CN116363257A - Lane line data processing method, high-precision map drawing method, equipment and medium - Google Patents
Lane line data processing method, high-precision map drawing method, equipment and medium Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3819—Road shape data, e.g. outline of a route
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Abstract
The disclosure relates to the technical field of electronic maps, in particular to a lane line data processing method, a high-precision map drawing method, equipment and a medium, wherein the method comprises the following steps: acquiring lane line data and a target road area; determining lane lines to be supplemented based on the lane line data and the target road area; determining at least three lane line shape points on each lane line to be repaired, performing curve fitting, and determining an intersection point of a target fitting curve and an end boundary of a target road area; taking the shape point of the lane line as a starting point, taking the intersection point as an ending point, taking the tangential direction of the target fitting curve at the intersection point as the tangential direction of the fitting end point, and performing spline curve fitting to obtain a curvature filling lane line; and filling the lane lines to be filled based on the curvature filling lane lines. According to the scheme, the part, extending towards the end boundary, of the lane line to be repaired is repaired, the situation that the part is relatively close to reality is ensured, and the reliability of the repaired lane line data is improved.
Description
Technical Field
The disclosure relates to the technical field of electronic maps, in particular to a lane line data processing method, a high-precision map drawing method, high-precision map drawing equipment and a medium.
Background
The electronic map is a digital representation of the real world, and people can conveniently position or navigate according to the electronic map when going out. The lane lines are important in the process of generating the electronic map as basic elements of the electronic map. In the related art, an image of a road may be acquired, and the acquired image may be image-identified to obtain lane line data, so as to generate a corresponding electronic map according to the lane line data. In a real situation, as the lane lines on the road are often damaged due to aging of the paint, part of lane lines in the obtained lane line data are often lacking, and the accuracy of the electronic map generated based on the lane line data is affected. Therefore, lane line data generally needs to be repaired to ensure that the lane lines are complete.
However, in the course of research and practice of the prior art, the inventors of the present invention found that, in the related art, when lane line repair is performed on lane line data, a portion near an end of a road region to which the lane line data corresponds is not repaired, so that reliability of lane line data obtained after the lane line repair is poor.
Disclosure of Invention
In order to solve the problems in the related art, embodiments of the present disclosure provide a lane line data processing method, a high-precision mapping method, a device, and a medium.
In a first aspect, an embodiment of the present disclosure provides a lane line data processing method, including:
acquiring lane line data and a target road area corresponding to the lane line data;
determining lane lines to be repaired, which do not extend to the end boundary of the road in the target road area, from the lane line data based on the lane line data and the target road area;
determining at least three lane line shape points with the distance from the end boundary smaller than or equal to a distance threshold value on each lane line to be repaired;
performing curve fitting according to at least three lane line shape points to obtain a target fitting curve, and determining an intersection point of the target fitting curve and an end boundary of a target road area;
taking a lane line shape point closest to the end boundary of the target road area on the lane line to be repaired as a starting point, taking an intersection point as an ending point, and taking the tangential direction of the target fitting curve at the intersection point as the tangential direction of the fitting end point, and carrying out spline curve fitting to obtain a curvature repairing lane line;
And filling the lane lines to be filled based on the curvature filling lane lines.
In a second aspect, in an embodiment of the present disclosure, there is provided a high-precision mapping method, including:
acquiring lane line data after filling, wherein the lane line data after filling is obtained according to the method provided in the first aspect;
and carrying out high-precision map drawing based on the lane lines after completion.
In a third aspect, embodiments of the present disclosure provide an electronic device comprising a memory and a processor, wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method of the first aspect or the second aspect.
In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement a method as described in the first or second aspect.
According to the technical scheme provided by the embodiment of the disclosure, lane line data and a target road area corresponding to the lane line data are obtained; determining lane lines to be repaired, which do not extend to the end boundary of the road in the target road area, from the lane line data based on the lane line data and the target road area; determining at least three lane line shape points with the distance from the end boundary smaller than or equal to a distance threshold value on each lane line to be repaired; performing curve fitting according to at least three lane line shape points to obtain a target fitted curve, and determining an intersection point of the target fitted curve and an end boundary of a target road area, wherein the target fitted curve is obtained by performing curve fitting according to at least three lane line shape points on the lane line to be repaired, the distance from the end boundary of the lane line to be repaired is smaller than or equal to a distance threshold value, so that the extending trend of the target fitted curve can be understood as being relatively close to the extending trend of a part, close to the end boundary, of the lane line to be repaired, and the position of the intersection point of the fitted curve and the end boundary can be understood as being relatively close to the position of the end point of the lane line extending from the lane line to be repaired in a real state; by taking the lane line shape point closest to the end boundary of the target road area on the lane line to be repaired as a starting point, taking the intersection point as an end point, taking the tangential direction of the target fitting curve at the intersection point as the tangential direction of the fitting end point, performing spline curve fitting, and obtaining the curvature repair lane line, the obtained curvature repair lane line can be ensured to be relatively close to the part extending from the lane to be repaired to the end boundary in the actual condition, then the repair is performed on the lane line to be repaired based on the curvature repair lane line, and the reliability of the obtained repaired lane line data can be ensured to be relatively high. In summary, the above-mentioned scheme complements the portion extending toward the end boundary of the lane line to be complemented, ensures that the complemented lane line is relatively close to the lane line corresponding to the actual situation, improves the reliability of the complemented lane line data, and is beneficial to improving the accuracy of the electronic map generated based on the complemented lane line data.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 shows a flowchart of a lane line data processing method according to an embodiment of the present disclosure.
