Method and device for determining topological relation of lanes based on point coordinates

Abstract

The invention relates to a method and device for determining a lane topological relation based on point coordinates. The method for determining the topological relation of the lanes based on the point coordinates comprises the steps of comparing the point coordinates corresponding to the lane center lines of any two lanes based on the point coordinates corresponding to the lane center lines of a plurality of lanes in an area where a vehicle is located, and obtaining the distance between the same X coordinate points corresponding to the lane center lines of any two lanes; based on the distance between the same X coordinate points corresponding to the lane center lines of any two lanes, determining two lanes with a road coincident section in the multiple roads and road coincident coordinate points; and based on the point coordinates corresponding to the lane center lines of the two lanes with the road coincident section and the road coincident coordinate points, determining the road topological relation between the two lanes with the road coincident section, thereby effectively improving the route identification accuracy in the automatic driving process of the vehicle, and improving the automatic driving safety of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and particularly to a method and device for determining lane topological relationships based on point coordinates. Background Art

[0002] Autonomous driving generally performs autonomous driving according to an autonomously recognized route. The correctness of the autonomously recognized route generally affects the quality of autonomous driving. If the autonomously recognized route is incorrect, it may cause an error in the autonomous driving route. In particular, in the autonomous driving decision-making and planning module, the topological relationships (diverging and converging) of roads are crucial for the system to generate correct decisions. Summary of the Invention

[0003] In view of this, embodiments of the present disclosure are expected to provide a method and device for determining lane topological relationships based on point coordinates.

[0004] The technical solution of the present disclosure is implemented as follows:

[0005] In a first aspect, the present disclosure provides a method for determining lane topological relationships based on point coordinates.

[0006] The method for determining lane topological relationships based on point coordinates provided by embodiments of the present disclosure includes:

[0007] Obtain the point coordinates corresponding to the centerlines of multiple lanes in the area where the vehicle is located;

[0008] Based on the point coordinates corresponding to the centerlines of multiple lanes in the area where the vehicle is located, compare the point coordinates corresponding to the centerlines of any two lanes, and obtain the distance between the points with the same X coordinate corresponding to the centerlines of any two lanes;

[0009] Based on the distance between the points with the same X coordinate corresponding to the centerlines of any two lanes, determine two lanes with a road overlapping section and the road overlapping coordinate points among the multiple roads;

[0010] Based on the point coordinates corresponding to the centerlines of the two lanes with the road overlapping section and the road overlapping coordinate points, determine the road topological relationships existing between the two lanes with the road overlapping section; where the road topological relationships include road diverging, road converging, road overlapping, and road X-shaped bifurcation.

[0011] In some embodiments, the step of comparing the point coordinates corresponding to the centerlines of any two lanes based on the point coordinates corresponding to the centerlines of multiple lanes in the area where the vehicle is located, and obtaining the distance between the points with the same X coordinate corresponding to the centerlines of any two lanes includes:

[0012] Sort the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located in a predetermined size order to obtain the sorted point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located;

[0013] Based on the sorted point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located, traverse and compare the point coordinates corresponding to the lane centerlines of any two lanes in the order of the coordinate point sorting to obtain the distance between the same X-coordinate points corresponding to the lane centerlines of any two lanes.

[0014] In some embodiments, the determining of the two lanes with a road overlap section and the road overlap coordinate points among the multiple roads based on the distance between the same X-coordinate points corresponding to the lane centerlines of the any two lanes includes:

[0015] Determine that the two target roads with the distance between the same X-coordinate points corresponding to the lane centerlines of two roads among the multiple roads being less than a first distance are the two lanes with a road overlap section among the multiple roads;

[0016] The same X-coordinate points with the distance between the same X-coordinate points in the two target roads being less than the first distance are the road overlap coordinate points.

[0017] In some embodiments, the determining of the road topological relationship existing between the two lanes with a road overlap section based on the point coordinates corresponding to the lane centerlines of the two lanes with a road overlap section and the road overlap coordinate points includes:

[0018] Based on the point coordinates corresponding to the lane centerlines of the two lanes with a road overlap section, determine the same X-coordinate points with the distance between the same X-coordinate points corresponding to the lane centerlines of the two lanes with a road overlap section being greater than a second distance;

[0019] Based on the same X-coordinate point closest to the road overlap coordinate point among the same X-coordinate points with the distance between the two lanes with a road overlap section being greater than the second distance and the road overlap coordinate points, determine the road topological relationship existing between the two lanes with a road overlap section; wherein, the second distance is greater than the first distance.

[0020] In some embodiments, the determining of the road topological relationship existing between the two lanes with a road overlap section based on the same X-coordinate point closest to the road overlap coordinate point among the same X-coordinate points with the distance between the two lanes with a road overlap section being greater than the second distance and the road overlap coordinate points includes:

[0021] If the first same-X coordinate point closest to the road overlap coordinate point among the same-X coordinate points where the center distance between the two lanes with a road overlap section is greater than the second distance is located at the road start end, and there is no second same-X coordinate point where the center distance between the two lanes with a road overlap section is greater than the second distance at the road end, then determine that the road topological relationship between the two lanes with a road overlap section is road confluence;

[0022] If the second same-X coordinate point closest to the road overlap coordinate point among the same-X coordinate points where the center distance between the two lanes with a road overlap section is greater than the second distance is located at the road end, and there is no first same-X coordinate point where the center distance between the two lanes with a road overlap section is greater than the second distance at the road start end, then determine that the road topological relationship between the two lanes with a road overlap section is road divergence;

