-turn lane according to this embodiment may include the following steps:

step S801, obtaining lane information of each lane corresponding to the target intersection.

Wherein the lane information includes a parameter indicating whether a lane is u-turn enabled.

And aiming at each target intersection of the turning lanes to be generated in the map, acquiring lane information of each lane corresponding to the target intersection.

For example, the lane information may include at least one of a lane type, a lane number, a lane code, steering information of a lane, and a lane marker.

The lane types may include a straight type, a left turn type, a straight or left turn type, a right turn type, a straight or right turn type. The left turn type and the straight or left turn type can be subdivided into a U-turn type and a non-U-turn type.

The lane number is used to indicate that the lane is the first lane on the corresponding road. Lane coding is used to distinguish between different lanes and may be expressed as pure numbers, numbers plus letters, or in other ways. The steering information of the lane is used to describe the direction in which the vehicle on the lane can turn, such as left turn, right turn, turn around, and the like. The lane markings may include a u-turn capable marking and a u-turn disabled marking.

Step S802, according to the lane information, determining at least two groups of target entering lanes and target exiting lanes from the lanes corresponding to the target intersection.

The lane that can turn around in the target intersection (target entry lane) and the lane to which the lane that can turn around (target exit lane) can be determined through the lane information, so that at least two groups of target entry lanes and target exit lanes are obtained.

When the target intersection is a one-side turning intersection, a road opposite to a road where the turning lane is located can be determined, and a road which is located on the same side of the target intersection as the road opposite to the road where the turning lane is located is another group of target entering lanes and target exiting lanes.

Step S803, determining the intersection line between the road where at least two groups of target entering lanes and target exiting lanes of the target intersection are located and the target intersection.

Step S804, based on the included angle between each intersection line and the set direction, judging whether the target intersection meets the preset condition. If yes, go to step S805; if not, go to step S806.

The preset condition is used for judging whether the deviation of the included angle between each intersection line and the set direction is small or not.

For example, if the variance of the included angle between each intersection line and the set direction is smaller than the set variance, the target intersection meets the preset condition.

For example, if the sum or the average of the absolute values of the difference values between every two intersection lines and the set direction included angle is smaller than the set angle, the target intersection meets the preset condition.

And step S805, based on the Hermite curve, taking the intersection point of a group of lane lines of the target entering lane and the target exiting lane and the target intersection as an endpoint to generate a corresponding U-turn lane.

When the target intersection meets the preset conditions, the target intersection is considered to be a regular intersection, the roads on two opposite sides of the regular intersection are symmetrical, and the turning lane on the corresponding side can be generated directly based on the road on the turning side, namely the turning lane on the side is generated based on the intersection point position of the lane lines of the target entering lane and the target exiting lane on the turning side and the target intersection.

In the step, the U-turn lane is generated based on the Hermite curve as an example, and the U-turn lane can be directly generated in other modes without being limited.

When the target intersection does not meet the preset condition, the target intersection is considered to be irregular, and the U-turn lane needs to be generated based on the U-turn lane generation method provided by any embodiment of the application.

Step S806, determining a dividing direction based on an included angle between the intersection line and a set direction, and dividing the target intersection into two turning areas along the dividing direction.

Step S807, aiming at each turning area, generating a turning lane positioned in the turning area based on a group of target entering lanes and target exiting lanes corresponding to the turning area.

In the embodiment, at least two groups of target entering lanes and target exiting lanes corresponding to the target intersection are automatically determined according to the lane information of the lanes corresponding to the target intersection, so that the overall automation degree is improved; meanwhile, whether the target intersection is regular or not is judged based on the direction of the intersection line of the road where the target entering lane and the target exiting lane are located and the target intersection, the regular target intersection is good in symmetry, the turning-around condition of one side can be considered only, namely the turning-around lane of the corresponding side is generated based on the condition that the target entering lane and the target exiting lane of the corresponding side are intersected with the target intersection, and the generation efficiency of the turning-around lane is improved; aiming at irregular target intersections, the conditions of the two opposite sides are comprehensively considered, the U-turn lanes are generated, the collision of the U-turn lanes on the two opposite sides of the target intersections is avoided, and the safety is improved.