Fig. 2 shows a schematic diagram of a target road area road according to an embodiment of the present disclosure.
Fig. 3 shows a schematic diagram of a target road area road according to an embodiment of the present disclosure.
Fig. 4 shows a schematic diagram of a target road area road according to an embodiment of the present disclosure.
Fig. 5 shows a schematic diagram of a target road area road according to an embodiment of the present disclosure.
Fig. 6 shows a flowchart of a high-precision mapping method according to an embodiment of the present disclosure.
Fig. 7 shows a block diagram of an electronic device according to an embodiment of the disclosure.
Fig. 8 shows a schematic diagram of a computer system suitable for use in implementing methods according to embodiments of the present disclosure.
Detailed Description
Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, portions irrelevant to description of the exemplary embodiments are omitted in the drawings.
In this disclosure, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in this specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, acts, components, portions, or combinations thereof are present or added.
In addition, it should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In the present disclosure, if an operation of acquiring user information or user data or an operation of presenting user information or user data to another person is referred to, the operations are all operations authorized, confirmed, or actively selected by the user.
In the related art, as the lane lines on the road are often damaged due to aging of the paint, part of lane lines in the obtained lane line data are often lacking, and the accuracy of the electronic map generated based on the lane line data is affected. Therefore, lane line repair is generally required to be performed on the lane line data to ensure that the lane lines in the lane line data are relatively complete.
In one embodiment of the disclosure, for two adjacent lane lines in lane line data, an end point of a front lane line and a start point of a rear lane line may be connected to generate an auxiliary line, and then the auxiliary line is screened according to a screening condition, and a repair lane line is generated according to the screened auxiliary line, so as to achieve the purpose of repairing the lane line of the lane line data.
However, in the course of research and practice of the prior art, the inventors of the present invention found that, in the related art, when lane line repair is performed on lane line data, a portion near an end of a road region to which the lane line data corresponds is not repaired, so that reliability of lane line data obtained after the lane line repair is poor.
In order to solve the above-mentioned problem, in the technical solution provided in the embodiments of the present disclosure, lane line data and a target road area corresponding to the lane line data are obtained; determining lane lines to be repaired, which do not extend to the end boundary of the road in the target road area, from the lane line data based on the lane line data and the target road area; determining at least three lane line shape points with the distance from the end boundary smaller than or equal to a distance threshold value on each lane line to be repaired; performing curve fitting according to at least three lane line shape points to obtain a target fitted curve, and determining an intersection point of the target fitted curve and an end boundary of a target road area, wherein the target fitted curve is obtained by performing curve fitting according to at least three lane line shape points on the lane line to be repaired, the distance from the end boundary of the lane line to be repaired is smaller than or equal to a distance threshold value, so that the extending trend of the target fitted curve can be understood as being relatively close to the extending trend of a part, close to the end boundary, of the lane line to be repaired, and the position of the intersection point of the fitted curve and the end boundary can be understood as being relatively close to the position of the end point of the lane line extending from the lane line to be repaired in a real state; by taking the lane line shape point closest to the end boundary of the target road area on the lane line to be repaired as a starting point, taking the intersection point as an end point, taking the tangential direction of the target fitting curve at the intersection point as the tangential direction of the fitting end point, performing spline curve fitting, and obtaining the curvature repair lane line, the obtained curvature repair lane line can be ensured to be relatively close to the part extending from the lane to be repaired to the end boundary in the actual condition, then the repair is performed on the lane line to be repaired based on the curvature repair lane line, and the reliability of the obtained repaired lane line data can be ensured to be relatively high. In summary, the above-mentioned scheme complements the portion extending toward the end boundary of the lane line to be complemented, and ensures that the complemented lane line is relatively close to the lane line corresponding to the actual situation, and improves the reliability of the complemented lane line data, thereby being beneficial to improving the accuracy of the electronic map generated based on the complemented lane line data.
The embodiment of the disclosure provides a lane line data processing method, a high-precision map drawing method, high-precision map drawing equipment and a medium.
Fig. 1 shows a flowchart of a lane line data processing method according to an embodiment of the present disclosure. As shown in fig. 1, the lane line data processing method includes the following steps S101 to S106:
in step S101, lane line data and a target road area corresponding to the lane line data are acquired;
in step S102, determining a lane line to be repaired, which does not extend to an end boundary of the road in the target road area, from the lane line data based on the lane line data and the target road area;
in step S103, at least three lane line shape points with a distance from the end boundary less than or equal to a distance threshold are determined on each lane line to be repaired;
in step S104, curve fitting is performed according to at least three lane line shape points, a target fitting curve is obtained, and an intersection point of the target fitting curve and an end boundary of the target road area is determined;
in step S105, spline curve fitting is performed with a lane line shape point closest to the end boundary of the target road area on the lane line to be repaired as a starting point, an intersection point as an ending point, and a tangential direction of the target fitting curve at the intersection point as a tangential direction of the fitting end point, so as to obtain a curvature repair lane line;
In step S106, the lane lines to be completed are repaired based on the curvature repair lane lines.
In one implementation of the present disclosure, lane line data may be understood as data stored in advance, as well as data acquired from other devices or systems. The lane line data may include at least one lane line in the corresponding target road region, each lane line may include a plurality of lane line shape points thereon, and the position of each lane line shape point may be included in the lane line data. Further, the lane line data may further include an attribute, a type, and the like corresponding to each lane line shape point.
