Method and system for generating control points of a U-turn line, method for generating a U-turn line, and medium

Abstract

The application discloses a method and system for generating U-turn line control points, a method for generating U-turn lines and a medium, and belongs to the technical field of automatic driving. The method comprises the following steps: determining a first center point and a first preset range with the first center point as the center; determining a second center point and a second preset range with the second center point as the center; determining a third center point and a third preset range with the third center point as the center; determining a fourth center point and a fourth preset range with the fourth center point as the center; and selecting one or more points in the first preset range, the second preset range, the third preset range and the fourth preset range respectively multiple times to obtain multiple groups of U-turn line control points. According to the application, the subsequent center points and ranges are determined according to the previously determined center points and ranges, the connection between the U-turn line control points is enhanced during the selection of the U-turn line control points, the usability of the U-turn line control points is improved, the generated U-turn line conforms to the driving habits of drivers, and the driving experience is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, system, method and medium for generating U-turn line control points. Background Technology

[0002] In the driving control of autonomous vehicles, especially when the vehicle is making a U-turn, in addition to ensuring safety by avoiding collisions with static obstacles such as road edges, it is also necessary to ensure the feasibility of the planned U-turn line, that it conforms to the vehicle's mechanical performance, and that the U-turn line is smooth to avoid sharp turns that could negatively impact the driving experience. However, when determining the U-turn line using the principles of Bézier curves, its accuracy is ensured by the corresponding control points. Therefore, the selection of these control points is a prerequisite and foundation for obtaining an optimal U-turn line. Current methods for determining U-turn control points only approximate their locations without fully considering the relationships between multiple control points. This often results in the generation of an unsuitable U-turn line from the determined control points, which is then inapplicable to actual U-turn operations of autonomous vehicles. Summary of the Invention

[0003] To address the issues of selecting control points for U-turn lines when determining U-turn lines using the Bézier curve principle, ensuring that the U-turn lines meet safety and driver habits, and the poor usability of the determined control points, this application proposes a method, system, construction method, and medium for enumerating control points for U-turn lines.

[0004] In a first aspect, this application provides a method for generating control points for a U-turn line, comprising: determining a first center point at a first distance from the starting point of the U-turn line in a first direction, and determining a first preset range centered on the first center point; determining a second center point at a second distance from the starting point in the first direction and a third distance from the starting point in the second direction on the side of the line connecting the starting point and the first center point away from the lane into which the vehicle is to make a U-turn, and determining a second preset range centered on the second center point, wherein the first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction; determining a control point at a fourth distance from the first center point in the first direction and a control point at a third distance from the first center point in the second direction; and determining a second preset range centered on the second center point. Determine the third center point by moving upwards at a distance of five from the end point of the U-turn line, and then determine the third preset range centered on the third center point. On the side of the line connecting the end point and the third center point that is far from the lane where the vehicle is about to make a U-turn, determine the fourth center point by moving upwards at a distance of two distances from the end point in the first direction and six distances from the end point in the second direction, and then determine the fourth preset range centered on the fourth center point. Select one or more points within the first, second, third, and fourth preset ranges multiple times to obtain multiple sets of U-turn line control points, wherein the polygon formed by connecting each set of U-turn line control points, the starting point, and the ending point is a convex polygon.

[0005] Optionally, a third center point is determined at a fourth distance from the first center point in the first direction and a fifth distance from the end point of the U-turn line in the second direction, including: in the first direction, the third center point is on the side away from the first center point from the U-turn exit lane; in the second direction, the third center point is on the side away from the end point from the U-turn entry lane.

[0006] Optionally, a first center point is determined at a first distance from the starting point of the U-turn line in the first direction, and a first preset range is determined with the first center point as the center, including: calculating the straight-line distance between the starting point and the ending point; and using the straight-line distance as a first preset multiple as the first distance.

[0007] Optionally, on the side of the line connecting the starting point and the first center point away from the lane into which the vehicle is about to make a U-turn, a second center point is determined by a second distance from the starting point in the first direction and a third distance from the starting point in the second direction, including: using the first distance, which is a second preset multiple, as the second distance; and using the straight-line distance between the starting point and the ending point, which is a third preset multiple, as the third distance.

[0008] Optionally, the sixth distance is greater than the second distance.

[0009] Optionally, one or more points can be selected multiple times within the first preset range, the second preset range, the third preset range, and the fourth preset range to obtain multiple sets of U-turn line control points. This includes: within each preset range, moving the corresponding distance interval according to the previous set of U-turn line control points to obtain the current set of U-turn line control points, wherein the distance interval corresponding to the fourth preset range is greater than the distance interval corresponding to the second preset range.

[0010] Optionally, one or more points can be selected multiple times within the first preset range, the second preset range, the third preset range, and the fourth preset range to obtain multiple sets of U-turn line control points, including: determining the second U-turn line control point and the third U-turn line control point within the second preset range and the third preset range, respectively, wherein in the first direction, the third U-turn line control point is on the side of the second U-turn line control point away from the U-turn exit lane; in the second direction, the third U-turn line control point is on the side of the termination point away from the U-turn entry lane.

