CN116228917A

CN116228917A - Intersection surface virtual lane line generation method and device based on high-precision map

Info

Publication number: CN116228917A
Application number: CN202211721768.9A
Authority: CN
Inventors: 刘爱琳
Original assignee: Neolix Technologies Co Ltd
Current assignee: Neolix Technologies Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-06-06

Abstract

The application provides a method and a device for generating virtual lane lines of an intersection surface based on a high-precision map. Comprising the following steps: determining crosswalks around the intersection surface based on the high-precision map data, and determining left edge lines and right edge lines of each crosswalk; constructing a loop linked list corresponding to the crosswalk around the intersection based on the left edge line and the right edge line of each crosswalk, wherein each crosswalk corresponds to one object in the loop linked list; starting from any object in the loop linked list, establishing a connection relation between an exit point and an entrance point of the object, wherein the exit point is a point on a lane line in an exit direction, and the entrance point is a point on a lane line in an entrance direction; and generating a virtual lane line in the intersection surface according to the connection relation. The method and the device can automatically generate the virtual lane lines in the intersection surface without manual intervention, facilitate unifying the map specification, improve the drawing efficiency of the precise map, and facilitate incremental update of the map in the later period.

Description

Intersection surface virtual lane line generation method and device based on high-precision map

Technical Field

The application relates to the technical field of high-precision maps, in particular to a method and a device for generating virtual lane lines of an intersection surface based on a high-precision map.

Background

The unmanned vehicle is a comprehensive system integrating the functions of environment sensing, planning decision, multi-level auxiliary driving and the like, and is also called an automatic driving vehicle or an unmanned vehicle. In the unmanned software system, the high-precision map is used as a priori brain of several modules such as auxiliary perception, positioning, decision planning and the like, and map elements in a static road can be provided for an automatic driving system, so that automatic driving is ensured to still normally run when perception cannot be recognized or lost information is positioned.

In the process of manufacturing the high-precision map, a current map manufacturer acquires fusion information such as a radar and a camera by using a multi-sensor acquisition vehicle, then the point cloud is guided to an editing platform after being subjected to map building processing, and map element information is manually drawn by using the information such as the point cloud and the picture. However, because the road surface does not have a real lane line, the road surface lane line and the specification are different due to manual hand painting, manual intervention, the specification of the map cannot be unified, manual errors are easily overlapped, the drawing efficiency of the high-precision map is reduced, and the later incremental updating of the map is not facilitated.

Disclosure of Invention

In view of this, the embodiment of the application provides a method and a device for generating a virtual lane line of an intersection surface based on a high-precision map, so as to solve the problems that in the prior art, the lane line of the intersection surface is different from the specification due to manual intervention, the specification of the map cannot be unified, manual errors are easily overlapped, the mapping efficiency of the high-precision map is reduced, and later incremental updating of the map is not facilitated.

In a first aspect of the embodiments of the present application, a method for generating an intersection virtual lane line based on a high-precision map is provided, where the method includes: determining crosswalks around the intersection surface based on the high-precision map data, and determining left edge lines and right edge lines of each crosswalk; constructing a loop linked list corresponding to the crosswalk around the intersection based on the left edge line and the right edge line of each crosswalk, wherein each crosswalk corresponds to one object in the loop linked list; starting from any object in the loop linked list, establishing a connection relation between an exit degree point and an entrance degree point of the object, wherein the exit degree point is a point on a lane line in an exit direction, and the entrance degree point is a point on a lane line in an entrance direction; and generating a virtual lane line in the intersection surface according to the connection relation.

In a second aspect of the embodiments of the present application, there is provided an intersection virtual lane line generating device based on a high-precision map, including: a determination module configured to determine crosswalks around the intersection based on the high-precision map data, and determine left and right edge lines of each crosswalk; the construction module is configured to construct a loop linked list corresponding to the crosswalk around the intersection based on the left edge line and the right edge line of each crosswalk, wherein each crosswalk corresponds to one object in the loop linked list; the establishing module is configured to establish a connection relationship between an exit point and an entrance point of an object from any object in the loop linked list, wherein the exit point is a point on a lane line in an exit direction, and the entrance point is a point on a lane line in an entrance direction; the generating module is configured to generate a virtual lane line in the intersection surface according to the connection relation.