In one implementation of the present disclosure, an end boundary of a road of a target road area may be understood as a road boundary located at an end of a road in the target road area, the end boundary being used to connect end points of the road boundary on both sides of the road of the target road area, wherein the end point of the road boundary may be understood as a start point of the road boundary and may be understood as an end point of the road boundary.
For example, fig. 2 shows a schematic view of a target road area road according to an embodiment of the present disclosure, and as shown in fig. 2, in a target road area road 200, an end boundary 201 of the target road area road is used to connect an end point of one side road boundary 202 of the target road area road 200 with an end point of the other side road boundary 203 of the target road area road 200.
In one implementation of the present disclosure, determining a lane line to be repaired that does not extend to an end boundary of a road in a target road area from lane line data based on the lane line data and the target road area may be understood as determining whether an intersection point exists between the lane line in the target road area and the end boundary of the road in the target road area according to the lane line data, and when the intersection point does not exist, determining the lane line as the lane line to be repaired
In one implementation of the present disclosure, at least three lane line shape points with a distance from an end boundary being less than or equal to a distance threshold are determined on each lane line to be repaired, which may be understood as calculating a distance between each lane line shape point and the end boundary on each lane line to be repaired, and determining the at least three lane line shape points according to a calculation result.
In one implementation of the disclosure, curve fitting is performed according to at least three lane line shape points to obtain a target fitted curve, which may be understood as performing curve fitting based on a polynomial function, a power function, a logarithmic function or other functions, and the fitted curve may be obtained according to a curvature obtained by fitting and a curvature center.
Illustratively, as shown in fig. 2, the lane line 204 is a lane line to be repaired that does not extend to the end boundary 201, the lane line shape points 205-207 are three lane line shape points that are less than or equal to the distance threshold from the end boundary 201, and the target fitting curve 208 may be obtained by curve fitting the lane line shape points 205-207, where the fitting curve 208 has an intersection 209 with the end boundary 201. Spline curve fitting is performed with a lane line shape point 210 closest to the end boundary 201 on the lane line 204 as a start point, an intersection point 209 as an end point, and a tangential direction of the target fitting curve 208 at the intersection point 209 as a tangential direction of a fitting end point, to obtain a curvature-supplemented lane line 211.
According to the technical scheme provided by the embodiment of the disclosure, lane line data and a target road area corresponding to the lane line data are obtained; determining lane lines to be repaired, which do not extend to the end boundary of the road in the target road area, from the lane line data based on the lane line data and the target road area; determining at least three lane line shape points with the distance from the end boundary smaller than or equal to a distance threshold value on each lane line to be repaired; performing curve fitting according to at least three lane line shape points to obtain a target fitted curve, and determining an intersection point of the target fitted curve and an end boundary of a target road area, wherein the target fitted curve is obtained by performing curve fitting according to at least three lane line shape points on the lane line to be repaired, the distance from the end boundary of the lane line to be repaired is smaller than or equal to a distance threshold value, so that the extending trend of the target fitted curve can be understood as being relatively close to the extending trend of a part, close to the end boundary, of the lane line to be repaired, and the position of the intersection point of the fitted curve and the end boundary can be understood as being relatively close to the position of the end point of the lane line extending from the lane line to be repaired in a real state; by taking the lane line shape point closest to the end boundary of the target road area on the lane line to be repaired as a starting point, taking the intersection point as an end point, taking the tangential direction of the target fitting curve at the intersection point as the tangential direction of the fitting end point, performing spline curve fitting, and obtaining the curvature repair lane line, the obtained curvature repair lane line can be ensured to be relatively close to the part extending from the lane to be repaired to the end boundary in the actual condition, then the repair is performed on the lane line to be repaired based on the curvature repair lane line, and the reliability of the obtained repaired lane line data can be ensured to be relatively high. In summary, the above-mentioned scheme complements the portion extending toward the end boundary of the lane line to be complemented, and ensures that the complemented lane line is relatively close to the lane line corresponding to the actual situation, and improves the reliability of the complemented lane line data, thereby being beneficial to improving the accuracy of the electronic map generated based on the complemented lane line data.
In one embodiment of the present disclosure, determining at least three lane line shape points on each lane line to be repaired that are less than or equal to a preset distance from an end boundary includes:
determining a plurality of groups of lane line shape points on each lane line to be repaired, wherein each group of lane line shape points comprises at least three lane shape points with the distance from the end boundary being less than or equal to the end boundary distance threshold;
performing curve fitting according to the positions of at least three lane line shape points to obtain a fitting curve, including:
and performing curve fitting according to the shape points of each group of lane lines to obtain a plurality of initial fitting curves, and obtaining fitting curves according to the plurality of initial fitting curves.
In one implementation of the present disclosure, a fitted curve is obtained according to a plurality of initial fitted curves, which may be understood as that an average curvature is obtained by averaging the curvatures of the plurality of initial fitted curves, and an average curvature radius is obtained by scaling according to the average curvature, an average curvature center is obtained by averaging the curvature centers of the plurality of initial fitted curves, and the target fitted curve may be obtained according to the average curvature center and the average curvature radius; alternatively, it is also understood that normalization is performed based on a plurality of initial fitted curves to obtain the target fitted curve.
According to the technical scheme provided by the embodiment of the disclosure, a plurality of groups of lane line shape points are determined on each lane line to be repaired, curve fitting is performed according to each group of lane line shape points to obtain a plurality of initial fitting curves, and a target fitting curve is obtained according to the plurality of initial fitting curves, so that the obtained target fitting curve can be ensured to reflect the extending trend of the lane line to be repaired more comprehensively.