[0023] If the first same-X coordinate point closest to the road overlap coordinate point among the same-X coordinate points where the center distance between the two lanes with a road overlap section is greater than the second distance is located at the road start end, and the second same-X coordinate point closest to the road overlap coordinate point among the same-X coordinate points where the center distance between the two lanes with a road overlap section is greater than the second distance is located at the road end, then determine that the road topological relationship between the two lanes with a road overlap section is road X-shaped bifurcation;

[0024] If there is no first same-X coordinate point where the center distance between the two lanes with a road overlap section is greater than the second distance at the road start end, and there is no second same-X coordinate point where the center distance between the two lanes with a road overlap section is greater than the second distance at the road end, then determine that the road topological relationship between the two lanes with a road overlap section is road overlap.

[0025] In some embodiments, the obtaining the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located includes:

[0026] Based on a predetermined step size, along the direction of the lane arrow, obtain the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located.

[0027] In a second aspect, the present disclosure provides an apparatus for determining a lane topological relationship based on point coordinates, including:

[0028] A coordinate acquisition module, configured to acquire the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located;

[0029] A coordinate comparison module, configured to compare the point coordinates corresponding to the lane centerlines of any two lanes based on the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located, and obtain the distance between the same-X coordinate points corresponding to the lane centerlines of any two lanes;

[0030] A road overlapping section determination module, configured to determine two lanes with road overlapping sections and road overlapping coordinate points among the multiple roads based on the distance between the same X-coordinate points corresponding to the center lines of any two lanes.

[0031] A road topology relationship determination module, configured to determine the road topology relationship existing between the two lanes with road overlapping sections based on the point coordinates corresponding to the center lines of the two lanes with road overlapping sections and the road overlapping coordinate points; wherein the road topology relationship includes road divergence, road confluence, road overlap, and road X-shaped bifurcation.

[0032] In some embodiments, the coordinate comparison module is configured to

[0033] Sort the point coordinates corresponding to the center lines of multiple lanes in the area where the vehicle is located in a predetermined size order to obtain the sorted point coordinates corresponding to the center lines of multiple lanes in the area where the vehicle is located.

[0034] Based on the sorted point coordinates corresponding to the center lines of multiple lanes in the area where the vehicle is located, traverse and compare the point coordinates corresponding to the center lines of any two lanes in the order of the sorted point coordinates to obtain the distance between the same X-coordinate points corresponding to the center lines of any two lanes.

[0035] In a third aspect, the present disclosure provides a computer-readable storage medium, on which a program for determining lane topology relationship based on point coordinates is stored. When the program for determining lane topology relationship based on point coordinates is executed by a processor, the method for determining lane topology relationship based on point coordinates described in the first aspect above is implemented.

[0036] In a fourth aspect, the present disclosure provides an electronic device, including a memory, a processor, and a program for determining lane topology relationship based on point coordinates stored on the memory and executable on the processor. When the processor executes the program for determining lane topology relationship based on point coordinates, the method for determining lane topology relationship based on point coordinates described in the first aspect above is implemented.

[0037] A method for determining lane topological relationships based on point coordinates according to an embodiment of the present disclosure includes: obtaining point coordinates corresponding to the centerlines of multiple lanes in the area where the vehicle is located; based on the point coordinates corresponding to the centerlines of multiple lanes in the area where the vehicle is located, comparing the point coordinates corresponding to the centerlines of any two lanes to obtain the distance between the points with the same X coordinate corresponding to the centerlines of any two lanes; based on the distance between the points with the same X coordinate corresponding to the centerlines of any two lanes, determining two lanes with a road overlapping section among multiple roads and the road overlapping coordinate points; based on the point coordinates corresponding to the centerlines of the two lanes with a road overlapping section and the road overlapping coordinate points, determining the road topological relationship existing between the two lanes with a road overlapping section; where the road topological relationship includes road divergence, road convergence, road overlap, and road X-shaped bifurcation. In this application, when performing route recognition, for possible road topological relationships, first, based on the distance between the points with the same X coordinate corresponding to the centerlines of any two lanes, determine two lanes with a road overlapping section among multiple roads and the road overlapping coordinate points; then, based on the point coordinates corresponding to the centerlines of the two lanes with a road overlapping section and the road overlapping coordinate points, determine the road topological relationship existing between the two lanes with a road overlapping section. The entire process can perform real-time recognition of the road topological relationship of the road section during the vehicle driving process, thereby effectively improving the accuracy of route recognition during vehicle autonomous driving, and thus improving the safety of vehicle autonomous driving.

[0038] Additional aspects and advantages of the present disclosure will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present disclosure. Brief Description of the Drawings

[0039] Figure 1 is a flowchart of a method for determining lane topological relationships based on point coordinates shown according to an exemplary embodiment;

[0040] Figure 2 is a schematic diagram of lane topological relationships shown according to an exemplary embodiment;

[0041] Figure 3 is a flowchart of an original method for determining lane topological relationships based on point coordinates shown according to an exemplary embodiment;

[0042] Figure 4 is a schematic structural diagram of a device for determining lane topological relationships based on point coordinates shown according to an exemplary embodiment. Detailed Embodiments

[0043] Embodiments of the present disclosure will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present disclosure, and should not be construed as a limitation to the present disclosure.