The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect:

determining crosswalks around the intersection surface based on the high-precision map data, and determining left edge lines and right edge lines of each crosswalk; constructing a loop linked list corresponding to the crosswalk around the intersection based on the left edge line and the right edge line of each crosswalk, wherein each crosswalk corresponds to one object in the loop linked list; starting from any object in the loop linked list, establishing a connection relation between an exit degree point and an entrance degree point of the object, wherein the exit degree point is a point on a lane line in an exit direction, and the entrance degree point is a point on a lane line in an entrance direction; and generating a virtual lane line in the intersection surface according to the connection relation. The method and the system can automatically generate the virtual lane line in the intersection surface without manual intervention, reduce manual errors or error superposition, unify map specifications, improve the efficiency of accurate map drawing, and facilitate incremental update of the map in later period.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a method for generating virtual lane lines of an intersection based on a high-precision map according to an embodiment of the present application;

FIG. 2 is a schematic illustration of a crosswalk and lane line in an embodiment of the present application;

FIG. 3 is a schematic diagram of virtual lane lines generated at an intersection surface according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an intersection virtual lane line generating device based on a high-precision map according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of an electronic device according to 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 configurations, 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, unmanned vehicles, also called autonomous vehicles, unmanned vehicles, or wheeled mobile robots, are multi-element integrated and intelligent technical products that integrate environmental awareness, path planning, state recognition, vehicle control, and the like. In the unmanned software system, the high-precision map is used as a priori brain of several modules such as auxiliary perception, positioning, decision planning and the like, and map elements in a static road can be provided for an automatic driving system, so that automatic driving is ensured to still normally run when perception cannot be recognized or lost information is positioned.

However, the high-precision map has higher precision requirement, the requirement of unmanned scenes can not be met by using the traditional 2D map standard, and many scenes can not be automatically extracted, so that most map manufacturers still use manual drawing. In the current drawing process of the high-precision map, because the high-precision map needs high-precision and accurate and detailed lane information, the precision requirement cannot be met by simply using remote sensing images and other modes, current map manufacturers acquire fusion information such as radars, cameras and the like by using a multi-sensor acquisition vehicle, and then point clouds pass through the drawing

After processing, the map element information is imported to an editing platform, and the map element information is manually drawn by utilizing information such as point cloud, pictures and the like. However, the mapping process of the current high-precision map still has the following defects:

a) Overlapping manual errors or errors can occur in manual production, so that the map is repeatedly modified;

b) The map making period is longer, the cost is high, the manually made map is required to be subjected to secondary verification, reworking modification is required when the map is out of specification, and certain timeliness is lacked;

c) For the road surface without real lane lines (i.e. no line mark exists in the actual road surface), 0 needs to be drawn by hand, and the road surface lane lines and specifications are different due to manual intervention, so that the map is puzzled to the later incremental updating.

Therefore, in the existing high-precision map manufacturing process, the road surface lane lines need manual hand drawing, the map specification cannot be unified, secondary verification is needed, manual errors are easily overlapped, the drawing efficiency of the high-precision map is reduced, and the later incremental updating of the map is not facilitated.

5 in view of the above, the embodiment of the present application provides a method for generating virtual lane lines of an intersection surface based on a high-precision map, which can be applied to high-precision map scenes of L3-L4 level assisted driving, determines crosswalks around the intersection surface by high-precision map data, constructs a loop chain table of crosswalks around the intersection surface according to left and right edge lines of each crosswalk, starts from any object in the loop chain table,

And establishing a connection relation between the exit point and the entrance point of the object, and generating virtual 0 lane lines in the intersection surface according to the connection relation. According to the method and the device, the virtual lane line in the intersection plane can be automatically generated, the virtual lane line of the complex intersection scene is generated, the map specification is unified, the secondary verification of the map is not needed, the precision map drawing efficiency is improved, and the incremental update of the map is facilitated.

The following describes the technical scheme of the present application in detail with reference to specific embodiments.

Fig. 1 is a schematic flow diagram of an intersection virtual lane line generating method based on a high-precision map according to an embodiment of the present application. The method for generating the virtual lane line of the intersection surface based on the high-precision map in fig. 1 can be realized by high-precision land

The graphics system executes. As shown in fig. 1, the method for generating the virtual lane line of the intersection surface based on the high-precision map specifically includes:

s101, determining crosswalks around an intersection based on high-precision map data, and determining left edge lines and right edge lines of each crosswalk;

s102, constructing a loop linked list corresponding to the crosswalk around the intersection based on the left edge line and the right edge line of each crosswalk, wherein each crosswalk corresponds to one object in the loop linked list;

S103, starting from any object in the loop linked list, establishing a connection relation between an exit point and an entrance point of the object, wherein the exit point is a point on a lane line in an exit direction, and the entrance point is a point on a lane line in an entrance direction;

s104, generating a virtual lane line in the intersection surface according to the connection relation.