In one embodiment of the present disclosure, the method further comprises:
acquiring at least one road boundary line of a target road area road;
on a road boundary line, determining a road boundary shape point closest to the starting point;
and acquiring the boundary filling lane line of the lane line to be filled based on the coordinate difference between the starting point and the road boundary shape point.
In one implementation of the present disclosure, the obtaining of at least one road boundary line of the target road area road may be understood as obtaining road boundary data of the target road area road, which may include positions of a plurality of road boundary shape points on the at least one road boundary line of the target road area road. The at least one road boundary line may be acquired based on the road boundary data. Further, the road boundary data may further include attributes, types, etc. of the corresponding road boundary shape points. In one implementation of the present disclosure, determining the road boundary shape point closest to the start point may be understood as calculating the distance from each road boundary shape point on the road boundary line to the start point, and determining the road boundary shape point closest to the start point according to the calculation result.
In one implementation of the present disclosure, the obtaining the boundary patch lane line of the lane line to be patch based on the coordinate difference between the start point and the road boundary shape point may be understood as moving a portion from the road boundary shape point to the road boundary end point on the road boundary to the start point based on the coordinate difference to obtain the boundary patch lane line.
For example, fig. 3 shows a schematic view of a target road area road according to an embodiment of the present disclosure, as shown in fig. 3, in the target road area road 300, a lane line 301 is a lane line to be replenished, the lane line 301 includes a start point 302, a road boundary shape point 304 closest to the start point 302 is included on the road boundary line 303, and a boundary replenishing lane line 305 may be acquired by moving a portion from the road boundary shape point 304 to an end point of the road boundary line 303 on the road boundary line 303 to the start point 302.
According to the technical scheme provided by the embodiment of the disclosure, at least one road boundary line of a road in a target road area is obtained, a road boundary shape point closest to a starting point is determined on the road boundary line, and a boundary filling lane line of a lane line to be filled is obtained based on a coordinate difference value between the starting point and the road boundary shape point, wherein the boundary filling lane line can reflect an extending trend of the road boundary line, so that the probability that the boundary filling lane is close to a corresponding lane line in a real condition is higher, the reliability of lane line data after filling based on the boundary filling lane line is higher, and the accuracy of an electronic map generated based on the filled lane line data is ensured to be higher.
In one embodiment of the present disclosure, acquiring a repair lane line to be repaired based on a coordinate difference between a start point and a road boundary shape point includes:
acquiring a boundary moving direction and a boundary moving distance based on a coordinate difference value between a starting point and a road boundary shape point, wherein the boundary moving direction is a direction pointing to the starting point from the road boundary shape point, and the boundary moving distance is a distance from the road boundary shape point to the starting point;
and taking the end point of the road boundary line on the end boundary as a road boundary end point, and moving the part of the road boundary line from the road boundary shape point to the road boundary end point along the boundary moving direction by a boundary moving distance so as to obtain the boundary filling lane line.
Illustratively, as shown in fig. 3, the boundary moving direction 311 is a direction from the road boundary shape point 304 to the start point 302, the boundary moving distance is a distance from the road boundary shape point 304 to the start point 302, wherein an end point of the road boundary line 303 on the end boundary is an end point 312, and thus the end point 312 can be determined as a road boundary end point, and the boundary-patch lane line 305 can be acquired by moving the boundary moving distance in the boundary moving direction 311 from the portion of the road boundary line 303 from the road boundary shape point 304 to the end point 312.
According to the technical scheme provided by the embodiment of the disclosure, the boundary moving direction and the boundary moving distance are obtained based on the coordinate difference between the starting point and the road boundary shape point, the end point of the road boundary line on the end boundary is used as the road boundary end point, and the part from the road boundary shape point to the road boundary end point is moved along the boundary moving direction by the boundary moving distance, so that the boundary filling lane line is obtained, the difficulty of obtaining the boundary filling lane line is reduced, and the processing efficiency is improved.
In one embodiment of the present disclosure, determining a lane line to be repaired, which does not extend to an end boundary of a road of a target road area, from lane line data based on the lane line data and the target road area, includes:
determining a line connecting the start point of the road boundary line on one side of the road in the target road area and the start point of the road boundary line on the other side of the road in the target road area as an end boundary;
or, a line connecting the end point of the road boundary line on the one side of the target road area road and the end point of the road boundary line on the other side of the target road area road is determined as the end boundary.
By way of example, fig. 4 shows a schematic diagram of a target road area road according to an embodiment of the present disclosure, as shown in fig. 4, a line 405 of a start point 402 of a road boundary line 401 on one side of the target road area road 400 and a start point 404 of a road boundary line 403 on the other side of the target road area road 400 may be determined as an end boundary. Alternatively, the line 408 connecting the end point 406 of the road boundary line 401 on the side of the target road area road 400 and the end point 407 of the road boundary line 403 on the other side of the target road area road 400 may be determined as the end boundary.
According to the technical scheme provided by the embodiment of the disclosure, a line connecting the starting point of the road boundary line on one side of the road in the target road area and the starting point of the road boundary line on the other side of the road in the target road area is determined as an end boundary; or, determining the line connecting the end point of the road boundary line on the one side of the target road area road and the end point of the road boundary line on the other side of the target road area road as the end boundary can improve the accuracy of the determined end boundary.
In one embodiment of the present disclosure, the method further comprises:
based on the lane line data and the target road area, determining an adjacent lane line nearest to the lane line to be complemented from the lane line data;
on the adjacent lane lines, determining adjacent lane line shape points closest to the starting point;
and acquiring the adjacent lane lines to be repaired based on the coordinate difference between the starting point and the shape point of the adjacent lane line.