[0044] Generally, autonomous driving will perform autonomous driving according to the autonomously recognized route. The correctness of the autonomously recognized route generally affects the quality of autonomous driving. If the autonomously recognized route is incorrect, it may cause the autonomous driving route to be incorrect. In particular, in the autonomous driving decision-making and planning module, the topological relationship (diversion, confluence) of the road is crucial for whether the system can generate correct decisions.

[0045] In view of the above situation, the present disclosure provides a method for determining lane topological relationship based on point coordinates. Figure 1 It is a flowchart of a method for determining lane topological relationship based on point coordinates shown according to an exemplary embodiment. As Figure 1 shown, the method for determining lane topological relationship based on point coordinates includes:

[0046] Step 10: Obtain the point coordinates corresponding to the centerlines of multiple lanes in the area where the vehicle is located;

[0047] Step 11: Based on the point coordinates corresponding to the centerlines of multiple lanes in the area where the vehicle is located, compare the point coordinates corresponding to the centerlines of any two lanes, and obtain the spacing between the points with the same X coordinate corresponding to the centerlines of any two lanes;

[0048] Step 12: Based on the spacing between the points with the same X coordinate corresponding to the centerlines of any two lanes, determine the two lanes with a road overlapping section and the road overlapping coordinate points among the multiple roads;

[0049] Step 13: Based on the point coordinates corresponding to the centerlines of the two lanes with a road overlapping section and the road overlapping coordinate points, determine the road topological relationship existing between the two lanes with a road overlapping section; wherein the road topological relationship includes road diversion, road confluence, road overlap, and road X-shaped bifurcation.

[0050] In this exemplary embodiment, the method for determining lane topological relationship based on point coordinates in the present application can be applied to the process of vehicle autonomous driving. During the process of vehicle autonomous driving, the method for determining lane topological relationship based on point coordinates in the present application can be autonomously executed to identify the road topological relationship.

[0051] In this exemplary embodiment, the decision-making and planning module of the vehicle can obtain the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located from the cloud or the route recognition module of the vehicle. Here, the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located are the original route coordinates. By using the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located, the point coordinates corresponding to the lane centerlines of any two lanes are compared to obtain the distance between the points with the same X coordinate corresponding to the lane centerlines of any two lanes. Among them, the coordinates of the points on the lane centerline are (X, Y) plane coordinates, and the points with the same X coordinate are the points with the same X coordinate. For example, if the point (X, Y) on the lane centerline of the first lane is (0.2, 0.3), and the point (X, Y) on the lane centerline of the second lane is (0.2, 0.4), then the point (0.2, 0.3) on the lane centerline of the first lane and the point (0.2, 0.4) on the lane centerline of the second lane are points with the same X coordinate.

[0052] In this exemplary embodiment, since multiple lanes in the area where the vehicle is located may not appear simultaneously, it is necessary to compare the lane centerline distances of the roads that appear simultaneously. For example, originally there are four lanes, but there is a fork in a certain section of the road, and an extra lane appears. Then, it is necessary to compare the lane centerline distances of all lanes at this time. Then, based on the distance between the points with the same X coordinate corresponding to the lane centerlines of any two lanes, the two lanes with overlapping road sections and the overlapping road coordinates in the multiple roads are determined. Finally, based on the point coordinates corresponding to the lane centerlines of the two lanes with overlapping road sections and the overlapping road coordinates, the road topological relationship between the two lanes with overlapping road sections is determined. For example, the road topological relationship between the two lanes with overlapping road sections is road divergence, road confluence, road overlap, or road X-shaped bifurcation. The entire process can identify the road topological relationship of the road section in real time during the vehicle driving process, thereby effectively improving the accuracy of route recognition during vehicle autonomous driving and thus improving the safety of vehicle autonomous driving.

[0053] In some embodiments, the step of comparing the point coordinates corresponding to the lane centerlines of any two lanes based on the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located to obtain the distance between the points with the same X coordinate corresponding to the lane centerlines of any two lanes includes:

[0054] Sort the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located in a predetermined size order to obtain the sorted point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located;

[0055] Based on the sorted point coordinates corresponding to the center lines of multiple lanes in the area where the vehicle is located, traverse and compare the point coordinates corresponding to the center lines of any two lanes in the order of coordinate point sorting, and obtain the distance between the same X-coordinate points corresponding to the center lines of any two lanes.

[0056] In this exemplary embodiment, Figure 2 is a schematic diagram of lane topological relationship shown according to an exemplary embodiment. As Figure 2 shown, lane line i and lane line j are respectively the center lines of two lanes. In the coordinate plane, determine the coordinate points on the center lines of the two lanes. Then sort them in a predetermined size order. Among them, the predetermined size order can be sorted from small to large or from large to small. Then, based on the sorted point coordinates corresponding to the center lines of multiple lanes in the area where the vehicle is located, traverse and compare the point coordinates corresponding to the center lines of any two lanes in the order of coordinate point sorting, and obtain the distance between the same X-coordinate points corresponding to the center lines of any two lanes. In this application, first sort the point coordinates corresponding to the center lines of multiple lanes in a predetermined size order of X-coordinates, and then based on the sorted point coordinates corresponding to the center lines of multiple lanes in the area where the vehicle is located, it is beneficial to more conveniently traverse and compare the point coordinates corresponding to the center lines of any two lanes in the order of coordinate point sorting, obtain the distance between the same X-coordinate points corresponding to the center lines of any two lanes, and thus improve the determination efficiency of the distance between the same X-coordinate points corresponding to the center lines of any two lanes.