The intersection surface of the present application refers to a road surface area surrounded by crosswalks around, and for example, an intersection may include crosswalks in four directions, and an intermediate area surrounded by crosswalks in four directions is referred to as an intersection surface. The operation of generating the virtual lane line 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.

In some embodiments, determining crosswalks around the intersection based on the high-precision map data includes: and carrying out query operation on the high-precision map database to obtain the intersection surface of the virtual lane line to be generated and the crosswalk around the intersection surface, and obtaining lane line data corresponding to the crosswalk.

Specifically, the high-precision map data is data obtained by querying a high-precision map database, and the high-precision map data includes lane line data corresponding to an intersection surface of a virtual lane line to be generated, crosswalks around the intersection surface, and crosswalks. In practical application, the lane line data may correspond to some point sets, that is, each crosswalk corresponds to one point set, where the point set is composed of points corresponding to the lane lines.

In some embodiments, determining left and right edge lines for each crosswalk includes: establishing a connecting line between the central point of the crosswalk and the central point of the intersection surface, calculating the vector direction of the connecting line, and determining the left edge line and the right edge line corresponding to each crosswalk according to the vector direction of the connecting line.

Specifically, each crosswalk corresponds to a left edge line and a right edge line, wherein the left edge line can be regarded as a left boundary of the crosswalk, the right edge line can be regarded as a right boundary of the crosswalk, and the left boundary and the right boundary of the crosswalk can be judged through the centroid direction of the intersection surface.

Further, the center point of the crosswalk and the center point of the intersection face are connected, the vector direction of the connection is calculated, and the left boundary and the right boundary corresponding to each crosswalk are determined according to the vector direction of the connection. The purpose of calculating the left and right boundaries of each crosswalk is to determine left and right neighbors of the crosswalk, wherein the crosswalk corresponding to the left turn direction of the vehicle is regarded as the left neighbor, also referred to as the left adjacent crosswalk or the left adjacent crosswalk, and the crosswalk corresponding to the right turn direction of the vehicle is regarded as the right neighbor, also referred to as the right adjacent crosswalk or the right adjacent crosswalk.

In some embodiments, based on the left edge line and the right edge line of each crosswalk, constructing a loop chain table corresponding to the crosswalk around the intersection surface, including: carrying out space inquiry by utilizing a left edge line and a right edge line of each crosswalk to obtain a left adjacent crosswalk and a right adjacent crosswalk adjacent to each crosswalk; constructing a loop linked list according to the connection sequence between the left adjacent sidewalk and the right adjacent sidewalk corresponding to each sidewalk; each crosswalk is used as an object in the loop chain table, the objects are connected through pointers, and point information, attribute information and steering information corresponding to the departure point of the crosswalk corresponding to the lane line are stored in each object.

Specifically, the left adjacent crosswalk (left neighbor) and the right adjacent crosswalk (right neighbor) closest to each crosswalk are determined by spatial query of the left boundary (left edge line) and the right boundary (right edge line) of each crosswalk. In practical applications, the spatial query refers to a spatial geometrical operation of a geographic location, that is, a spatial geometrical operation of a geographic location is performed by using a left boundary and a right boundary of each crosswalk, so as to obtain a left adjacent crosswalk and a right adjacent crosswalk adjacent to each crosswalk.

Further, according to the left adjacent crosswalk and the right adjacent crosswalk of each crosswalk, each crosswalk is sequentially connected in the arrangement order to obtain a loop chain table. The loop chain table comprises a plurality of objects, each object corresponds to a crosswalk, the objects are connected through pointers, and the pointers are used for representing the logic connection sequence among the objects. Objects in a circular linked list may also be referred to as data elements, and thus, a circular linked list may also be considered a data structure consisting of pointers between data elements and data elements.

For example, in a specific example, it is assumed that there are four crosswalks A, B, C, D, and the four crosswalks are arranged clockwise from north to south, and in this case, a left adjacent crosswalk corresponding to crosswalk a is B, a right adjacent crosswalk is D, a left adjacent crosswalk corresponding to crosswalk B is C, a right adjacent crosswalk is a … …, and so on, and a loop link table composed of crosswalk A, B, C, D is created, and this loop link table may be expressed as a→b→c→d.