Fig. 9 is a schematic structural diagram of a u-turn lane generation device according to an embodiment of the present application, and as shown in fig. 9, the u-turn lane generation device includes: an intersection determining module 910, a boundary determining module 920 and a u-turn lane generating module 930.

The intersection determining module 910 is configured to determine intersections of roads where at least two groups of target entering lanes and target exiting lanes of a target intersection are located and the target intersection, where the at least two groups of target entering lanes and target exiting lanes include an entering lane and an exiting lane that are communicated through a turning lane; the dividing module 920 is configured to determine a dividing direction based on an included angle between the intersection line and a set direction, and divide the target intersection into two turn-around areas along the dividing direction; the u-turn lane generating module 930 is configured to generate a u-turn lane located in each u-turn region based on a group of target entering lanes and target exiting lanes corresponding to the u-turn region.

Optionally, the demarcation module 920 includes:

the target intersection line determining unit is used for determining a target intersection line from a plurality of intersection lines based on an included angle between the intersection line and a set direction; and the boundary unit is used for taking the direction of the target intersection as a boundary direction and dividing the target intersection into two turning areas along the boundary direction.

Optionally, the target intersection determining unit is specifically configured to:

determining two intersection lines with the minimum difference value of the included angles from the plurality of intersection lines based on the included angles between the intersection lines and the set direction; and determining the target intersection line from the two intersection lines with the minimum included angle difference.

Optionally, the boundary unit is specifically configured to:

determining an opposite side reference point which is closest to the straight line where the target intersection line is located from intersection lines on opposite sides of the target intersection line; drawing a first boundary parallel to the target intersection line through the opposite side reference point; and dividing the target intersection into two turning areas based on the target intersection line and the central line of the first boundary.

Optionally, the u-turn lane generating module 930 is specifically configured to:

Optionally, the u-turn region includes an upper boundary and a lower boundary that are parallel to each other, and the upper boundary and the lower boundary are boundaries of the u-turn region in the corresponding driving direction of the entering lane. The u-turn lane generating module 930 includes:

a first center determining unit, configured to determine a first center point in the u-turn region, where the first center point is an intersection point of a first center line and an upper boundary of the u-turn region, and the first center line is a straight line where center lines of two adjacent lane lines in a set of target entering lanes and target exiting lanes corresponding to the u-turn region are located; a second center determining unit, configured to determine a second center point in the u-turn region, where the second center point is located on the first central line, and a distance from the first center point is an average value of lane widths of a group of target entering lanes and target exiting lanes corresponding to the u-turn region; and the U-turn lane generation unit is used for generating the U-turn lanes in the U-turn area in a segmented manner based on the intersection points of straight lines where the lower boundary of the U-turn area and the lane lines of a group of target entering lanes and target exiting lanes corresponding to the U-turn area are located, the first central point and the second central point.

Optionally, the u-turn lane generating unit is specifically configured to:

Optionally, the u-turn lane generating unit is further configured to:

and generating a straight-going lane line between a target lane and the turning area, wherein the target lane comprises a lane which is not intersected with the turning area in a group of target entering lanes and target exiting lanes corresponding to the turning area, and the straight-going lane line is used for indicating that a vehicle runs straight on the straight-going lane line.

Optionally, the apparatus further comprises:

and the intersection judging module is used for judging whether the target intersection meets the preset condition or not based on the included angle between each intersection line and the set direction after determining the intersection lines of the target intersection and the roads where at least two groups of target entering lanes and target exiting lanes are located.

Correspondingly, the demarcation module 920 is specifically configured to:

and if the target intersection does not meet the preset condition, determining the boundary direction based on the included angle between the intersection line and the set direction.