[0057] In some embodiments, the determining, based on the distance between the same X-coordinate points corresponding to the center lines of any two lanes, of two lanes with a road overlapping section and the road overlapping coordinate points among the multiple roads includes:

[0058] Determine that two target roads, for which the distance between the same X-coordinate points corresponding to the center lines of two roads among the multiple roads is less than a first distance, are two lanes with a road overlapping section among the multiple roads;

[0059] The same X-coordinate points with a distance less than the first distance among the two target roads are the road overlapping coordinate points.

[0060] In this exemplary embodiment, the first distance can be set according to actual needs and generally takes a relatively small value, such as 0.2 meters. When the distance between the same X - coordinate points on two target roads is less than the first distance, it indicates that the distance between the two target roads is relatively close at this time, and it can be considered that there is a road overlapping section between the two target roads. The same X - coordinate points where the distance between the same X - coordinate points on the two target roads is less than the first distance are determined as road overlapping coordinate points. This facilitates subsequent determination of the road topological relationship between the two lanes with a road overlapping section based on the road overlapping coordinate points.

[0061] In some embodiments, determining the road topological relationship between the two lanes with a road overlapping section based on the point coordinates corresponding to the center lines of the two lanes with a road overlapping section and the road overlapping coordinate points includes:

[0062] Based on the point coordinates corresponding to the center lines of the two lanes with a road overlapping section, determining the same X - coordinate points where the distance between the same X - coordinate points corresponding to the center lines of the two lanes with a road overlapping section is greater than a second distance;

[0063] Based on the same X - coordinate point closest to the road overlapping coordinate point among the same X - coordinate points with a distance greater than the second distance between the two lanes with a road overlapping section and the road overlapping coordinate point, determining the road topological relationship between the two lanes with a road overlapping section; wherein, the second distance is greater than the first distance.

[0064] In this exemplary embodiment, when determining the road topological relationship between the two lanes with a road overlapping section based on the point coordinates corresponding to the center lines of the two lanes with a road overlapping section and the road overlapping coordinate point, it is possible to extend forward or backward from the road overlapping coordinate point to find the same X - coordinate points where the distance between the two lanes with a road overlapping section is greater than the second distance. Then, according to the specific situation of the same X - coordinate points where the distance between the two lanes with a road overlapping section is greater than the second distance found by extending forward or backward from the road overlapping coordinate point, determine the road topological relationship between the two lanes with a road overlapping section.

[0065] In some embodiments, determining the road topological relationship between the two lanes with a road overlapping section based on the same X - coordinate point closest to the road overlapping coordinate point among the same X - coordinate points with a distance greater than the second distance between the two lanes with a road overlapping section and the road overlapping coordinate point includes:

[0066] If the first same-X coordinate point closest to the road coincidence coordinate point among the same-X coordinate points with the center distance between the two lanes with a road coincidence section greater than the second distance is located at the road start end, and there is no second same-X coordinate point with the center distance between the two lanes with a road coincidence section greater than the second distance at the road end, then determine that the road topological relationship between the two lanes with a road coincidence section is road confluence;

[0067] If the second same-X coordinate point closest to the road coincidence coordinate point among the same-X coordinate points with the center distance between the two lanes with a road coincidence section greater than the second distance is located at the road end, and there is no first same-X coordinate point with the center distance between the two lanes with a road coincidence section greater than the second distance at the road start end, then determine that the road topological relationship between the two lanes with a road coincidence section is road divergence;

[0068] If the first same-X coordinate point closest to the road coincidence coordinate point among the same-X coordinate points with the center distance between the two lanes with a road coincidence section greater than the second distance is located at the road start end, and the second same-X coordinate point closest to the road coincidence coordinate point among the same-X coordinate points with the center distance between the two lanes with a road coincidence section greater than the second distance is located at the road end, then determine that the road topological relationship between the two lanes with a road coincidence section is road X-shaped bifurcation;

[0069] If there is no first same-X coordinate point with the center distance between the two lanes greater than the second distance at the road start end, and there is no second same-X coordinate point with the center distance between the two lanes greater than the second distance at the road end, then determine that the road topological relationship between the two lanes with a road coincidence section is road coincidence.

[0070] In this exemplary embodiment, the direction of the road arrow can be used as the backward direction of the road coincidence coordinate point, and the opposite direction of the road arrow can be used as the forward direction of the road coincidence coordinate point. Then, based on the forward or backward extension of the road coincidence coordinate point, search for the same-X coordinate points with the center distance between the two lanes with a road coincidence section greater than the second distance. Among them, if the same-X coordinate point with the center distance between the two lanes with a road coincidence section greater than the second distance is found in the opposite direction of the road traveling direction from the road coincidence coordinate point, it can be considered that the same-X coordinate point closest to the road coincidence coordinate point among the same-X coordinate points with the center distance between the two lanes with a road coincidence section greater than the second distance is located at the road start end, and then determine that the road topological relationship between the two lanes with a road coincidence section is road confluence.

[0071] If the same-X coordinate point with the center distance between the two lanes with a road coincidence section greater than the second distance is found in the road traveling direction from the road coincidence coordinate point, it can be considered that the same-X coordinate point closest to the road coincidence coordinate point among the same-X coordinate points with the center distance between the two lanes with a road coincidence section greater than the second distance is located at the road end, and then determine that the road topological relationship between the two lanes with a road coincidence section is road divergence.

