Method and device for determining topological relation of lanes based on polynomial equation

Abstract

The invention relates to a method and device for determining a lane topological relation based on a polynomial equation. The method for determining the topological relation of the lanes based on the polynomial equations comprises the steps that on the basis of a Newton iteration method, polynomial solution is conducted on the polynomial equations corresponding to lane center lines of any two lanes in multiple lanes with the distance between the two lanes smaller than a first threshold value as an objective function, and the two lanes with the intersection relation are determined; on the basis that the intersection position of the two lanes with the intersection relation serves as the starting position, step serves as the step length, dependent variables of the polynomial equation are increased or decreased progressively, and the point position corresponding to the dependent variables of the polynomial equation when the distance between the two lanes is larger than a second threshold value is determined; and based on the intersection position of the two lanes having the intersection relation and the point positions, determining the road topological relation between the two lanes having the intersection relation, thereby effectively improving the route identification accuracy in the automatic driving process 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 polynomial equations. 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, device, storage medium, and electronic device for determining lane topological relationships based on polynomial equations.

[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 polynomial equations.

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

[0007] Obtain polynomial equations corresponding to the centerlines of multiple lanes in the area where the vehicle is located; wherein the polynomial equations represent the route positions of the lane centerlines in the coordinate system;

[0008] Based on the Newton iteration method, perform polynomial solution on the polynomial equations corresponding to the centerlines of any two lanes among the multiple lanes, with the distance between the two lanes being less than a first threshold as the objective function, to determine two lanes with an intersection relationship;

[0009] Based on the intersection position of the two lanes with the intersection relationship as the starting position, increment or decrement the dependent variable of the polynomial equation in steps of step, and determine the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold; wherein the dependent variable corresponding to the polynomial equation is the position of each point on the centerline of the lane;

[0010] Based on the intersection position of the two lanes with the intersection relationship and the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold, determine the road topological relationship existing between the two lanes with the intersection relationship; wherein the road topological relationship includes road diverging, road converging, road overlapping, and road X-shaped bifurcation.

[0011] In some embodiments, the polynomial equations corresponding to the lane centerlines of the multiple lanes include:

[0012] where L1 is the polynomial equation corresponding to the lane centerline of the first lane, and L2 is the polynomial equation corresponding to the lane centerline of the second lane; s1 is the point position on the lane centerline of the first lane; s1 is the point position on the lane centerline of the second lane;

[0013] The spacing relationship between two lanes is:

[0014]

[0015] where s1 is the dependent variable in the polynomial equation f1(s1) corresponding to the lane centerline of the first lane; s2 is the dependent variable in the polynomial equation f2(s2) corresponding to the lane centerline of the second lane;

[0016] Based on the Newton iteration method, for the polynomial equations corresponding to the lane centerlines of any two lanes among the multiple lanes, with the spacing between the two lanes being less than the first threshold as the objective function, polynomial solution is performed to determine two lanes with an intersection relationship, including:

[0017] Set the number of iterations iter max ;

[0018] If, based on the Newton iteration method, for the polynomial equations corresponding to the lane centerlines of any two lanes among the multiple lanes, the number of times K of polynomial solution with the spacing between the two lanes being less than the first threshold as the objective function is less than the number of iterations iter max , then take the derivative of D K to obtain

[0019] Based on and the spacing relationship between the two lanes, obtain D K+1 ;

[0020] Based on the comparison between D K+1 and the first threshold, determine whether there is an intersection relationship between the two lanes.

[0021] In some embodiments, the comparison between D K+1 and the first threshold to determine whether there is an intersection relationship between the two lanes includes:

[0022] If D K+1 is less than the first threshold, it is determined that there is an intersection relationship between the two lanes;

[0023] If D K+1 is not less than the first threshold, then for D K+1 and DK Compare. If D K+1 is less than D K , then perform k = k + 1, and perform the (k + 1)-th polynomial solution with the distance between two lanes less than the first threshold as the objective function.