[0011] Secondly, this application provides a U-turn line control point generation system, comprising: a first preset range determination module, which determines a first center point at a first distance from the starting point of the U-turn line in a first direction, and determines a first preset range centered on the first center point; a second preset range determination module, which determines a second center point at a second distance from the starting point in a first direction and a third distance from the starting point in a second direction on the side of the line connecting the starting point and the first center point away from the lane into which the vehicle is to make a U-turn, and determines a second preset range centered on the second center point, wherein the first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction; and a third preset range determination module, which determines a second center point at a fourth distance from the first center point in a first direction. The module determines the third center point by taking a fifth distance from the end point of the U-turn line in the second direction, and then defining a third preset range centered on the third center point. The fourth preset range determination module determines the fourth center point by taking a second distance from the end point in the first direction and a sixth distance from the end point in the second direction on the side of the line connecting the end point and the third center point away from the lane where the vehicle is about to make a U-turn, and then defining a fourth preset range centered on the fourth center point. The U-turn line control point generation module selects one or more points within the first, second, third, and fourth preset ranges to obtain multiple sets of U-turn line control points, wherein the polygon formed by connecting each set of U-turn line control points, the starting point, and the ending point is a convex polygon.

[0012] Thirdly, this application provides a method for generating a U-turn line, comprising: determining a first center point at a first distance from the starting point of the U-turn line in a first direction, and determining a first preset range centered on the first center point; determining a second center point at a second distance from the starting point in the first direction and a third distance from the starting point in the second direction on the side of the line connecting the starting point and the first center point away from the lane into which the vehicle is to make a U-turn, and determining a second preset range centered on the second center point, wherein the first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction; determining a third center point at a fourth distance from the first center point in the first direction and a fifth distance from the end point of the U-turn line in the second direction. A third preset range is determined with the third center point as the center; on the side of the line connecting the termination point and the third center point away from the lane where the vehicle is about to make a U-turn, a fourth center point is determined by a second distance from the termination point in the first direction and a sixth distance from the termination point in the second direction, and a fourth preset range is determined with the fourth center point as the center; one or more points are selected multiple times within the first, second, third, and fourth preset ranges to obtain multiple sets of U-turn line control points, where the polygon formed by connecting each set of U-turn line control points, the starting point, and the termination point is a convex polygon; multiple Bézier curves are generated using the starting point, the termination point, and the multiple sets of U-turn line control points as corresponding multiple U-turn lines.

[0013] Fourthly, this application provides a computer-readable storage medium storing computer instructions that, when executed, cause a computer to perform the method in Scheme 1 or Scheme 3.

[0014] Fifthly, this application provides a computer device including a processor and a memory, the memory storing computer instructions, which, when executed by the processor, implement the method as described in Scheme 1 or Scheme 3.

[0015] The technical solution of this application embodiment, when generating U-turn line control points, sequentially determines a first center point, a second center point, a third center point, and a fourth center point based on the start and end points of the U-turn line. The generation range of the U-turn line control points is determined by the center points. Then, one or more points are selected within the first, second, third, and fourth preset ranges as a corresponding set of U-turn line control points. By controlling the generation range of the U-turn line control points, when generating the U-turn line based on these control points, the U-turn line can be more biased towards the side entering the U-turn lane, better conforming to the driver's U-turn habits and the actual U-turn scenario, thus improving safety and driving experience. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description exemplarily illustrate some embodiments of this application.

[0017] Figure 1 This is a schematic diagram of one implementation of the method for generating control points for turning lines in this application;

[0018] Figure 2 This is a schematic diagram of the first presupposed scope of this application;

[0019] Figure 3 This is a schematic diagram of the starting and ending points of the U-turn line in this application;

[0020] Figure 4 This is a schematic diagram of the second presupposed scope of this application;

[0021] Figure 5 This is a schematic diagram showing the location of the third pre-defined range in this application;

[0022] Figure 6 This is a schematic diagram of the location of the fourth preset range in this application;

[0023] Figure 7 This is an example of a set of turn-off line control points in this application;

[0024] Figure 8 This is a schematic diagram of one implementation of the U-turn line control point generation system of this application;

[0025] Figure 9 This is a schematic diagram of one implementation of the method for generating a turning line in this application.

[0026] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0027] The preferred embodiments of this application will now be described in detail with reference to the accompanying drawings, so that the advantages and features of this application can be more easily understood by those skilled in the art, thereby providing a clearer and more definite definition of the scope of protection of this application.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0029] In the driving control of autonomous vehicles, especially when the vehicle is making a U-turn, in addition to ensuring safety by avoiding collisions with static obstacles such as road edges, it is also necessary to ensure the feasibility of the planned U-turn line, that it conforms to the vehicle's mechanical performance, and that the U-turn line is smooth to avoid sharp turns that could negatively impact the driving experience. However, when determining the U-turn line using the principles of Bézier curves, its accuracy is ensured by the corresponding control points. Therefore, the selection of these control points is a prerequisite and foundation for obtaining an optimal U-turn line. Current methods for determining U-turn control points only approximate their locations without fully considering the relationships between multiple control points. This often results in the generation of an unsuitable U-turn line from the determined control points, which is then inapplicable to actual U-turn operations of autonomous vehicles.