[0072] In some embodiments, obtaining the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located includes:

[0073] Based on a predetermined step size, along the direction indicated by the lane arrow, obtain the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located.

[0074] In this exemplary embodiment, when obtaining the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located, based on a predetermined step size, along the direction indicated by the lane arrow, obtain the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located. Among them, the predetermined step size can be set according to needs. Among them, a suitable predetermined step size is conducive to improving the accuracy of determining the overlapping road sections based on the calculation of the coordinate point spacing in the subsequent process.

[0075] Figure 3 It is a flowchart showing the original determination of lane topological relationships based on point coordinates according to an exemplary embodiment. As Figure 3 shown, the specific execution when originally determining the lane topological relationships based on point coordinates can be carried out according to the flowchart shown in Figure 3 and includes:

[0076] Step 30: Obtain the original lane line set;

[0077] Step 31: Obtain the sorted lane line set;

[0078] Step 32: Calculate the x range of the lane line coordinates;

[0079] Step 33: Take x = xk;

[0080] Step 34: Take the i-th lane line;

[0081] Step 35: Determine whether x is on the lane line. If x is not on the lane line, then let i = i + 1 and execute Step 34;

[0082] Step 36: If x is on the lane line, take the j-th lane line;

[0083] Step 37: Determine whether x is on the lane line. If x is not on the lane line, let j = j + 1 and execute Step 36;

[0084] Step 38: If x is on the lane line, determine whether the topological relationship between the two lane lines has been obtained. If the topological relationship between the two lane lines has not been obtained, then let j = j + 1 and execute Step 36;

[0085] Step 39: If the topological relationship between the two lane lines has been obtained, calculate the distance between the two lane lines at x;

[0086] Step 40: Determine whether the distance between two lane lines at x is less than a threshold. If the distance between the two lane lines at x is not less than the threshold, then let j = j + 1 and execute Step 36;

[0087] Step 41: If the distance between the two lane lines at x is less than the threshold, calculate the overlapping range of the two lane lines;

[0088] Step 42: Determine the lane topology type. Here, the lane lines in this application refer to the lane center lines in the above embodiments.

[0089] The present disclosure provides an apparatus for determining lane topology relationships based on point coordinates. Figure 4 It is a schematic structural diagram of an apparatus for determining lane topology relationships based on point coordinates shown according to an exemplary embodiment. As Figure 4 shown, the apparatus for determining lane topology relationships based on point coordinates includes:

[0090] A coordinate acquisition module 40, configured to acquire the point coordinates corresponding to the lane center lines of multiple lanes in the area where the vehicle is located;

[0091] A coordinate comparison module 41, configured to compare the point coordinates corresponding to the lane center lines of any two lanes based on the point coordinates corresponding to the lane center lines of multiple lanes in the area where the vehicle is located, and obtain the distance between the same X - coordinate points corresponding to the lane center lines of any two lanes;

[0092] A road overlapping section determination module 42, configured to determine two lanes with a road overlapping section and the road overlapping coordinate points among the multiple roads based on the distance between the same X - coordinate points corresponding to the lane center lines of any two lanes;

[0093] A road topology relationship determination module 43, configured to determine the road topology relationship existing between the two lanes with a road overlapping section based on the point coordinates corresponding to the lane center lines of the two lanes with a road overlapping section and the road overlapping coordinate points; where the road topology relationship includes road divergence, road confluence, road overlap, and road X - type bifurcation.

[0094] In this exemplary embodiment, the method for determining lane topology relationships based on point coordinates in this application can be applied during the vehicle's autonomous driving process. During the vehicle's autonomous driving process, the vehicle can independently execute the method for determining lane topology relationships based on point coordinates in this application to identify road topology relationships.

[0095] In this exemplary embodiment, the decision-making and planning module of the vehicle can obtain the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located from the cloud or the route recognition module of the vehicle. Here, the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located are the original route coordinates. By comparing the point coordinates corresponding to the lane centerlines of any two lanes among the lane centerlines of multiple lanes in the area where the vehicle is located, the distance between the same-X coordinate points corresponding to the lane centerlines of any two lanes is obtained. Among them, the coordinates of the points on the lane centerline are (X, Y) plane coordinates, and the same-X coordinate points are the coordinate points with the same X. For example, if the point (X, Y) on the lane centerline of the first lane is (0.2, 0.3), and the point (X, Y) on the lane centerline of the second lane is (0.2, 0.4), then the point (0.2, 0.3) on the lane centerline of the first lane and the point (0.2, 0.4) on the lane centerline of the second lane are the same-X coordinate points.

[0096] In this exemplary embodiment, since multiple lanes in the area where the vehicle is located may not appear simultaneously, it is necessary to compare the lane centerline distances of the roads that appear simultaneously. For example, originally there are four lanes, but there is a fork in a certain section of the road, and an additional lane appears. Then, at this time, it is necessary to compare the lane centerline distances of all lanes. Then, based on the distance between the same-X coordinate points corresponding to the lane centerlines of any two lanes, the two lanes with a road overlap section and the road overlap coordinate points in the multiple roads are determined. Finally, based on the point coordinates corresponding to the lane centerlines of the two lanes with a road overlap section and the road overlap coordinate points, the road topological relationship existing between the two lanes with a road overlap section is determined. For example, the road topological relationship between the two lanes with a road overlap section is road divergence, road convergence, road overlap, or road X-shaped bifurcation. The entire process can identify the road topological relationship of the road section in real time during the vehicle driving process, thereby effectively improving the accuracy of route recognition during vehicle autonomous driving, and thus improving the safety of vehicle autonomous driving.