Optionally, the apparatus further comprises:

and the single-side drawing module is used for generating a corresponding U-turn lane by taking the intersection point of a group of lane lines of the target entering lane and the target exiting lane and the target intersection as an endpoint based on the Hermite curve if the target intersection meets the preset condition.

Optionally, the apparatus further comprises:

and the turning lane line judging module is used for judging whether the first turning lane and the second turning lane in the target intersection have an overlapped region or not.

Correspondingly, the intersection determining module 910 is specifically configured to:

and if the first U-turn lane and the second U-turn lane are overlapped, deleting the first U-turn lane and the second U-turn lane, and determining the intersection line of the target intersection and the road where at least two groups of target entering lanes and target exiting lanes of the target intersection are located.

Optionally, the apparatus further comprises:

the target lane determining module is used for acquiring lane information of each lane corresponding to the target intersection, wherein the lane information comprises a parameter for indicating whether the lane can turn around or not; and determining the at least two groups of target entering lanes and target exiting lanes from the lanes corresponding to the target intersection according to the lane information.

Optionally, the apparatus further comprises:

and the storage module is used for storing the generated turning lane to the database so as to draw a map based on the turning lane stored in the database.

The device for generating the u-turn lane provided by the embodiment of the application can be used for executing the technical scheme of the method for generating the u-turn lane provided by any of the above embodiments of the application, the implementation principle and the technical effect are similar, and the embodiment is not repeated herein.

Fig. 10 is a schematic structural diagram of a u-turn lane generation device according to an embodiment of the present disclosure, and as shown in fig. 10, the u-turn lane generation device 1000 according to the present embodiment includes:

at least one processor 1010; and a memory 1020 communicatively coupled to the at least one processor; wherein the memory 1020 stores computer executable instructions; the at least one processor 1010 executes the memory-stored computer-executable instructions to cause the u-turn lane generating device 1000 to perform a method as provided in any of the preceding embodiments.

Optionally, the memory 1020 may be separate or integrated with the processor 1010.

For the implementation principle and the technical effect of the u-turn lane generating device 1000 provided by this embodiment, reference may be made to the foregoing embodiments, and details are not described herein again.

The embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the method provided by any one of the foregoing embodiments may be implemented.

The embodiments of the present application further provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the method provided in any of the foregoing embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules is only one logical division, and other divisions may be realized in practice, for example, a plurality of modules may be combined or integrated into another system, or some features may be omitted, or not executed.

The integrated module implemented in the form of a software functional module may be stored in a computer-readable storage medium. The software functional module is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute some steps of the methods described in the embodiments of the present application.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in the incorporated application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor. The memory may comprise a high speed memory, and may further comprise a non-volatile memory, such as at least one magnetic disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, and the like.

The storage medium may be implemented by any type of volatile or non-volatile storage device or combination thereof, such as static random access memory, electrically erasable programmable read-only memory, magnetic memory, flash memory, magnetic or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit. Of course, the processor and the storage medium may reside as discrete components in an electronic apparatus or a u-turn lane generating apparatus.

It should be noted that, in this document, 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 above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the methods provided in the embodiments of the present application.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A method for generating a u-turn lane, comprising:

determining the intersection line of a road where at least two groups of target entering lanes and target exiting lanes of a target intersection are located and the target intersection, wherein the at least two groups of target entering lanes and target exiting lanes comprise entering lanes and exiting lanes which are communicated through a turning lane;

2. The method of claim 1, wherein determining the dividing direction based on the angle between the intersection line and the set direction comprises:

determining a target intersection line from the multiple intersection lines based on an included angle between the intersection line and a set direction;

and taking the direction of the target intersection line as a boundary direction.

3. The method of claim 2, wherein determining a target intersection from the plurality of intersections based on an angle between the intersection and a predetermined direction comprises:

determining two intersection lines with the minimum difference value of the included angles from the plurality of intersection lines based on the included angles between the intersection lines and the set direction;

and determining one target intersection line with a large included angle with the set direction from the two intersection lines with the minimum included angle difference value.