[0030] To address the aforementioned issues, this application generates U-turn lines by determining subsequent U-turn control points based on the starting and ending points of the U-turn line and pre-determined control points. This enhances the connection between multiple U-turn control points and improves the usability of the selected control points. The corresponding Bézier curves are then generated using these control points to obtain the final U-turn line. By enumerating the control points, the position and shape of the U-turn line are controlled, thereby ensuring a smooth driving experience for autonomous vehicles during U-turns.

[0031] Therefore, this application proposes a method, system, and medium for generating U-turn line control points. The method includes: determining a first center point at a first distance from the starting point of the U-turn line in a first direction, and defining a first preset range centered on the first center point; determining a second center point at a second distance from the starting point in the first direction and a third distance from the starting point in the second direction on the side of the line connecting the starting point and the first center point away from the lane the vehicle is to enter for a U-turn, and defining a second preset range centered on the second center point, wherein the first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction; and determining a fourth distance from the first center point in the first direction and a fourth distance from the U-turn line in the second direction. The fifth distance from the end point of the line determines the third center point, and the third preset range is determined with the third center point as the center. On the side of the line connecting the end point and the third center point away from the lane where the vehicle is about to make a U-turn, the second distance from the end point in the first direction and the sixth distance from the end point in the second direction determine the fourth center point, and the fourth preset range is determined with the fourth center point as the center. One or more points are selected multiple times within the first preset range, the second preset range, the third preset range, and the fourth preset range to obtain multiple sets of U-turn line control points, where the polygon formed by connecting each set of U-turn line control points, the starting point, and the end point is a convex polygon.

[0032] The technical solution of this application embodiment, when generating a U-turn line, uses the pre-determined U-turn line control points as the basis for selecting subsequent U-turn line control points, enhances the connection between multiple U-turn line control points, improves the availability of U-turn line control points, and thus obtains a better U-turn line when generating a U-turn line based on the selected multiple U-turn line control points, ensuring the safety and feasibility of the U-turn line, making the generated U-turn line conform to the driver's driving habits, and improving the driving experience.

[0033] The technical solutions of this application and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in other embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0034] Figure 1 This is a schematic diagram of a specific implementation of the method for generating control points for turning lines in this application.

[0035] exist Figure 1 In the embodiment shown, the method for generating control points for U-turn lines in this application includes process S101, determining a first center point at a first distance from the starting point of the U-turn line in a first direction, and determining a first preset range with the first center point as the center.

[0036] In this implementation, when generating the U-turn line using the Bézier curve principle, multiple control points for the Bézier curve generation, i.e., U-turn line control points, are first determined. This is because when an autonomous vehicle makes a U-turn, it starts at the U-turn start point in the high-precision map and terminates at the U-turn end point. Therefore, when enumerating the U-turn line control points, the control points are determined based on the positions of the start and end points. First, a first center point is determined at a first distance in a first direction from the start point of the U-turn line. Then, a first preset range is determined with the first center point as the center. The first preset range is the area from which the U-turn line control points are selected. This first preset range can be a rectangular area centered on the first center point, or a circular area centered on the first center point, etc., depending on the actual requirements. The first direction is the longitudinal extension direction of the lane where the vehicle is located.

[0037] Optionally, a first center point is determined at a first distance from the starting point of the U-turn line in the first direction, and a first preset range is determined with the first center point as the center, including: calculating the straight-line distance between the starting point and the ending point; and using the straight-line distance as a first preset multiple as the first distance.

[0038] In this optional embodiment, since the shape of the U-turn line is closely related to the width of the U-turn intersection, in order to ensure the feasibility of the final determined U-turn line, the corresponding first distance is reasonably set based on the distance between the starting point and the ending point when determining the first center point. Specifically, the distance between the starting point and the ending point is a first preset multiple of the distance between the two points, which is used as the first distance.

[0039] Specifically, the first preset multiple can be set to 3. If the distance between the starting point and the ending point is represented by the symbol D, then the first distance range is represented as 3.5D.

[0040] Specifically, after determining the first center point, when determining the first preset range based on the first center point, the first preset range can be a rectangular area centered on the first center point. The distance from the bottom edge of this rectangular area to the starting point is represented as 1D; the distance from the top edge of the rectangle to the starting point is represented as 6D; the left side of the rectangle is located near the starting point on the side closer to the U-turn line entering the lane, and the distance is represented as 0.25D; the right side of the rectangle is located away from the starting point on the side farther from the U-turn line entering the lane, and the distance is represented as 0.25D. It should be noted that the above values ​​are merely preferred examples. In actual operation, reasonable selection and adjustment can be made according to specific requirements, and this does not limit the scope of protection of this application.