Each object (data element) in the circular link list stores point information, attribute information, and steering information corresponding to the departure point of the lane line corresponding to the crosswalk. The lane lines corresponding to the crosswalk are lane lines adjacent to the crosswalk or closest to the crosswalk; the point information of the lane line refers to information formed by all points on the lane line, the point information of the lane line comprises the departure point and the arrival point of the lane line, and the attribute relationship between the pedestrian crossing and the points on the non-adjacent lane lines can be prevented by searching the point information of the lane line closest to the pedestrian crossing.

Further, the attribute information of the lane line refers to that the road corresponding to the lane line is a main road or an auxiliary road, the steering information corresponding to the departure point refers to the steering information corresponding to the departure point on the lane line, such as left turn, right turn or straight travel, and the steering information of the departure point can be understood as the road steering information of the lane line where the departure point is located, that is, the road is a left turn road, right turn road or straight travel road or a combination.

The following describes the departure point and the arrival point on the lane line in detail with reference to the accompanying drawings, and fig. 2 is a schematic diagram of the crosswalk and the lane line in the embodiment of the present application. As shown in fig. 2, the crosswalk and lane line may specifically include:

in the embodiment shown in fig. 2, which includes two-way two-sided lanes, the arrow of the lane line of the right lane faces the crosswalk, the arrow of the lane line of the left lane faces the direction away from the crosswalk, and the end point of the lane line facing the crosswalk is taken as the departure point, and the end point of the lane line in the opposite direction is taken as the entrance point. Thus, an out-degree point may be understood as a point on the lane line of the out-going lane and an in-degree point may be understood as a point on the lane line of the in-going lane. In practical application, the exit point and the entrance point may be points at other positions on the lane line or points at other positions on the lane line, and the specific positions of the exit point and the entrance point do not form a limitation to the technical scheme of the application.

In some embodiments, starting from any object in the circular linked list, establishing a connection relationship between an outbound point and an inbound point of the object includes: judging the lane line as a main road lane or a paving lane according to the attribute information of the lane line corresponding to the pedestrian crossing stored in the object; when the lane line is a main road lane, establishing a connection relationship between an exit point and an entrance point of the lane line corresponding to the adjacent object according to the steering information corresponding to the exit point; when the lane line is a paving lane, taking the departure point of the lane line of the current auxiliary road lane as a starting point, taking the entry point of the lane line of the auxiliary road lane in the entry direction as an ending point, and establishing a connection relationship between the starting point and the ending point.

Specifically, when the connection relation between the exit point and the entrance point corresponding to the object in the loop chain table is established, two situations are distinguished according to the attribute information of the lane lines stored in the object, wherein the first situation is that the lane lines belong to the lane lines of the main road lane, and the second situation is that the lane lines belong to the lane lines of the auxiliary road lane. The following describes in detail the process of establishing the connection relationship between the out-degree point and the in-degree point in the two cases with reference to the specific embodiments, which may specifically include the following:

In the first case, according to the steering information corresponding to the departure point of the lane line stored in the object, judging whether the departure point of the lane line is connected with the arrival point of the lane line corresponding to the left adjacent crosswalk or the arrival point of the lane line corresponding to the right adjacent crosswalk, that is, judging whether the connection relationship between the departure point and the arrival point of the left neighbor or the connection relationship between the departure point and the arrival point of the right neighbor is established; for example, when the steering information of the departure point of the lane line corresponding to the crosswalk a is left turn, a connection between the departure point of the lane line corresponding to the crosswalk a and the departure point of the lane line corresponding to the left adjacent crosswalk (e.g., crosswalk B) is established.

In the second case, the connection relationship between the start point and the end point is established along the crosswalk by directly taking the departure point of the lane line of the auxiliary road lane (i.e., the current auxiliary road lane) to be established as the start point and the entry point of the lane line of the auxiliary road lane in the entry direction as the end point.

It should be noted that, each departure point contains the steering information of the lane line where the departure point is located (inherited from the turn type of the original lane line), that is, each departure point is associated with the steering information of the lane line where the departure point is located, and the steering information of the lane line includes at least one of left turn, right turn or straight going or a combination thereof. Since the exit and entrance points are located on the lane lines, for example, may be end points on the lane lines, a connection relationship between the exit and entrance points, that is, a connection relationship between the lane lines is established.