[0024] In some embodiments, determining the road topological relationship existing between two lanes with an intersection relationship based on the intersection position of the two lanes with an intersection relationship and the position of the point corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold includes:

[0025] Starting from the intersection position of the first lane and the second lane, both s1 and s2 decrease with a step of step, and determine the value of D(s1, s2). If there is a first point position on the lane center line where the value of D(s1, s2) is greater than the second threshold and is located at the head end of the lane and there is no second point position on the lane center line where the value of D(s1, s2) is greater than the second threshold at the tail end of the lane, then determine that the road topological relationship existing between the two lanes with an intersection relationship is road confluence; or,

[0026] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase with a step of step, and determine the value of D(s1, s2). If there is a second point position on the lane center line where the value of D(s1, s2) is greater than the second threshold and is located at the tail end of the lane and there is no first point position on the lane center line where the value of D(s1, s2) is greater than the second threshold at the head end of the lane, then determine that the road topological relationship existing between the two lanes with an intersection relationship is road divergence; or,

[0027] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase with a step of step, and determine the value of D(s1, s2). If there is a first point position on the lane center line where the value of D(s1, s2) is greater than the second threshold and is located at the tail end of the lane and there is a second point position on the lane center line where the value of D(s1, s2) is greater than the second threshold and is located at the tail end of the lane, then determine that the road topological relationship existing between the two lanes with an intersection relationship is road X-shaped bifurcation; or,

[0028] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase with a step of step, and determine the value of D(s1, s2). If there is no first point position on the lane center line where the value of D(s1, s2) is greater than the second threshold at the head end of the lane and there is no second point position on the lane center line where the value of D(s1, s2) is greater than the second threshold at the tail end of the lane, then determine that the road topological relationship existing between the two lanes with an intersection relationship is road coincidence.

[0029] In a second aspect, the present disclosure provides an apparatus for determining a lane topological relationship based on a polynomial equation, including:

[0030] An equation acquisition module, configured to acquire polynomial equations corresponding to the center lines of multiple lanes in the area where the vehicle is located; wherein, the polynomial equations represent the route positions of the center lines of the lanes in the coordinate system;

[0031] An equation solving module, configured to perform polynomial solving on the polynomial equations corresponding to the center lines of any two lanes among the multiple lanes, with the distance between the two lanes being less than a first threshold as the objective function based on the Newton iteration method, and determine two lanes with an intersection relationship;

[0032] An independent variable determination module, configured to increment or decrement the independent variable of the polynomial equation in steps with the intersection position of the two lanes with the intersection relationship as the starting position, and determine the point position corresponding to the independent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold; wherein the independent variable corresponding to the polynomial equation is the position of each point on the center line of the lane;

[0033] A road topological relationship determination module, configured to determine the road topological relationship existing between the two lanes with the intersection relationship based on the intersection position of the two lanes with the intersection relationship and the point position corresponding to the independent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold; wherein the road topological relationship includes road divergence, road confluence, road coincidence, and road X-shaped bifurcation.

[0034] In some embodiments, the polynomial equations corresponding to the center lines of the multiple lanes include:

[0035] wherein, L1 is the polynomial equation corresponding to the center line of the first lane, and L2 is the polynomial equation corresponding to the center line of the second lane; s1 is the point position on the center line of the first lane; s1 is the point position on the center line of the second lane;

[0036] The distance relationship between the two lanes is:

[0037]

[0038] wherein, s1 is the independent variable in the polynomial equation f1(s1) corresponding to the center line of the first lane; s2 is the independent variable in the polynomial equation f2(s2) corresponding to the center line of the second lane;

[0039] The equation solving module is configured to

[0040] Set the number of iterations iter max ;

[0041] If, based on the Newton iteration method, for the polynomial equations corresponding to the centerlines of any two lanes among the multiple lanes, the number of polynomial solutions K with the distance between the two lanes less than the first threshold as the objective function is less than the iteration number iter max , then for D K Take the derivative to obtain

[0042] Based on and the distance relationship between the two lanes, obtain D K+1 ;

[0043] Based on the comparison between D K+1 and the first threshold, determine whether there is an intersection relationship between the two lanes.

[0044] In some embodiments, the equation solving module is used to

[0045] If D K+1 is less than the first threshold, it is determined that there is an intersection relationship between the two lanes;

[0046] If D K+1 is not less than the first threshold, then compare D K+1 with D K . If D K+1 is less than D K , then perform k = k + 1 and conduct the (k + 1)-th polynomial solution with the distance between the two lanes less than the first threshold as the objective function.