[0041] Specifically, Figure 2 A schematic diagram of the first preset range of this application is shown.

[0042] like Figure 2As shown, the first U-turn line control point is selected within the planar area determined based on the first center point.

[0043] Optionally, the midpoint of the intersection stop line in the lane where the vehicle is before making a U-turn can be used as the starting point, and the midpoint of the intersection stop line in the lane the vehicle is about to enter can be used as the ending point.

[0044] In this optional implementation, when generating the U-turn line for an autonomous vehicle making a U-turn, the starting and ending points of the U-turn are determined in a high-precision map. Specifically, the midpoint of the stop line at the intersection of the lane the vehicle was in before making the U-turn is taken as the starting point, and the midpoint of the stop line at the intersection of the lane the vehicle is about to enter for the U-turn is taken as the ending point. The starting and ending points are also the starting and ending points of the U-turn line.

[0045] Specifically, Figure 3 This is a schematic diagram of the starting and ending points of the U-turn line in this application.

[0046] like Figure 2 As shown, point A represents the starting point of the U-turn line, which is the end point of the autonomous vehicle's straight-line driving in the high-precision map; point B represents the ending point of the U-turn line, which is the starting point of the autonomous vehicle's restarting straight-line driving in the high-precision map.

[0047] exist Figure 1 In the embodiment shown, the method for generating a U-turn line control point of this application includes process S102, determining a second center point on the side of the line connecting the starting point and the first center point away from the lane into which the vehicle is to make a U-turn, at a second distance from the starting point in a first direction and a third distance from the starting point in a second direction, and determining a second preset range with the second center point as the center, wherein the first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction.

[0048] In this embodiment, when determining the U-turn line control points, to ensure that the polygon formed by connecting multiple U-turn line control points, the starting point, and the ending point sequentially has convexity, and to guarantee the feasibility of the U-turn line obtained based on the generation principle of Bézier curves using the U-turn line control points, the selection of the second U-turn line control point must ensure that the position of the second U-turn line control point is outside the line connecting the starting point and the first U-turn line control line. Simultaneously, it satisfies the following conditions: in the first direction, the distance from the starting and ending points is within a second distance range; in the second direction, the distance from the starting point is within a third distance range. A second center point is then determined, and a second preset range is defined with the second center point as the center for selecting the second U-turn line control point.

[0049] Optionally, on the side of the line connecting the starting point and the first center point away from the lane into which the vehicle is about to make a U-turn, a second center point is determined by a second distance from the starting point in the first direction and a third distance from the starting point in the second direction, including: using the first distance, which is a second preset multiple, as the second distance; and using the straight-line distance between the starting point and the ending point, which is a third preset multiple, as the third distance.

[0050] In this optional embodiment, when determining the location of the second center point, in order to ensure the connection between different U-turn control points, the second center point is determined based on the first center point. Specifically, firstly, in the first direction, the distance between the first center point and the starting point is determined; this distance is the first distance described in the above embodiment. Then, the first distance, a second preset multiple of the first distance, is used as the second distance between the second center point and the starting point in the first direction. In the second direction, the straight-line distance between the starting point and the ending point, a third preset multiple of the first distance, is used as the third distance.

[0051] Specifically, the longitudinal distance between the first center point and the starting point is denoted as P. The second preset multiple can be 0.5, and the third preset multiple can be 0.125. For example, the second preset range can be a rectangular area centered on the second center point. The distance from the bottom edge of this rectangular area to the starting point is denoted as 0.25D; the distance from the top edge of the rectangle to the starting point is denoted as 0.75D; the distance from the side of the rectangle located near the starting point on the U-turn lane entrance is denoted as 0; and the distance from the side of the rectangle located away from the starting point on the U-turn lane entrance is denoted as 0.25D. It should be noted that the above values ​​are merely preferred examples. In actual operation, reasonable selection and adjustment can be made according to specific requirements, and this does not limit the scope of protection of this application.

[0052] Specifically, Figure 4 A schematic diagram of the second preset range of this application is shown.

[0053] exist Figure 1 In the embodiment shown, the method for generating control points for U-turn lines in this application includes process S103, determining a third center point at a fourth distance from the first center point in a first direction and a fifth distance from the end point of the U-turn line in a second direction, and determining a third preset range centered on the third center point.

[0054] In this embodiment, in order to ensure that the final generated U-turn line can be further away from the U-turn line input lane, the third center point is determined based on the position of the first center point. In the first direction, the distance from the first center point is fourth, and in the second direction, the distance from the end point of the U-turn line is fifth, thereby determining the third center point.

[0055] Optionally, a third center point is determined at a fourth distance from the first center point in the first direction and a fifth distance from the end point of the U-turn line in the second direction, including: in the first direction, the third center point is on the side away from the first center point from the U-turn exit lane; in the second direction, the third center point is on the side away from the end point from the U-turn entry lane.