In one implementation of the present disclosure, the obtaining of the adjacent lane line to be repaired based on the coordinate difference between the start point and the shape point of the adjacent lane line may be understood as moving a portion of the adjacent lane line from the shape point of the adjacent lane line to the end point of the lane line to the start point based on the coordinate difference to obtain the adjacent repair lane line.
For example, fig. 5 illustrates a schematic view of a target road area road according to an embodiment of the present disclosure, as shown in fig. 5, in the target road area road 500, a lane line closest to a lane line 501 to be repaired may be determined as an adjacent lane line 502. On the adjacent lane line 502, the lane line shape point closest to the start point 503 on the lane line 501 to be repaired is determined as the adjacent lane line shape point 504. Based on the coordinate difference between the start point 503 and the adjacent lane line shape point 504, the adjacent repair lane line 506 may be acquired by moving the portion of the adjacent lane line 502 from the adjacent lane line shape point 504 to the end point of the adjacent lane line 502 to the start point 503.
According to the technical scheme provided by the embodiment of the disclosure, the adjacent lane line closest to the lane line to be complemented is determined from the lane line data based on the lane line data and the target road area; on the adjacent lane lines, determining adjacent lane line shape points closest to the starting point; and acquiring the adjacent lane lines to be repaired based on the coordinate difference between the starting point and the shape point of the adjacent lane lines, wherein the adjacent lane lines to be repaired can represent the extending trend of the adjacent lane lines closest to the lane lines to be repaired, so that the adjacent lane lines to be repaired are relatively close to the extending part of the lane lines to be repaired to the boundary of the end part in the actual condition, the reliability of the lane line data after being repaired based on the adjacent lane lines to be repaired is higher, and the accuracy of the electronic map generated based on the lane line data after being repaired is higher.
In one embodiment of the present disclosure, acquiring an adjacent lane line to be repaired based on a coordinate difference between a start point and an adjacent lane line shape point, includes:
based on the coordinate difference between the starting point and the adjacent lane line shape point, acquiring an adjacent moving direction and an adjacent moving distance, wherein the adjacent moving direction is the direction pointing to the starting point from the adjacent lane line shape point, and the adjacent moving distance is the distance from the adjacent lane line shape point to the starting point;
the adjacent lane line is moved in the adjacent movement direction by an adjacent movement distance from the adjacent lane line shape point to the portion of the adjacent lane line closest to the end point of the end boundary to acquire the adjacent complement lane line.
In one embodiment of the present disclosure, the end point of the adjacent lane line closest to the end boundary may be understood that when the adjacent lane line does not extend to the end boundary, the distances between the two end points of the adjacent lane line and the end boundary may be calculated, and the end point of the adjacent lane line closest to the end boundary may be determined according to the calculation result; when the adjacent lane line extends to the end boundary, an intersection of the adjacent lane line and the end boundary may be determined as an end point of the adjacent lane line closest to the end boundary.
Illustratively, as shown in fig. 5, the adjacent moving direction 507 is a direction from the adjacent lane line shape point 504 to the start point 503, the adjacent moving distance is a distance from the adjacent lane line shape point 504 to the start point 503, wherein an end point of the adjacent lane line 502 closest to the end boundary 508 is an end point 509, and the adjacent repair lane line 506 can be acquired by moving the adjacent moving distance along the adjacent moving direction 507 from the portion of the adjacent lane line 502 from the adjacent lane line shape point 504 to the end point 509.
According to the technical scheme provided by the embodiment of the disclosure, the adjacent moving direction and the adjacent moving distance are obtained based on the coordinate difference value between the starting point and the shape point of the adjacent lane line; the adjacent moving distance is moved along the adjacent moving direction from the shape point of the adjacent lane line to the nearest end point of the adjacent lane line from the end boundary to obtain the adjacent filling lane line, so that the difficulty of obtaining the adjacent filling lane line can be reduced, and the processing efficiency is improved.
In one embodiment of the present disclosure, the method further comprises:
acquiring a high-precision map error threshold and a maximum turning radius of a target road area road, and acquiring the furthest extending distance of the target road area road according to the high-precision map error threshold and the maximum turning radius;
Acquiring the lane line length, the adjacent lane line distance variance, the road boundary distance variance and the curvature variance of each of the curvature-complement lane lines, the boundary-complement lane lines and the adjacent lane lines;
based on curvature mending lane line mends full lane line, include:
and determining a target filling lane line in the curvature filling lane line, the boundary filling lane line and the adjacent filling lane line according to the furthest extending distance, the lane line length, the adjacent lane line distance variance, the road boundary distance variance and the curvature variance, and filling the lane line to be filled based on the target filling lane line.
In one implementation of the present disclosure, the obtaining of the high-precision map error threshold and the maximum turning radius of the target road area road may be understood as reading the high-precision map error threshold and the maximum turning radius stored in advance, and may also be understood as obtaining the high-precision map error threshold and the maximum turning radius from other devices or systems.
In one implementation of the present disclosure, the obtaining the furthest extending distance of the target road area road according to the high-precision map error threshold and the maximum turning radius may be understood as according to 
And obtaining the farthest extending distance dis, wherein R is the maximum turning radius, and Acc is a high-precision map error threshold.
In one implementation of the present disclosure, the acquisition of the adjacent lane line distance variance of the corresponding lane line may be understood as follows
Acquiring the adjacent lane line distance variance of the corresponding lane line +.>
Wherein x is i For the distance from the i-th lane line shape point in the corresponding lane line to the adjacent lane line,
and n is the number of the shape points of the lane lines in the corresponding lane line, wherein n is the average value of the distances from the shape points of all the lane lines in the corresponding lane line to the adjacent lane lines.