In some embodiments, establishing a connection relationship between an exit point and an entrance point of a lane line corresponding to an adjacent object according to steering information corresponding to the exit point includes: when the steering information corresponding to the departure point comprises left turn and/or right turn, establishing a connection relation between the departure point of the lane line corresponding to the current crosswalk and the arrival point of the lane line corresponding to the left and/or right adjacent crosswalk, and generating a second-order Bezier curve between the departure point and the arrival point to obtain a left and/or right turn virtual lane line; when the steering information corresponding to the departure point contains straight lines, establishing a connection relationship between the departure point of the lane line corresponding to the current crosswalk and the arrival point of the lane line corresponding to the crosswalk in the straight line direction, and obtaining a straight virtual lane line.

Specifically, according to the steering information corresponding to the departure point, the connection between the departure point and the arrival point of the lane line corresponding to the adjacent object is divided into the following three cases: when the steering information of the departure point is left turn, establishing a connection relationship between the departure point of the current lane line and the arrival point of the left neighbor lane line; when the steering information of the departure point is right-turning, establishing a connection relationship between the departure point of the current lane line and the arrival point of the right neighbor lane line; when the steering information of the departure point is straight, establishing a connection relationship between the departure point of the current lane line and the arrival point of the lane line in the straight direction.

The following details of the connection relationships and the rules for the sequential hitching of the entrance of the lanes in these three different situations are described in connection with specific embodiments, which may specifically include the following:

when the steering information corresponding to the departure point of the lane line is left turn, establishing connection between the departure point of the current lane line and the arrival point of the lane line corresponding to the left adjacent crosswalk, and generating a second-order Bezier curve between the departure point and the arrival point. At this time, the hitching rule of the lane is: according to the driving direction of the lanes, the lanes are numbered from left to right, the entrance lane with the minimum serial number is hung with the exit lane with the minimum serial number according to the serial number corresponding to the lanes, the left entrance lane is hung with the exit lane with the maximum serial number from small to large in sequence.

When the steering information corresponding to the departure point of the lane line is right turn, establishing connection between the departure point of the current lane line and the arrival point of the lane line corresponding to the right adjacent crosswalk, and generating a second-order Bezier curve between the departure point and the arrival point. At this time, the hitching rule of the lane is: according to the driving direction of the lanes, the lanes are numbered from left to right, the entrance lane with the largest serial number is connected with the exit lane with the largest serial number in a hanging mode, the remaining entrance lanes are connected with the exit lanes with the smallest serial numbers in a hanging mode from large to small in sequence.

When the steering information corresponding to the departure point of the lane line is straight, establishing connection between the departure point of the current lane line and the arrival point of the lane line corresponding to the pedestrian crossing in the straight direction, and generating a straight line between the departure point and the arrival point. At this time, the hitching rule of the lane is: according to the driving direction of the lanes, the lanes are numbered from left to right, each entrance lane is sequentially connected with the nearest exit lane in a hanging mode according to the serial numbers corresponding to the lanes, the exit lane with the smaller serial number is connected with the entrance lane with the smallest serial number in a hanging mode, and the exit lane with the larger serial number is connected with the entrance lane with the largest serial number in a hanging mode.

It should be noted that, the process of hitching the entrance lane and the exit lane according to the hitching rule is a process of establishing a connection relationship between the exit point and the entrance point of the lane line, that is, a process of establishing a virtual lane line, so that a second-order bezier curve generated during left steering connection and right steering connection and a straight line generated during straight connection are virtual lane lines in an intersection plane when the unmanned vehicle runs along the main road.

In some embodiments, establishing a connection between a start point and an end point includes: and establishing a connection relation between the current auxiliary road lane and the auxiliary road lane in the entrance direction along the crosswalk from the starting point to the ending point, and generating a second-order Bezier curve at the turning point to obtain an auxiliary road virtual lane line.

Specifically, the above embodiment describes a process of constructing a virtual lane line when the lane line where the departure point is located is a main road lane, and the following description will be given with reference to a specific embodiment of a process of constructing a virtual lane line when the attribute of the lane line is a paving lane, which may specifically include the following:

when the lane line is a road paving lane, the road paving system further comprises steering (left turn and right turn) and turning around of the non-motor vehicle lane, at the moment, the departure point of the lane line of the current auxiliary road lane is taken as a starting point, the entrance point of the lane line of the auxiliary road lane in the entrance direction is taken as an end point, and the entrance direction refers to the direction from the current auxiliary road lane to enter the other auxiliary road lane.