[0056] In this optional embodiment, with Figure 3 For example, when making a U-turn, the space on the side leading to the termination point is relatively large. Therefore, when generating the U-turn line, its shape is more biased towards the termination point. The position of the third center is determined by the first center point, so that the third center point and its corresponding third preset range make the final U-turn line more consistent with the actual U-turn scenario.

[0057] Specifically, the corresponding fourth distance is represented as 0.25D. For example, if the third preset range is a rectangular area centered on the third center point, then the distances between the two sides of the rectangle perpendicular to the first direction and the first center are represented as 0 and 0.5D, where D represents the distance between the starting point and the ending point of the turning line.

[0058] That is, the third center point is located in the first direction, within the range of the first center point farthest from the starting point (0, 0.5D). It should be noted that the value of the fifth preset multiple can be reasonably selected according to the actual requirements for selecting control points. The above is only a preferred example and does not limit the scope of protection of this application.

[0059] Specifically, Figure 5 A schematic diagram of the location of the third preset range of this application is shown.

[0060] like Figure 5 As shown, by limiting the position of the third preset range to the upper side of the second center point, it is ensured that when the U-turn line is generated by the generation principle of Bézier curve, the U-turn line is more biased towards the end point side, thereby avoiding collisions between autonomous vehicles and vehicles in the same lane on the starting point side when the autonomous vehicle makes a U-turn according to the U-turn line, and ensuring driving safety.

[0061] exist Figure 1 In the embodiment shown, the method for generating a U-turn line control point of this application includes process S104, determining a fourth center point on the side of the line connecting the termination point and the third center point that is far from the lane where the vehicle is about to make a U-turn, at a second distance from the termination point in a first direction, and at a sixth distance from the termination point in a second direction, and determining a fourth preset range with the fourth center point as the center.

[0062] In this embodiment, when determining the U-turn control points, to ensure the polygon formed by connecting multiple U-turn control points, the starting point, and the ending point sequentially has convexity, and to guarantee the feasibility of the U-turn line obtained based on the generation principle of Bézier curves using the U-turn control points, the fourth U-turn control point must be located outside the line connecting the ending point and the third U-turn control line. Simultaneously, the fourth center point must satisfy the following conditions: in the first direction, its distance from the starting and ending points is within the second distance range; in the second direction, its distance from the starting point is within the sixth distance range.

[0063] On the side of the line connecting the termination point and the third center point that is far from the vehicle waiting to turn around and leave the lane, the fourth center point is determined by the second distance from the termination point in the first direction and the sixth distance from the termination point in the second direction. The fourth preset range is then determined with the fourth center point as the center.

[0064] Optionally, the sixth distance is greater than the third distance.

[0065] In this optional embodiment, to ensure that the majority of the generated U-turn line is located on the end point side, thus avoiding collisions with vehicles in the lane on the starting point side when making a U-turn, a dangerous situation is avoided. Therefore, when determining the fourth U-turn line control point, its corresponding sixth distance range is greater than the fourth distance range corresponding to the second U-turn line control point, so that the horizontal distance between the fourth U-turn line control point and the end point is greater than the horizontal distance between the second U-turn line control point and the starting point.

[0066] Specifically, Figure 6 This diagram illustrates the location of the fourth preset range in this application.

[0067] like Figure 6 As shown, firstly, based on the location of the termination point and the set third and fifth distance ranges, the selectable planar area for the fourth U-turn line control point is determined, such as... Figure 6 The dashed rectangle is used to select one or more points within the dashed rectangle as the second U-turn control points. It is important to note that the selected fourth U-turn control point must be outside the line connecting the end point and the third U-turn control point to ensure that the polygon formed by connecting the final U-turn control points, the starting point, and the ending point in sequence has convexity.

[0068] Specifically, the sixth distance is represented as 0.625D. When the fourth preset range is represented as a moment centered on the fourth center point, the distance range from the two sides of the rectangle perpendicular to the second direction to the termination point can be represented as (0, 1.25D). Figure 6 As shown, this represents the distance in the horizontal direction from the termination point (0, 1.25D), outside the termination point.

[0069] exist Figure 1 In the embodiment shown, the U-turn line control point enumeration method of this application includes process S105, which selects one or more points in the first preset range, the second preset range, the third preset range and the fourth preset range multiple times to obtain multiple sets of U-turn line control points, wherein the polygon formed by connecting each set of U-turn line control points, the starting point and the ending point is a convex polygon.

[0070] In this embodiment, multiple points can be selected from the first to the fourth U-turn control point. Therefore, multiple sets of U-turn control points can be obtained through combinations of these control points. Then, multiple Bézier curves can be generated using these multiple sets of control points, and the final U-turn line can be determined by selecting from the Bézier curves.