[0097] In some embodiments, the coordinate comparison module is used for

[0098] sorting the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located in a predetermined size order to obtain the sorted point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located;

[0099] Based on the sorted point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located, traversing and comparing the point coordinates corresponding to the lane centerlines of any two lanes in the order of the coordinate point sorting to obtain the distance between the same-X coordinate points corresponding to the lane centerlines of any two lanes.

[0100] In this exemplary embodiment, the predetermined size order can be sorted from small to large or from large to small. Then, based on the sorted point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located, the point coordinates corresponding to the lane centerlines of any two lanes are traversed and compared in the order of the sorted coordinate points, so as to obtain the distance between the same X-coordinate points corresponding to the lane centerlines of any two lanes. In this application, first, the point coordinates corresponding to the lane centerlines of multiple lanes are sorted in the predetermined size order of the X-coordinates, and then, based on the sorted point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located, it is more convenient to traverse and compare the point coordinates corresponding to the lane centerlines of any two lanes in the order of the sorted coordinate points, so as to obtain the distance between the same X-coordinate points corresponding to the lane centerlines of any two lanes, thereby improving the determination efficiency of the distance between the same X-coordinate points corresponding to the lane centerlines of any two lanes.

[0101] In some embodiments, the road overlapping section determination module 42 is configured to

[0102] Determine that two target roads whose distance between the same X-coordinate points corresponding to the lane centerlines of two roads among the multiple roads is less than a first distance are two lanes with a road overlapping section among the multiple roads;

[0103] The same X-coordinate points whose distance between the same X-coordinate points in the two target roads is less than the first distance are the road overlapping coordinate points.

[0104] In this exemplary embodiment, the first distance can be set according to actual needs, and generally a relatively small value is taken, such as 0.2 meters, etc. When the distance between the same X-coordinate points in the two target roads is less than the first distance, it indicates that the distance between the two target roads is relatively close at this time, and it can be considered that there is a road overlapping section between the two target roads. The same X-coordinate points whose distance between the same X-coordinate points in the two target roads is less than the first distance are determined as the road overlapping coordinate points. In this way, it is convenient to subsequently determine the road topological relationship between the two lanes with a road overlapping section according to the road overlapping coordinate points.

[0105] In some embodiments, the road topological relationship determination module 43 is configured to

[0106] Based on the point coordinates corresponding to the lane centerlines of the two lanes with a road overlapping section, determine the same X-coordinate points whose distance between the same X-coordinate points corresponding to the lane centerlines of the two lanes with a road overlapping section is greater than a second distance;

[0107] Based on the same X - coordinate point closest to the road coincidence coordinate point among the same X - coordinate points where the center - line distance between the two lanes with a road coincidence section is greater than a second distance and the road coincidence coordinate point, determine the road topological relationship existing between the two lanes with a road coincidence section; wherein, the second distance is greater than the first distance.

[0108] In this exemplary embodiment, when determining the road topological relationship existing between the two lanes with a road coincidence section based on the point coordinates corresponding to the center - lines of the two lanes with a road coincidence section and the road coincidence coordinate point, it is possible to extend forward or backward from the road coincidence coordinate point to find the same X - coordinate points where the center - line distance between the two lanes with a road coincidence section is greater than the second distance. Then, according to the specific situation of the same X - coordinate points where the center - line distance between the two lanes with a road coincidence section is greater than the second distance found by extending forward or backward from the road coincidence coordinate point, determine the road topological relationship existing between the two lanes with a road coincidence section.

[0109] In some embodiments, the road topological relationship determination module 43 is used for

[0110] If the first same X - coordinate point closest to the road coincidence coordinate point among the same X - coordinate points where the center - line distance between the two lanes with a road coincidence section is greater than the second distance is located at the road start - end, and there is no second same X - coordinate point where the center - line distance between the two lanes with a road coincidence section is greater than the second distance at the road end - end, then determine that the road topological relationship between the two lanes with a road coincidence section is road confluence;

[0111] If the second same X - coordinate point closest to the road coincidence coordinate point among the same X - coordinate points where the center - line distance between the two lanes with a road coincidence section is greater than the second distance is located at the road end - end, and there is no first same X - coordinate point where the center - line distance between the two lanes with a road coincidence section is greater than the second distance at the road start - end, then determine that the road topological relationship between the two lanes with a road coincidence section is road divergence;

[0112] If the first same X - coordinate point closest to the road coincidence coordinate point among the same X - coordinate points where the center - line distance between the two lanes with a road coincidence section is greater than the second distance is located at the road start - end, and the second same X - coordinate point closest to the road coincidence coordinate point among the same X - coordinate points where the center - line distance between the two lanes with a road coincidence section is greater than the second distance is located at the road end - end, then determine that the road topological relationship between the two lanes with a road coincidence section is road X - type bifurcation;

[0113] If there is no first same X - coordinate point where the center - line distance between the two lanes with a road coincidence section is greater than the second distance at the road start - end, and there is no second same X - coordinate point where the center - line distance between the two lanes with a road coincidence section is greater than the second distance at the road end - end, then determine that the road topological relationship between the two lanes with a road coincidence section is road coincidence.