In a specific example, taking left turn of the auxiliary road as an example, a topological relation can be established along the right adjacent crosswalk until the auxiliary road lane of the left adjacent crosswalk, namely, a connection relation between the departure point of the current paving lane and the arrival point of the auxiliary road lane of the left neighbor is established along the crosswalk in the anticlockwise direction, namely, a topological relation between the current auxiliary road lane and the auxiliary road lane of the left neighbor is established, and a second-order Bezier curve is generated at the turn to link, so that a virtual lane line of the auxiliary road left turn lane is formed.

In some embodiments, generating virtual lane lines within an intersection surface from a connection relationship includes: and generating full virtual lane lines in the intersection surface in the high-precision map according to the left-turn virtual lane line, the right-turn virtual lane line, the straight virtual lane line and the auxiliary road virtual lane line.

Specifically, the left-turn virtual lane line, the right-turn virtual lane line and the straight-run virtual lane line are constructed among the main road lanes, the auxiliary road virtual lane line is constructed among the paving lanes, all the virtual lane lines are jointly used as lane lines in the intersection surface in the high-precision map, and the virtual lane lines of the intersection surface are automatically generated in the high-precision map, so that the drawing efficiency of the high-precision map is improved. Fig. 3 is a schematic diagram of virtual lane lines generated at an intersection according to an embodiment of the present application. As shown in fig. 3, taking an intersection surface of an intersection as an example, a left-turn virtual lane line, a right-turn virtual lane line and a straight-run virtual lane line are generated in the intersection surface of the intersection by using the technical scheme.

In some embodiments, after generating the virtual lane line within the intersection surface according to the connection relationship, the method further comprises: and establishing a mapping 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.

Specifically, after the virtual lane lines are generated in the intersection 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, namely, the attribute mapping relationship among 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 (the data queried from the high-precision map database).

Further, after the attribute mapping relation is established, virtual lane line data generated by the intersection surface are added into a high-precision map database, data of the specification required by the unmanned vehicle end is generated in the high-precision map database, namely a format file which can be identified 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 line can be automatically generated in the intersection, the problem that the manual intervention drawing is needed in complex intersection scenes, and the manual drawing is caused to have manual errors or error superposition is fundamentally solved, the drawing efficiency of the high-precision map is improved, the fine difference caused by the manual drawing is avoided, the map specification is convenient to unify, the increment update is convenient to carry out on the map in the later stage, and the specification condition is verified in the high-precision map generation process, so that secondary verification is not needed, and the cost reduction and the efficiency improvement are carried out in the high-precision map manufacturing process.

The following are device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Fig. 4 is a schematic structural diagram of an intersection virtual lane line generating device based on a high-precision map according to an embodiment of the present application. As shown in fig. 4, the high-precision map-based intersection virtual lane line generation device includes:

a determining module 401 configured to determine crosswalks around the intersection based on the high-precision map data, and determine left and right edge lines of each crosswalk;

a construction module 402, configured to construct a loop linked list corresponding to the crosswalk around the intersection based on the left edge line and the right edge line of each crosswalk, where each crosswalk corresponds to an object in the loop linked list;

the establishing module 403 is configured to establish a connection relationship between an outbound degree point and an inbound degree point of an object from any object in the circular linked list, where the outbound degree point is a point on a lane line in an outbound direction and the inbound degree point is a point on a lane line in an inbound direction;

the generating module 404 is configured to generate a virtual lane line in the intersection surface according to the connection relation.

In some embodiments, the determining module 401 of fig. 4 performs a query operation on the high-precision map database, obtains an intersection surface of the virtual lane line to be generated and a crosswalk around the intersection surface, and obtains lane line data corresponding to the crosswalk.

In some embodiments, the determining module 401 of fig. 4 establishes a connection line between the center point of the crosswalk and the center point of the intersection, calculates a vector direction of the connection line, and determines a left edge line and a right edge line corresponding to each crosswalk according to the vector direction of the connection line.

In some embodiments, the construction module 402 of FIG. 4 performs a spatial query using the left and right edge lines of each crosswalk, resulting in left and right adjacent crosswalks adjacent to each crosswalk; constructing a loop linked list according to the connection sequence between the left adjacent sidewalk and the right adjacent sidewalk corresponding to each sidewalk; each crosswalk is used as an object in the loop chain table, the objects are connected through pointers, and point information, attribute information and steering information corresponding to the departure point of the crosswalk corresponding to the lane line are stored in each object.