[0071] Optionally, one or more points can be selected multiple times within the first preset range, the second preset range, the third preset range, and the fourth preset range to obtain multiple sets of U-turn line control points. This includes: within each preset range, moving the corresponding distance interval according to the previous set of U-turn line control points to obtain the current set of U-turn line control points, wherein the distance interval corresponding to the fourth preset range is greater than the distance interval corresponding to the second preset range.

[0072] In this optional embodiment, when selecting a U-turn line, after the previous set of U-turn line control points has been determined, another U-turn line control point can be selected within a predetermined distance interval from the position of the previous set of U-turn line control points as a new set of U-turn line control points. Through this sequential enumeration method, the selection of the current set of U-turn line control points can be rationally performed based on the previous set of U-turn line control points, effectively and quickly determining the optimal U-turn line.

[0073] In this optional embodiment, when combining U-turn control points, the same first U-turn control point can be combined with different second, third, and / or fourth U-turn control points to obtain a large number of sets of U-turn control points. This combination method establishes patterns between Bézier curves, thereby better determining the final U-turn line from the Bézier curves.

[0074] Optionally, one or more points may be selected multiple times within the first preset range, the second preset range, the third preset range, and the fourth preset range to obtain multiple sets of U-turn line control points, including: determining the second U-turn line control point and the third U-turn line control point within the second preset range and the third preset range, respectively, wherein in the first direction, the third U-turn line control point is on the side of the second U-turn line control point away from the U-turn exit lane; in the second direction, the third U-turn line control point is on the side of the termination point away from the U-turn entry lane.

[0075] In this optional embodiment, when selecting the third U-turn line control point, the third U-turn line control point is located on the side away from the second U-turn line control point from the U-turn exit lane; in the second direction, the third U-turn line control point is located on the side away from the U-turn entry lane at the termination point, so that the generated U-turn line is more biased towards the third U-turn line control point, which is more in line with the actual road conditions.

[0076] Specifically, Figure 7 An example of a set of turn-off line control points of this application is shown.

[0077] exist Figure 7 In the example shown, point a1 represents the starting point of the autonomous vehicle's U-turn, point b1 represents the ending point of the U-turn, point a2 represents the first U-turn control point, and point a3 represents the second U-turn control point, the selection range of which is determined by the starting point a1; point b2 represents the third U-turn control point, and point b3 represents the fourth U-turn control point, the selection range of which is determined by the ending point b1. The polygon formed by the lines connecting points a1, a3, a2, b2, b3, and b1 must be convex.

[0078] The technical solution of this application embodiment, when generating U-turn line control points, sequentially determines a first center point, a second center point, a third center point, and a fourth center point based on the start and end points of the U-turn line. The generation range of the U-turn line control points is determined by the center points. Then, one or more points are selected within the first, second, third, and fourth preset ranges as a corresponding set of U-turn line control points. By controlling the generation range of the U-turn line control points, when generating the U-turn line based on these control points, the U-turn line can be more biased towards the side entering the U-turn lane, better conforming to the driver's U-turn habits and the actual U-turn scenario, thus improving safety and driving experience.

[0079] Figure 8 An embodiment of the U-turn line control point generation system of this application is shown.

[0080] exist Figure 8 In the embodiment shown, the U-turn line control point generation system of this application includes: a first preset range determination module 801, which is a first distance from the starting point of the U-turn line in a first direction, determines a first center point, and determines a first preset range with the first center point as the center;

[0081] The second preset range determination module 802 determines the second center point by taking the side of the line connecting the starting point and the first center point away from the lane where the vehicle is about to make a U-turn, the second distance from the starting point in the first direction, and the third distance from the starting point in the second direction. The second preset range is determined with the second center point as the center. The first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction.

[0082] The third preset range determination module 803 is located at a fourth distance from the first center point in the first direction and at a fifth distance from the end point of the U-turn line in the second direction to determine the third center point, and the third preset range is determined with the third center point as the center.

[0083] The fourth preset range determination module 804 determines the fourth center point by taking the side of the line connecting the termination point and the third center point away from the lane where the vehicle is about to make a U-turn, the second distance from the termination point in the first direction, and the sixth distance from the termination point in the second direction, and then determines the fourth preset range with the fourth center point as the center.

[0084] The U-turn line control point generation module 805 selects one or more points in the first preset range, the second preset range, the third preset range, and the fourth preset range multiple times to obtain multiple sets of U-turn line control points. The polygon formed by connecting each set of U-turn line control points, the starting point, and the ending point is a convex polygon.

[0085] Optionally, in the third preset range determination module 803, in the first direction, the third center point is on the side away from the first center point from the U-turn exit lane; in the second direction, the third center point is on the side away from the end point from the U-turn entry lane.

[0086] Optionally, in the third preset range determination module 801, the straight-line distance between the starting point and the ending point is calculated; the straight-line distance of the first preset multiple is taken as the first distance.

[0087] Optionally, in the third preset range determination module 803, the first distance of the second preset multiple is taken as the second distance; and the straight-line distance between the starting point and the ending point of the third preset multiple is taken as the third distance.