[0047] In some embodiments, the road topology relationship determining module is used to

[0048] Starting from the intersection position of the first lane and the second lane, both s1 and s2 decrease with a step of step, determine the value of D(s1, s2). If there is a first point position on the centerline of the lane where the value of D(s1, s2) is greater than the second threshold and the second point position on the centerline of the lane where the value of D(s1, s2) is greater than the second threshold does not exist at the lane end, it is determined that the road topology relationship existing between the two intersecting lanes is road confluence; or,

[0049] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase with a step of step, determine the value of D(s1, s2). If there is a second point position on the centerline of the lane where the value of D(s1, s2) is greater than the second threshold and the first point position on the centerline of the lane where the value of D(s1, s2) is greater than the second threshold does not exist at the lane start, it is determined that the road topology relationship existing between the two intersecting lanes is road divergence; or,

[0050] Starting from the intersection position of the first lane and the second lane, both s1 and s2 are incremented by a step size of step, and the value of D(s1, s2) is determined. If the position of the first point on the center line of the lane where the value of D(s1, s2) is greater than the second threshold is at the end of the lane and the position of the second point on the center line of the lane where the value of D(s1, s2) is greater than the second threshold is at the end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is a road X-shaped fork; or,

[0051] Starting from the intersection position of the first lane and the second lane, both s1 and s2 are incremented by a step size of step, and the value of D(s1, s2) is determined. If there is no position of the first point on the center line of the lane where the value of D(s1, s2) is greater than the second threshold at the beginning of the lane and there is no position of the second point on the center line of the lane where the value of D(s1, s2) is greater than the second threshold at the end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road coincidence.

[0052] In a third aspect, the present disclosure provides a computer-readable storage medium, on which a program for determining lane topological relationships based on polynomial equations is stored. When the program for determining lane topological relationships based on polynomial equations is executed by a processor, the method for determining lane topological relationships based on polynomial equations described in the first aspect above is implemented.

[0053] In a fourth aspect, the present disclosure provides an electronic device, including a memory, a processor, and a program for determining lane topological relationships based on polynomial equations stored on the memory and executable on the processor. When the processor executes the program for determining lane topological relationships based on polynomial equations, the method for determining lane topological relationships based on polynomial equations described in the first aspect above is implemented.

[0054] A method for determining lane topological relationships based on polynomial equations according to an embodiment of the present disclosure includes: obtaining polynomial equations corresponding to the centerlines of multiple lanes in the area where the vehicle is located; where the polynomial equations represent the route positions of the lane centerlines in the coordinate system; based on the Newton iteration method, for the polynomial equations corresponding to the centerlines of any two lanes among the multiple lanes, taking the distance between the two lanes being less than a first threshold as the objective function to solve the polynomials, and determining two lanes with an intersection relationship; based on the intersection position of the two lanes with an intersection relationship as the starting position, increasing or decreasing the dependent variable of the polynomial equation in steps of step, and determining the point positions corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold; where the dependent variable corresponding to the polynomial equation is the positions of points on the centerlines of the lanes; based on the intersection position of the two lanes with an intersection relationship and the point positions corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold, determining the road topological relationship existing between the two lanes with an intersection relationship; 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 Newton iteration method, for the polynomial equations corresponding to the centerlines of any two lanes among the multiple lanes, taking the distance between the two lanes being less than a first threshold as the objective function to solve the polynomials, and determining two lanes with an intersection relationship, and then based on the intersection position of the two lanes with an intersection relationship and the point positions corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold, determining the road topological relationship existing between the two lanes with an intersection relationship. The entire process can perform real-time identification 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.

[0055] 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

[0056] Figure 1 is a flowchart of a method for determining lane topological relationships based on polynomial equations shown according to an exemplary embodiment;

[0057] Figure 2 is a process of determining lane topological relationships based on polynomial equations shown according to an exemplary embodiment Figure 1 ;

[0058] Figure 3 is a process of determining lane topological relationships based on polynomial equations shown according to an exemplary embodiment Figure 2 ;

[0059] Figure 4 It is a schematic structural diagram of a device for determining lane topological relationships based on polynomial equations shown according to an exemplary embodiment. Detailed implementation manners

[0060] Embodiments of the present disclosure will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present disclosure and should not be construed as a limitation of the present disclosure.