In some embodiments, the building module 403 of fig. 4 determines that the lane line is a main road lane or a paving lane according to the attribute information of the lane line corresponding to the crosswalk stored in the object; when the lane line is a main road lane, establishing a connection relationship between an exit point and an entrance point of the lane line corresponding to the adjacent object according to the steering information corresponding to the exit point; when the lane line is a paving lane, taking the departure point of the lane line of the current auxiliary road lane as a starting point, taking the entry point of the lane line of the auxiliary road lane in the entry direction as an ending point, and establishing a connection relationship between the starting point and the ending point.

In some embodiments, when the steering information corresponding to the departure point includes left turn and/or right turn, the establishing module 403 of fig. 4 establishes a connection relationship between the departure point of the lane line corresponding to the current crosswalk and the entry point of the lane line corresponding to the left and/or right adjacent crosswalk, and generates a second-order bezier curve between the departure point and the entry point, so as to obtain a left and/or right turn virtual lane line; when the steering information corresponding to the departure point contains straight lines, establishing a connection relationship between the departure point of the lane line corresponding to the current crosswalk and the arrival point of the lane line corresponding to the crosswalk in the straight line direction, and obtaining a straight virtual lane line.

In some embodiments, the establishing module 403 of fig. 4 establishes a connection relationship between the current auxiliary road lane and the auxiliary road lane in the entrance direction from the starting point to the ending point along the crosswalk, and generates a second-order bezier curve at the turn, so as to obtain the auxiliary road virtual lane line.

In some embodiments, the generation module 404 of fig. 4 generates full virtual lane lines in the intersection plane in the high-definition map from the left-turn virtual lane line, the right-turn virtual lane line, the straight virtual lane line, and the auxiliary road virtual lane line.

In some embodiments, the generating module 404 of fig. 4 establishes a mapping relationship among the center line, the left boundary line, and the right boundary line of each lane line according to the lane line data in the high-definition map data after generating the virtual lane line in the intersection surface according to the connection relationship.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

Fig. 5 is a schematic structural diagram of an electronic device 5 according to an embodiment of the present application. As shown in fig. 5, the electronic apparatus 5 of this embodiment includes: a processor 501, a memory 502 and a computer program 503 stored in the memory 502 and executable on the processor 501. The steps of the various method embodiments described above are implemented by processor 501 when executing computer program 503. Alternatively, the processor 501, when executing the computer program 503, performs the functions of the modules/units in the above-described apparatus embodiments.

Illustratively, the computer program 503 may be split into one or more modules/units, which are stored in the memory 502 and executed by the processor 501 to complete the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 503 in the electronic device 5.

The electronic device 5 may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The electronic device 5 may include, but is not limited to, a processor 501 and a memory 502. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the electronic device 5 and is not meant to be limiting as the electronic device 5 may include more or fewer components than shown, or may combine certain components, or different components, e.g., the electronic device may further include an input-output device, a network access device, a bus, etc.

The processor 501 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 502 may be an internal storage unit of the electronic device 5, for example, a hard disk or a memory of the electronic device 5. The memory 502 may also be an external storage device of the electronic device 5, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 5. Further, the memory 502 may also include both internal storage units and external storage devices of the electronic device 5. The memory 502 is used to store computer programs and other programs and data required by the electronic device. The memory 502 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-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a 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. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will 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 solution. 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 this application, it should be understood that the disclosed apparatus/computer device and method may be implemented in other ways. For example, the apparatus/computer device embodiments described above are merely illustrative, e.g., the division of modules or elements is merely a logical functional division, and there may be additional divisions of actual implementations, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow in the methods of the above embodiments, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program may implement the steps of the respective method embodiments described above when executed by a processor. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The method for generating the virtual lane line of the intersection surface based on the high-precision map is characterized by comprising the following steps of:

determining crosswalks around the intersection surface based on the high-precision map data, and determining left edge lines and right edge lines of each crosswalk;

constructing a loop linked list corresponding to the crosswalk around the intersection based on the left edge line and the right edge line of each crosswalk, wherein each crosswalk corresponds to one object in the loop linked list;

starting from any object in the loop linked list, establishing a connection relation between an exit point and an entrance point of the object, wherein the exit point is a point on a lane line in an exit direction, and the entrance point is a point on a lane line in an entrance direction;

And generating a virtual lane line in the intersection surface according to the connection relation.