[0114] In this exemplary embodiment, the direction pointed by the road arrow can be used as the backward direction of the road coincidence coordinate point, and the opposite direction of the direction pointed by the road arrow can be used as the forward direction of the road coincidence coordinate point. Then, based on the forward or backward extension of the road coincidence coordinate point, find the same X coordinate points where the distance between two lanes with a road coincidence section is greater than the second distance. Among them, the same X coordinate point that is closest to the road coincidence coordinate point among the same X coordinate points where the distance between two lanes with a road coincidence section is greater than the second distance and is found in the opposite direction of the road traveling direction from the road coincidence coordinate point can be considered to be located at the beginning of the road, and then the road topological relationship between the two lanes with a road coincidence section is determined as road confluence.

[0115] The same X coordinate point that is closest to the road coincidence coordinate point among the same X coordinate points where the distance between two lanes with a road coincidence section is greater than the second distance and is found in the road traveling direction from the road coincidence coordinate point can be considered to be located at the end of the road, and then the road topological relationship between the two lanes with a road coincidence section is determined as road divergence.

[0116] In some embodiments, the coordinate acquisition module 40 is used for

[0117] Based on a predetermined step size, along the direction pointed by the lane arrow, obtain the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located.

[0118] In this exemplary embodiment, when obtaining the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located, based on a predetermined step size, along the direction pointed by the lane arrow, obtain the point coordinates corresponding to the lane centerlines of multiple lanes in the area where the vehicle is located. Among them, the predetermined step size can be set by itself according to needs. Among them, a suitable predetermined step size is conducive to improving the accuracy of determining the road coincidence section based on the calculation of the coordinate point distance.

[0119] The present disclosure provides a computer-readable storage medium, on which a program for determining the lane topological relationship based on point coordinates is stored. When the program for determining the lane topological relationship based on point coordinates is executed by a processor, the method for determining the lane topological relationship based on point coordinates described in the above embodiments is implemented.

[0120] The present disclosure provides an electronic device, including a memory, a processor, and a program for determining the lane topological relationship based on point coordinates stored on the memory and executable on the processor. When the processor executes the program for determining the lane topological relationship based on point coordinates, the method for determining the lane topological relationship based on point coordinates described in the above embodiments is implemented.

[0121] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which a program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0122] It should be understood that various parts of the present disclosure can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0123] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0124] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present disclosure.

[0125] In addition, the terms "first", "second", etc. used in the embodiments of the present disclosure are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in this embodiment. Thus, the features defined with the terms "first", "second", etc. in the embodiments of the present disclosure may clearly or implicitly indicate that at least one such feature is included in this embodiment. In the description of the present disclosure, the meaning of the word "plurality" is at least two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0126] In the present disclosure, unless otherwise clearly specified or limited by relevant regulations in the embodiments, the terms "mounted", "connected", "connected" and "fixed" etc. appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or integrated. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements, or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific implementation situations.

[0127] In the present disclosure, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature is at a lower horizontal height than the second feature.

[0128] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for determining lane topological relationships based on point coordinates, characterized in that: include: Obtaining the point coordinates corresponding to the lane center lines of multiple lanes in the area where the vehicle is located; Based on the point coordinates corresponding to the lane center lines of the plurality of lanes in the area where the vehicle is located, the point coordinates corresponding to the lane center lines of any two lanes are compared to obtain the distance between the points with the same X coordinate corresponding to the lane center lines of any two lanes; Determine two lanes and the road coincidence coordinate points having a road coincidence section among the plurality of roads based on the distance between the same X-coordinate points corresponding to the lane center lines of the arbitrary two lanes; Based on the point coordinates corresponding to the lane center lines of the two lanes with the road overlapping section and the road overlapping coordinate points, the road topological relationship between the two lanes with the road overlapping section is determined; wherein the road topological relationship includes road divergence, road convergence, road overlap and road X-shaped bifurcation.

2. The method for determining lane topological relationships based on point coordinates according to claim 1, characterized in that: The comparing the coordinates of the points corresponding to the lane center lines of any two lanes based on the coordinates of the points corresponding to the lane center lines of the multiple lanes in the area where the vehicle is located, and obtaining the distance between the points with the same X coordinate corresponding to the lane center lines of any two lanes, includes: Sorting the point coordinates corresponding to the lane center lines of the multiple lanes in the area where the vehicle is located in a predetermined order of magnitude to obtain the sorted point coordinates corresponding to the lane center lines of the multiple lanes in the area where the vehicle is located; Based on the sorting point coordinates corresponding to the lane center lines of multiple lanes in the area where the vehicle is located, the point coordinates corresponding to the lane center lines of any two lanes are traversed and compared according to the sorting order of the coordinate points to obtain the distance between the same X-coordinate points corresponding to the lane center lines of any two lanes.

3. The method for determining lane topological relationships based on point coordinates according to claim 2, characterized in that: The determining of two lanes and the road coincidence coordinate points having a road coincidence section among the plurality of roads based on the distance between the same X-coordinate points corresponding to the lane center lines of the arbitrary two lanes comprises: Determine that two target roads whose distance between the same X-coordinate points corresponding to the lane center lines of two roads among the plurality of roads is less than the first distance are two lanes among the plurality of roads having a road overlap section; The same X-coordinate points in the two target roads whose intervals are smaller than the first interval are the coincident coordinate points of the roads.