[0088] Optionally, the sixth distance is greater than the second distance.

[0089] Optionally, in the third preset range determination module 805, within each preset range, the corresponding distance interval is moved according to the previous set of U-turn line control points to obtain the current set of U-turn line control points, wherein the distance interval corresponding to the fourth preset range is greater than the distance interval corresponding to the second preset range.

[0090] Optionally, in the third preset range determination module 805, a second U-turn line control point and a third U-turn line control point are determined in the second preset range and the third preset range, respectively. In the first direction, the third U-turn line control point is on the side of the second U-turn line control point away from the U-turn lane; in the second direction, the third U-turn line control point is on the side of the termination point away from the U-turn lane.

[0091] The technical solution of this application embodiment, when generating U-turn line control points, sequentially determines a first center point, a second center point, a third center point, and a fourth center point based on the start and end points of the U-turn line. The generation range of the U-turn line control points is determined by the center points. Then, one or more points are selected within the first, second, third, and fourth preset ranges as a corresponding set of U-turn line control points. By controlling the generation range of the U-turn line control points, when generating the U-turn line based on these control points, the U-turn line can be more biased towards the side entering the U-turn lane, better conforming to the driver's U-turn habits and the actual U-turn scenario, thus improving safety and driving experience.

[0092] Figure 9 An embodiment of the method for constructing the turning line of this application is shown.

[0093] exist Figure 9 In the embodiment shown, the U-turn line generation method of this application includes: process S901, determining a first center point at a first distance from the starting point of the U-turn line in a first direction, and determining a first preset range with the first center point as the center;

[0094] In process S902, on the side of the line connecting the starting point and the first center point away from the lane into which the vehicle is about to make a U-turn, a second center point is determined at a second distance from the starting point in the first direction and a third distance from the starting point in the second direction. A second preset range is then determined with the second center point as the center. The first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction.

[0095] In process S903, a third center point is determined by a fourth distance from the first center point in the first direction and a fifth distance from the end point of the U-turn line in the second direction. A third preset range is then determined with the third center point as the center.

[0096] In process S904, on the side of the line connecting the termination point and the third center point that is far from the lane where the vehicle is about to make a U-turn, the fourth center point is determined by the second distance from the termination point in the first direction and the sixth distance from the termination point in the second direction. The fourth preset range is then determined with the fourth center point as the center.

[0097] In process S905, one or more points are selected multiple times within the first preset range, the second preset range, the third preset range, and the fourth preset range to obtain multiple sets of U-turn line control points. The polygon formed by connecting each set of U-turn line control points, the starting point, and the ending point is a convex polygon.

[0098] In one specific embodiment of this application, a computer-readable storage medium stores computer instructions, wherein the computer instructions are operated to perform the U-turn control point generation method or U-turn line generation method described in any embodiment. The storage medium may be located directly in hardware, in a software module executed by a processor, or in a combination of both.

[0099] Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in this art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium.

[0100] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor, but alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors incorporating a DSP core, or any other such configuration. Alternatively, the storage medium can be integrated with the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in the user terminal. Alternatively, the processor and storage medium can reside as discrete components in the user terminal.

[0101] In one specific embodiment of this application, a computer device includes a processor and a memory, the memory storing computer instructions, wherein the processor operates the computer instructions to execute the U-turn line control point generation method or U-turn line generation method described in any embodiment.

[0102] In the embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0103] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0104] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A method for generating control points for U-turn lines, characterized in that, include: A first center point is determined at a first distance from the starting point of the U-turn line in the first direction, and a first preset range is determined with the first center point as the center. On the side of the line connecting the starting point and the first center point away from the lane where the vehicle is about to make a U-turn, a second center point is determined by a second distance from the starting point in the first direction and a third distance from the starting point in the second direction. A second preset range is then determined with the second center point as the center. The first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction. A third center point is determined by a fourth distance from the first center point in the first direction and a fifth distance from the end point of the U-turn line in the second direction; a third preset range is determined with the third center point as the center. On the side of the line connecting the termination point and the third center point that is far from the lane where the vehicle is about to make a U-turn, a fourth center point is determined by the second distance from the termination point in the first direction and the sixth distance from the termination point in the second direction. A fourth preset range is then determined with the fourth center point as the center. Multiple sets of U-turn control points are obtained by repeatedly selecting one or more points within the first, second, third, and fourth preset ranges, respectively. Each set of U-turn control points, along with its starting and ending points, forms a convex polygon. The process of repeatedly selecting one or more points within the first, second, third, and fourth preset ranges to obtain multiple sets of U-turn control points includes: A second U-turn control point and a third U-turn control point are determined within the second preset range and the third preset range, respectively. In the first direction, the third U-turn line control point is on the side of the second U-turn line control point away from the U-turn exit lane; In the second direction, the third U-turn line control point is located on the side of the termination point away from the U-turn lane.