2. The method of claim 1, wherein the determining crosswalks around the intersection based on the high-precision map data comprises:

and carrying out query operation on the high-precision map database to obtain an intersection surface of a virtual lane line to be generated and crosswalks around the intersection surface, and obtaining lane line data corresponding to the crosswalks.

3. The method of claim 1, wherein the determining left and right edge lines for each crosswalk comprises:

establishing a connecting line between the central point of the crosswalk and the central point of the intersection surface, calculating the vector direction of the connecting line, and determining the left edge line and the right edge line corresponding to each crosswalk according to the vector direction of the connecting line.

4. The method of claim 1, wherein the constructing a loop chain table corresponding to the crosswalk around the intersection based on the left edge line and the right edge line of each crosswalk comprises:

carrying out space inquiry by utilizing a left edge line and a right edge line of each crosswalk to obtain a left adjacent crosswalk and a right adjacent crosswalk adjacent to each crosswalk;

Constructing the loop linked list according to the connection sequence between the crosswalk corresponding to each crosswalk and the left adjacent crosswalk and the right adjacent crosswalk;

each crosswalk is used as an object in a loop chain table, the objects are connected through pointers, and point information, attribute information and steering information corresponding to an outgoing point of a lane line corresponding to the crosswalk are stored in each object.

5. The method of claim 4, wherein the establishing a connection relationship between an outbound point and an inbound point of the object from any one of the objects in the circular linked list comprises:

judging that the lane line is a main road lane or a paving lane according to the attribute information of the lane line corresponding to the crosswalk stored in the object;

when the lane line is a main road lane, establishing a connection relationship between an exit point and an entrance point of the lane line corresponding to the adjacent object according to the steering information corresponding to the exit point;

when the lane line is a paving lane, taking the departure point of the lane line of the current auxiliary road lane as a starting point, taking the entry point of the lane line of the auxiliary road lane in the entry direction as an ending point, and establishing a connection relation between the starting point and the ending point.

6. The method of claim 5, wherein the establishing a connection relationship between the departure point and the arrival point of the lane line corresponding to the adjacent object according to the steering information corresponding to the departure point comprises:

when the steering information corresponding to the departure point comprises left turn and/or right turn, establishing a connection relationship between the departure point of the lane line corresponding to the current crosswalk and the arrival point of the lane line corresponding to the left and/or right adjacent crosswalk, and generating a second-order Bezier curve between the departure point and the arrival point to obtain a left and/or right turn virtual lane line;

when the steering information corresponding to the departure point comprises straight line, establishing a connection relationship between the departure point of the lane line corresponding to the current crosswalk and the arrival point of the lane line corresponding to the crosswalk in the straight line direction, and obtaining a straight virtual lane line.

7. The method of claim 5, wherein establishing a connection between the start point and the end point comprises:

and establishing a connection relation between the current auxiliary road lane and the auxiliary road lane in the entrance direction along the crosswalk from the starting point to the ending point, and generating a second-order Bezier curve at the turning point to obtain an auxiliary road virtual lane line.

8. The method according to claim 6 or 7, wherein the generating a virtual lane line in the intersection surface according to the connection relation comprises:

and generating all virtual lane lines in the intersection surface in a high-precision map according to the left-turn virtual lane line, the right-turn virtual lane line, the straight virtual lane line and the auxiliary road virtual lane line.

9. The method according to claim 1, wherein after the virtual lane line is generated within the intersection surface in accordance with the connection relationship, the method further comprises:

and establishing a mapping 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.

10. The utility model provides a virtual lane line of crossing generates device based on high-precision map which characterized in that includes:

a determination module configured to determine crosswalks around the intersection based on the high-precision map data, and determine left and right edge lines of each crosswalk;

the construction module is configured to construct a loop linked list corresponding to the crosswalk around the intersection based on the left edge line and the right edge line of each crosswalk, wherein each crosswalk corresponds to one object in the loop linked list;

The establishing module is configured to establish a connection relationship between an exit point and an entrance point of the object from any object in the loop linked list, wherein the exit point is a point on a lane line in the exit direction, and the entrance point is a point on a lane line in the entrance direction;

and the generation module is configured to generate a virtual lane line in the intersection surface according to the connection relation.