4. The method for determining lane topological relationships based on point coordinates according to claim 3, characterized in that: The determining of the road topological relationship between the two lanes having the road overlap section based on the point coordinates corresponding to the lane center lines of the two lanes having the road overlap section and the road overlap coordinate points includes: Based on the point coordinates corresponding to the lane center lines of the two lanes where the road section overlaps, determine the same X-coordinate points corresponding to the lane center lines of the two lanes where the road section overlaps, and the spacing between the same X-coordinate points is greater than the second spacing; The road topological relationship between the two lanes having the road overlapping section is determined based on the same X-coordinate point closest to the road overlapping coordinate point among the same X-coordinate points with a spacing greater than a second spacing in the two lanes having the road overlapping section and the road overlapping coordinate point; wherein the second spacing is greater than the first spacing.

5. The method for determining lane topological relationships based on point coordinates according to claim 4, characterized in that: The determining of the road topological relationship between the two lanes having the road overlap section based on the same X-coordinate point closest to the road overlap coordinate point among the same X-coordinate points with a spacing greater than a second spacing in the two lanes having the road overlap section and the road overlap coordinate point comprises: If the first point with the same X coordinate closest to the road coincident coordinate point among the points with the same X coordinate whose spacing is greater than the second spacing between the two lanes in the road coincident section is located at the beginning of the road, and there is no second point with the same X coordinate whose spacing is greater than the second spacing between the two lanes at the end of the road, then the road topological relationship between the two lanes in the road coincident section is determined to be road confluence; If the second point with the same X coordinate closest to the road coincident coordinate point among the points with the same X coordinate whose spacing is greater than the second spacing between the two lanes in the road coincident section is located at the end of the road, and there is no first point with the same X coordinate whose spacing is greater than the second spacing between the two lanes at the beginning of the road, then it is determined that the road topological relationship between the two lanes in the road coincident section is road divergence; If the first X-coordinate point closest to the road coincident coordinate point among the X-coordinate points with a spacing greater than the second spacing in the two lanes with the road coincident section is located at the beginning of the road, and the second X-coordinate point closest to the road coincident coordinate point among the X-coordinate points with a spacing greater than the second spacing in the two lanes with the road coincident section is located at the end of the road, then it is determined that the road topological relationship between the two lanes with the road coincident section is an X-shaped road bifurcation; If there are no first points with the same X coordinate between the two lanes at the beginning of the road and the spacing between them is greater than the second spacing, and there are no second points with the same X coordinate between the two lanes at the end of the road and the spacing between them is greater than the second spacing, then the road topological relationship between the two lanes with the road overlap section is determined to be road overlap.

6. The method for determining lane topological relationships based on point coordinates according to claim 4, characterized in that: The step of obtaining the point coordinates corresponding to the lane center lines of the plurality of lanes in the area where the vehicle is located includes: Based on a predetermined step length, along the direction of the lane arrow, obtain the point coordinates corresponding to the lane center lines of multiple lanes in the area where the vehicle is located.

7. A device for determining lane topological relationships based on point coordinates, characterized in that: include: A coordinate acquisition module, used to obtain the point coordinates corresponding to the lane center lines of multiple lanes in the area where the vehicle is located; A coordinate comparison module, for comparing the coordinates of the points corresponding to the lane center lines of any two lanes based on the coordinates of the points corresponding to the lane center lines of the multiple lanes in the area where the vehicle is located, to obtain the distance between the points with the same X coordinate corresponding to the lane center lines of any two lanes; A road overlap section determination module, configured to determine two lanes and road overlap coordinate points having road overlap sections among the plurality of roads based on the spacing between the same X-coordinate points corresponding to the lane center lines of the arbitrary two lanes; A road topology relationship determination module is used to determine the road topology relationship between the two lanes where the road overlaps based on the point coordinates corresponding to the lane center lines of the two lanes where the road overlaps, and the road overlap coordinate points; wherein the road topology relationship includes road divergence, road convergence, road overlap and road X-shaped bifurcation.

8. The device for determining lane topological relationships based on point coordinates according to claim 7, characterized in that: The coordinate comparison module is used to Sorting the point coordinates corresponding to the lane center lines of the multiple lanes in the area where the vehicle is located in a predetermined order of magnitude to obtain the sorted point coordinates corresponding to the lane center lines of the multiple lanes in the area where the vehicle is located; Based on the sorting point coordinates corresponding to the lane center lines of multiple lanes in the area where the vehicle is located, the point coordinates corresponding to the lane center lines of any two lanes are traversed and compared according to the sorting order of the coordinate points to obtain the distance between the same X-coordinate points corresponding to the lane center lines of any two lanes.

9. A computer-readable storage medium, characterized in that: A program for determining lane topology based on point coordinates is stored thereon. When the program for determining lane topology based on point coordinates is executed by a processor, the method for determining lane topology based on point coordinates described in any one of claims 1-6 is implemented.

10. An electronic device, characterized in that: The method comprises a memory, a processor and a program for determining lane topological relationships based on point coordinates which is stored in the memory and can be run on the processor. When the processor executes the program for determining lane topological relationships based on point coordinates, the method for determining lane topological relationships based on point coordinates as described in any one of claims 1 to 6 is implemented.

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