In one implementation of the present disclosure, obtaining the road boundary distance variance of the corresponding lane line may be understood as based on
Obtaining the road boundary distance square of the corresponding lane lineDifference (S)>
Wherein y is i For the distance from the i-th lane line shape point in the corresponding lane line to the road boundary,
the average value of the distances from all the shape points of the lane lines to the road boundary in the corresponding lane lines is obtained.
In one implementation of the present disclosure, the obtaining of the curvature variance of the corresponding lane may be understood as based on
Obtaining the road boundary curvature variance of the corresponding lane line>
Wherein k is i For the curvature corresponding to the i-th lane line shape point in the corresponding lane line, 
Is the average value of the curvatures of all the lane line shape points in the corresponding lane line.
In one implementation of the present disclosure, determining a target complement lane line among a curvature complement lane line, a boundary complement lane line, and an adjacent complement lane line according to a furthest extending distance, a lane line length, an adjacent lane line distance variance, a road boundary distance variance, and a curvature variance, may be understood as calculating a furthest extending distance, an adjacent lane line distance variance, a road boundary distance variance, and a curvature variance corresponding to each of the curvature complement lane line, the boundary complement lane line, and the adjacent complement lane line based on a pre-acquired algorithm, and determining the target complement lane line among the curvature complement lane line, the boundary complement lane line, and the adjacent complement lane line according to a calculation result; alternatively, it may be understood that the curvature patch lane, the boundary patch lane, and the furthest extending distance, the adjacent lane distance variance, the road boundary distance variance, and the curvature variance corresponding to each patch lane of the adjacent patch lanes are input into a target patch lane model trained in advance to obtain a result output by the target patch lane model, and the target patch lane is determined from the curvature patch lane, the boundary patch lane, and the adjacent patch lane according to the result.
According to the technical scheme provided by the embodiment of the disclosure, the furthest extending distance of the target road area road is obtained according to the high-precision map error threshold and the maximum turning radius, and the lane line length, the adjacent lane line distance variance, the road boundary distance variance and the curvature variance of each of the curvature filling lane line, the boundary filling lane line and the adjacent filling lane line are obtained; the farthest extending distance can measure the confidence degree of the corresponding lane line, and when the length of the lane line of the corresponding lane line is smaller than or equal to the farthest extending distance, the confidence degree of the corresponding lane line is higher; the adjacent lane line distance variance can measure the similarity degree between the extending trend of the corresponding lane line and the extending trend of the adjacent lane line, and the smaller the adjacent lane line distance variance is, the higher the similarity degree is; the road boundary distance variance can measure the similarity degree between the extending trend of the corresponding lane line and the extending trend of the adjacent road boundary, the smaller the road boundary distance variance is, the higher the similarity degree is, and the higher the confidence degree of the corresponding lane line is; the curvature variance can measure the change trend of the bending degree of the corresponding lane line, the smaller the curvature variance is, the more stable the change trend of the bending degree is, and the higher the confidence degree of the corresponding lane line is; the higher the confidence degree is, the closer the corresponding lane line is to the lane line in reality, so that the target filling lane line is determined in the curvature filling lane line, the boundary filling lane line and the adjacent filling lane line according to the farthest extending distance, the lane line length, the adjacent lane line distance variance, the road boundary distance variance and the curvature variance, the target filling lane line can be ensured to be the lane line with higher confidence degree, the filling of the lane line to be filled is carried out based on the target filling lane line, and the reliability of the lane line data after filling can be improved.
Fig. 6 shows a flowchart of a high-precision mapping method according to an embodiment of the present disclosure. As shown in fig. 6, the high-precision map drawing method includes the following steps S201 to S202:
in step S101, lane line data after filling is obtained according to any one of the lane line data processing methods described above.
In step S102, high-precision map drawing is performed based on the completed lane lines.
According to the technical scheme provided by the embodiment of the disclosure, the lane line data after the filling is obtained, and the high-precision map drawing is performed based on the lane line after the filling, wherein the part extending to the boundary of the end part of the lane line to be filled is filled in the lane line data after the filling, and the filled lane line is ensured to be relatively close to the corresponding lane line in the actual situation, so that the reliability of the lane line data after the filling is relatively high, and the accuracy of the high-precision electronic map generated by the high-precision map drawing based on the lane line data after the filling is relatively high.
The present disclosure also discloses an electronic device, and fig. 7 shows a block diagram of the electronic device according to an embodiment of the present disclosure.
As shown in fig. 7, the electronic device includes a memory and a processor, wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement a method in accordance with an embodiment of the present disclosure.
In a first aspect, an embodiment of the present disclosure provides a lane line data processing method, including:
acquiring lane line data and a target road area corresponding to the lane line data;
determining lane lines to be repaired, which do not extend to the end boundary of the road in the target road area, from the lane line data based on the lane line data and the target road area;
determining at least three lane line shape points with the distance from the end boundary smaller than or equal to a distance threshold value on each lane line to be repaired;
performing curve fitting according to at least three lane line shape points to obtain a target fitting curve, and determining an intersection point of the target fitting curve and an end boundary of a target road area;
taking a lane line shape point closest to the end boundary of the target road area on the lane line to be repaired as a starting point, taking an intersection point as an ending point, and taking the tangential direction of the target fitting curve at the intersection point as the tangential direction of the fitting end point, and carrying out spline curve fitting to obtain a curvature repairing lane line;
and filling the lane lines to be filled based on the curvature filling lane lines.