4. The method of claim 2, wherein dividing the target intersection into two u-turn zones along the split direction comprises:

determining an opposite side reference point which is closest to the straight line where the target intersection line is located from intersection lines on opposite sides of the target intersection line;

drawing a first boundary parallel to the target intersection line through the opposite side reference point;

and dividing the target intersection into two turning areas based on the target intersection line and the central line of the first boundary.

5. The method according to any one of claims 1 to 4, wherein generating a u-turn lane located in the u-turn region based on a set of target entering lanes and target exiting lanes corresponding to the u-turn region comprises:

6. The method according to any one of claims 1-4, wherein the u-turn region comprises parallel upper and lower boundaries, the upper and lower boundaries being boundaries of the u-turn region in a driving direction of a corresponding access lane;

generating a U-turn lane located in the U-turn region based on a group of target entering lanes and target exiting lanes corresponding to the U-turn region, including:

determining a first central point in the U-turn region, wherein the first central point is an intersection point of a first central line and an upper boundary of the U-turn region, and the first central line is a straight line where central lines of two adjacent lane lines in a group of target entering lanes and target exiting lanes corresponding to the U-turn region are located;

determining a second central point in the U-turn area, wherein the second central point is located on the first central line, and the distance between the second central point and the first central point is the average value of lane widths of a group of target entering lanes and target exiting lanes corresponding to the U-turn area;

and generating the U-turn lane in the U-turn area in a segmented manner based on the intersection point of the lower boundary of the U-turn area and the straight line where the lane lines of a group of target entering lanes and target exiting lanes corresponding to the U-turn area are located, the first central point and the second central point.

7. The method of claim 6, wherein the lane lines of the u-turn lane include four curved lane lines;

based on the intersection point of the lower boundary of the U-turn region and the straight line where the lane lines of a group of targets entering the lane and a group of targets exiting the lane corresponding to the U-turn region are located, the first central point and the second central point, the U-turn lane in the U-turn region is generated in a segmented mode and comprises the following steps:

drawing a curve lane line based on an Hermite curve by taking a first intersection point and the first central point as end points, the first central point and the second intersection point as end points, a third intersection point and the second central point as end points and the second central point and the fourth intersection point as end points respectively to obtain four curve lane lines corresponding to a U-turn lane in the U-turn area;

the first intersection point, the second intersection point, the third intersection point and the fourth intersection point are respectively a straight line where a right lane line of a target entering a lane corresponding to the turning region is located, a straight line where a right lane line of a target exiting the lane corresponding to the turning region is located, a left lane line of a target entering a lane corresponding to the turning region and a straight line where a left lane line of a target exiting the lane corresponding to the turning region is located, and the intersection point of the lower boundary of the turning region.

8. The method according to any one of claims 1-4, wherein the lane lines of the u-turn lane further include straight lane lines, the method further comprising:

9. The method of any one of claims 1-4, wherein after determining intersections with the target intersection of at least two sets of target entry lanes and target exit lanes of the target intersection, the method further comprises:

judging whether the target intersection meets preset conditions or not based on the included angle between each intersection line and the set direction;

if the target intersection does not meet the preset condition, executing the step of determining the boundary direction based on the included angle between the intersection line and the set direction;

and if the target intersection meets the preset condition, generating a corresponding turning lane by taking the intersection point of the lane lines of a group of target entering lanes and target exiting lanes and the target intersection as an endpoint based on the Hermite curve.

10. A u-turn lane generation apparatus, comprising:

the intersection line determining module is used for determining intersection lines between roads where at least two groups of target entering lanes and target exiting lanes of a target intersection are located and the target intersection, wherein the at least two groups of target entering lanes and target exiting lanes comprise entering lanes and exiting lanes which are communicated through a turning lane;

and the U-turn lane generation module is used for generating a U-turn lane in the U-turn area based on a group of target entering lanes and target exiting lanes corresponding to the U-turn area for each U-turn area.

11. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the method of any one of claims 1-9.