2. The method for generating control points for U-turn lines according to claim 1, characterized in that, The determination of the third center point by the fourth distance from the first center point in the first direction and the fifth distance from the end point of the U-turn line in the second direction includes: In the first direction, the third center point is on the side of the first center point away from the U-turn lane; In the second direction, the third center point is on the side of the termination point away from the U-turn lane.

3. The method for generating control points for U-turn lines according to claim 1, characterized in that, The determination of a first center point by a first distance from the starting point of the U-turn line in the first direction, and the determination of a first preset range centered on the first center point, includes: Calculate the straight-line distance between the starting point and the ending point; The straight-line distance is taken as a first preset multiple.

4. The method for generating control points for U-turn lines according to claim 1, characterized in that, The second center point is determined by considering the side of the line connecting the starting point and the first center point away from the lane where the vehicle is about to make a U-turn, the second distance from the starting point in the first direction, and the third distance from the starting point in the second direction. This determination includes: The first distance, which is a second preset multiple, is taken as the second distance; The straight-line distance between the starting point and the ending point, which is a third preset multiple, is taken as the third distance.

5. The method for generating control points for U-turn lines according to claim 1, characterized in that, The sixth distance is greater than the third distance.

6. The method for generating control points for U-turn lines according to claim 1, characterized in that, The process involves repeatedly selecting one or more points within the first preset range, the second preset range, the third preset range, and the fourth preset range to obtain multiple sets of U-turn line control points, including: Within each preset range, based on the previous set of U-turn line control points, the corresponding distance intervals are moved to obtain the current set of U-turn line control points, wherein the distance interval corresponding to the fourth preset range is greater than the distance interval corresponding to the second preset range.

7. A system for generating control points for U-turn lines, characterized in that, include: The first preset range determination module determines a first center point by a first distance from the starting point of the U-turn line in a first direction, and determines a first preset range with the first center point as the center. The second preset range determination module determines a second center point on the side of the line connecting the starting point and the first center point away from the lane into which the vehicle is to make a U-turn, at a second distance from the starting point in the first direction and a third distance from the starting point in the second direction, and determines a second preset range with the second center point as the center. The first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction. The third preset range determination module determines the third center point by measuring the fourth distance from the first center point in the first direction and the fifth distance from the end point of the U-turn line in the second direction, and determines the third preset range with the third center point as the center. The fourth preset range determination module determines the fourth center point on the side of the line connecting the termination point and the third center point that is away from the lane where the vehicle is about to make a U-turn, at a second distance from the termination point in the first direction and a sixth distance from the termination point in the second direction, and determines the fourth preset range with the fourth center point as the center. The U-turn line control point generation module selects one or more points multiple times within the first preset range, the second preset range, the third preset range, and the fourth preset range to obtain multiple sets of U-turn line control points. Each set of U-turn line control points, the starting point, and the ending point forms a convex polygon. The process of selecting one or more points multiple times within the first preset range, the second preset range, the third preset range, and the fourth preset range to obtain multiple sets of U-turn line control points includes: determining a second U-turn line control point and a third U-turn line control point within the second preset range and the third preset range, respectively. In the first direction, the third U-turn line control point is located on the side of the second U-turn line control point away from the lane where the U-turn exits; in the second direction, the third U-turn line control point is located on the side of the ending point away from the lane where the U-turn enters.

8. A method for generating a turning line, characterized in that, include: A first center point is determined at a first distance from the starting point of the U-turn line in the first direction, and a first preset range is determined with the first center point as the center. On the side of the line connecting the starting point and the first center point away from the lane where the vehicle is about to make a U-turn, a second center point is determined by a second distance from the starting point in the first direction and a third distance from the starting point in the second direction. A second preset range is then determined with the second center point as the center. The first direction is the longitudinal extension direction of the lane where the vehicle is located, and the second direction is perpendicular to the first direction. A third center point is determined by a fourth distance from the first center point in the first direction and a fifth distance from the end point of the U-turn line in the second direction; a third preset range is determined with the third center point as the center. On the side of the line connecting the termination point and the third center point that is far from the lane where the vehicle is about to make a U-turn, a fourth center point is determined by the second distance from the termination point in the first direction and the sixth distance from the termination point in the second direction. A fourth preset range is then determined with the fourth center point as the center. Multiple sets of U-turn control points are obtained by repeatedly selecting one or more points within the first, second, third, and fourth preset ranges, respectively. Each set of U-turn control points, the starting point, and the ending point forms a convex polygon. This process includes: determining a second and a third U-turn control point within the second and third preset ranges, respectively. Specifically, in the first direction, the third U-turn control point is located on the side of the second U-turn control point away from the lane exiting the U-turn; in the second direction, the third U-turn control point is located on the side of the ending point away from the lane entering the U-turn. Multiple Bézier curves are generated using the starting point, the ending point, and multiple sets of U-turn control points, serving as corresponding U-turn lines.

9. A computer-readable storage medium storing computer instructions, characterized in that, When the computer instructions are executed, the computer performs the method of any one of claims 1-6 or 8.

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