In one embodiment of the present disclosure, determining at least three lane line shape points on each lane line to be repaired that are less than or equal to a preset distance from an end boundary includes:
Determining a plurality of groups of lane line shape points on each lane line to be repaired, wherein each group of lane line shape points comprises at least three lane shape points with the distance from the end boundary being less than or equal to the end boundary distance threshold;
performing curve fitting according to the positions of at least three lane line shape points to obtain a fitting curve, including:
and performing curve fitting according to the shape points of each group of lane lines to obtain a plurality of initial fitting curves, and obtaining a target fitting curve according to the plurality of initial fitting curves.
In one embodiment of the present disclosure, the method further comprises:
acquiring at least one road boundary line of a target road area road;
on a road boundary line, determining a road boundary shape point closest to the starting point;
and acquiring the boundary filling lane line of the lane line to be filled based on the coordinate difference between the starting point and the road boundary shape point.
In one embodiment of the present disclosure, acquiring a repair lane line to be repaired based on a coordinate difference between a start point and a road boundary shape point includes:
acquiring a boundary moving direction and a boundary moving distance based on a coordinate difference value between a starting point and a road boundary shape point, wherein the boundary moving direction is a direction pointing to the starting point from the road boundary shape point, and the boundary moving distance is a distance from the road boundary shape point to the starting point;
And taking the end point of the road boundary line closest to the end boundary as a road boundary end point, and moving the part of the road boundary line from the road boundary shape point to the road boundary end point along the boundary moving direction by a boundary moving distance so as to obtain the boundary filling lane line.
In one embodiment of the present disclosure, determining a lane line to be repaired, which does not extend to an end boundary of a road of a target road area, from lane line data based on the lane line data and the target road area, includes:
determining a line connecting the start point of the road boundary line on one side of the road in the target road area and the start point of the road boundary line on the other side of the road in the target road area as an end boundary;
or, a line connecting the end point of the road boundary line on the one side of the target road area road and the end point of the road boundary line on the other side of the target road area road is determined as the end boundary.
In one embodiment of the present disclosure, the method further comprises:
based on the lane line data and the target road area, determining an adjacent lane line nearest to the lane line to be complemented from the lane line data;
on the adjacent lane lines, determining adjacent lane line shape points closest to the starting point;
and acquiring the adjacent lane lines to be repaired based on the coordinate difference between the starting point and the shape point of the adjacent lane line.
In one embodiment of the present disclosure, acquiring an adjacent lane line to be repaired based on a coordinate difference between a start point and an adjacent lane line shape point, includes:
based on the coordinate difference between the starting point and the adjacent lane line shape point, acquiring an adjacent moving direction and an adjacent moving distance, wherein the adjacent moving direction is the direction pointing to the starting point from the adjacent lane line shape point, and the adjacent moving distance is the distance from the adjacent lane line shape point to the starting point;
the adjacent lane line is moved in the adjacent movement direction by an adjacent movement distance from the adjacent lane line shape point to the portion of the adjacent lane line closest to the end point of the end boundary to acquire the adjacent complement lane line.
In one embodiment of the present disclosure, the method further comprises:
acquiring a high-precision map error threshold and a maximum turning radius of a target road area road, and acquiring the furthest extending distance of the target road area road according to the high-precision map error threshold and the maximum turning radius;
acquiring the lane line length, the adjacent lane line distance variance, the road boundary distance variance and the curvature variance of each of the curvature-complement lane lines, the boundary-complement lane lines and the adjacent lane lines;
Based on curvature mending lane line mends full lane line, include:
and determining a target filling lane line in the curvature filling lane line, the boundary filling lane line and the adjacent filling lane line according to the furthest extending distance, the lane line length, the adjacent lane line distance variance, the road boundary distance variance and the curvature variance, and filling the lane line to be filled based on the target filling lane line.
In a second aspect, an embodiment of the present disclosure provides a high-precision mapping method, including:
acquiring lane line data after complement, wherein the lane line data after complement is obtained according to the method provided in the first aspect;
and (5) carrying out high-precision map drawing based on the completed lane lines.
Fig. 8 shows a schematic diagram of a computer system suitable for use in implementing methods according to embodiments of the present disclosure.
As shown in fig. 8, the computer system includes a processing unit that can execute the various methods in the above embodiments according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage section into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the computer system are also stored. The processing unit, ROM and RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.
The following components are connected to the I/O interface: an input section including a keyboard, a mouse, etc.; an output section including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage section including a hard disk or the like; and a communication section including a network interface card such as a LAN card, a modem, and the like. The communication section performs a communication process via a network such as the internet. The drives are also connected to the I/O interfaces as needed. Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, and the like are mounted on the drive as needed so that a computer program read therefrom is mounted into the storage section as needed. The processing unit may be implemented as a processing unit such as CPU, GPU, TPU, FPGA, NPU.
In particular, according to embodiments of the present disclosure, the methods described above may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the method described above. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules referred to in the embodiments of the present disclosure may be implemented in software or in programmable hardware. The units or modules described may also be provided in a processor, the names of which in some cases do not constitute a limitation of the unit or module itself.
As another aspect, the present disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or the computer system in the above-described embodiments; or may be a computer-readable storage medium, alone, that is not assembled into a device. The computer-readable storage medium stores one or more programs for use by one or more processors in performing the methods described in the present disclosure.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention referred to in this disclosure is not limited to the specific combination of features described above, but encompasses other embodiments in which any combination of features described above or their equivalents is contemplated without departing from the inventive concepts described. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Claims (11)
1. A lane line data processing method, comprising:
acquiring lane line data and a target road area corresponding to the lane line data;
Determining a lane line to be repaired, which does not extend to the end boundary of the road of the target road area, from the lane line data based on the lane line data and the target road area;
determining at least three lane line shape points less than or equal to a distance threshold from the end boundary on each lane line to be repaired;
performing curve fitting according to the at least three lane line shape points to obtain a target fitting curve, and determining an intersection point of the target fitting curve and an end boundary of the target road area;
taking a lane line shape point closest to the end boundary of the target road area on the lane line to be repaired as a starting point, taking the intersection point as an ending point, and taking the tangential direction of the target fitting curve at the intersection point as the tangential direction of a fitting end point, and carrying out spline curve fitting to obtain a curvature repair lane line;
and filling the lane lines to be filled based on the curvature filling lane lines.
2. The lane line data processing method according to claim 1, wherein the determining at least three lane line shape points on each lane line to be repaired, which are less than or equal to a preset distance from the end boundary, comprises:
Determining a plurality of groups of lane line shape points on each lane line to be repaired, wherein each group of lane line shape points comprises at least three lane shape points with the distance from the end boundary being less than or equal to an end boundary distance threshold;
performing curve fitting according to the positions of the at least three lane line shape points to obtain a fitted curve, including:
and performing curve fitting according to the shape points of each group of lane lines to obtain a plurality of initial fitting curves, and obtaining the target fitting curve according to the plurality of initial fitting curves.
3. The lane line data processing method according to claim 1 or 2, wherein the method further comprises:
acquiring at least one road boundary line of the target road area road;
determining a road boundary shape point closest to the starting point on the road boundary line;
and acquiring the boundary filling lane line of the lane line to be filled based on the coordinate difference between the starting point and the road boundary shape point.
4. The lane line data processing method according to claim 3, wherein the acquiring the lane line to be repaired based on the coordinate difference between the start point and the road boundary shape point comprises:
Acquiring a boundary moving direction and a boundary moving distance based on a coordinate difference value between the starting point and the road boundary shape point, wherein the boundary moving direction is a direction pointing to the starting point from the road boundary shape point, and the boundary moving distance is a distance from the road boundary shape point to the starting point;
and taking an end point of the road boundary line on the end boundary as a road boundary end point, and moving a part of the road boundary line from the road boundary shape point to the road boundary end point along the boundary moving direction by the boundary moving distance so as to acquire the boundary-complement lane line.
5. The lane line data processing method according to claim 3, wherein the determining, from the lane line data, a lane line to be repaired which does not extend to an end boundary of a road of the target road area based on the lane line data and the target road area, comprises:
determining a line connecting the start point of the road boundary line on one side of the target road area road and the start point of the road boundary line on the other side of the target road area road as the end boundary;
or, a line connecting the end point of the road boundary line on the one side of the target road area road and the end point of the road boundary line on the other side of the target road area road is determined as the end boundary.
6. The lane line data processing method according to claim 3, wherein the method further comprises:
based on the lane line data and a target road area, determining an adjacent lane line closest to the lane line to be complemented from the lane line data;
on the adjacent lane lines, determining adjacent lane line shape points closest to the starting point;
and acquiring the adjacent lane lines to be repaired based on the coordinate difference between the starting point and the adjacent lane line shape point.
7. The lane line data processing method according to claim 6, wherein the acquiring the adjacent lane line to be repaired based on the coordinate difference between the start point and the adjacent lane line shape point includes:
acquiring an adjacent moving direction and an adjacent moving distance based on a coordinate difference value between the starting point and the adjacent lane line shape point, wherein the adjacent moving direction is a direction pointing to the starting point from the adjacent lane line shape point, and the adjacent moving distance is a distance from the adjacent lane line shape point to the starting point;
and moving the adjacent lane line by the adjacent moving distance along the adjacent moving direction from the adjacent lane line shape point to the part of the adjacent lane line closest to the end point of the end boundary so as to acquire the adjacent filling lane line.
8. The lane line data processing method according to claim 7, wherein the method further comprises:
acquiring a high-precision map error threshold and a maximum turning radius of the target road area road, and acquiring the furthest extending distance of the target road area road according to the high-precision map error threshold and the maximum turning radius;
acquiring the lane line length, the adjacent lane line distance variance, the road boundary distance variance and the curvature variance of each of the curvature-complement lane line, the boundary-complement lane line and the adjacent complement lane line;
the filling of the lane lines to be filled based on the curvature filling lane lines comprises:
and determining a target filling lane line in the curvature filling lane line, the boundary filling lane line and the adjacent filling lane line according to the farthest extending distance, the lane line length, the adjacent lane line distance variance, the road boundary distance variance and the curvature variance, and filling the lane line to be filled based on the target filling lane line.
9. A high-precision mapping method, comprising:
acquiring lane line data after filling, wherein the lane line data after filling is obtained according to any one of claims 1-8;
And carrying out high-precision map drawing based on the lane lines after completion.
10. An electronic device comprising a memory and a processor; wherein the memory is for storing one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method steps of any of claims 1-9.
11. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the method steps of any of claims 1-9.
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| CN117495989A (en) * | 2023-12-29 | 2024-02-02 | 腾讯科技（深圳）有限公司 | Data processing method, device, equipment and readable storage medium |
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| CN116740667A (en) * | 2023-08-15 | 2023-09-12 | 腾讯科技（深圳）有限公司 | Intersection surface data generation method and device, electronic equipment and storage medium |
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