[0061] Generally, autonomous driving will perform 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 incorrect autonomous driving route. In particular, in the autonomous driving decision-making and planning module, the topological relationships (diverging and converging) of the road are crucial for the system to generate correct decisions.

[0062] In view of the above situation, the present disclosure provides a method for determining lane topological relationships based on polynomial equations. Figure 1 It is a flowchart of a method for determining lane topological relationships based on polynomial equations shown according to an exemplary embodiment. As Figure 1 shown, the method for determining lane topological relationships based on polynomial equations includes:

[0063] Step 10: Obtain polynomial equations corresponding to the centerlines of multiple lanes in the area where the vehicle is located; wherein, the polynomial equations represent the route positions of the centerlines of the lanes in the coordinate system;

[0064] Step 11: Based on the Newton iteration method, perform polynomial solution on the polynomial equations corresponding to the centerlines of any two lanes among the multiple lanes, with the distance between the two lanes being less than the first threshold as the objective function, to determine two lanes with an intersection relationship;

[0065] Step 12: Based on the intersection position of the two lanes with the intersection relationship as the starting position, increment or decrement the dependent variable of the polynomial equation in steps of step, and determine the point positions corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold; wherein the dependent variable corresponding to the polynomial equation is the positions of each point on the centerline of the lane.

[0066] Step 13: Determine the road topological relationship existing between the two lanes with an intersection relationship based on the intersection position of the two lanes with an intersection relationship and the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold; wherein the road topological relationship includes road divergence, road confluence, road overlap, and road X-shaped bifurcation.

[0067] In this exemplary embodiment, the method for determining the lane topological relationship based on the polynomial equation in the present application can be applied during the process of vehicle autonomous driving. During the process of vehicle autonomous driving, the method for determining the lane topological relationship based on the polynomial equation in the present application can be independently executed to identify the road topological relationship.

[0068] In this exemplary embodiment, the decision-making and planning module of the vehicle can obtain the polynomial equations 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. For example, the polynomial equation is a cubic equation polynomial, etc.

[0069] In this exemplary embodiment, the first threshold and the second threshold can be set according to actual needs. Among them, the first threshold is less than the second threshold. When the distance between two lanes is less than the first threshold, it can be considered that the distance between the two lanes is relatively close, and it can be considered that the two roads tend to intersect. When the distance between two lanes is greater than the second threshold, it can be considered that the distance between the two lanes is relatively far, and it can be considered that the two roads tend to be separated at a long distance. Then, based on the intersection position of the two lanes with an intersection relationship and the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold, determine the road topological relationship existing between the two lanes with an intersection relationship. The whole process can perform real-time section road topological relationship recognition during the vehicle driving process, thereby effectively improving the accuracy of route recognition during the vehicle autonomous driving process, and thus improving the safety of vehicle autonomous driving.

[0070] In some embodiments, the polynomial equations corresponding to the lane centerlines of the multiple lanes include:

[0071] wherein, L1 is the polynomial equation corresponding to the lane centerline of the first lane, and L2 is the polynomial equation corresponding to the lane centerline of the second lane; s1 is the point position on the lane centerline of the first lane; s1 is the point position on the lane centerline of the second lane;

[0072] The distance relationship between the two lanes is:

[0073]

[0074] Wherein, s1 is the dependent variable in the polynomial equation f1(s1) corresponding to the center line of the first lane; s2 is the dependent variable in the polynomial equation f2(s2) corresponding to the center line of the second lane;

[0075] Based on the Newton iteration method, for the polynomial equations corresponding to the center lines of any two lanes among the multiple lanes, taking the distance between the two lanes being less than the first threshold as the objective function for polynomial solution, to determine two lanes with an intersection relationship, including:

[0076] Set the number of iterations iter max ;

[0077] If, based on the Newton iteration method, for the polynomial equations corresponding to the center lines of any two lanes among the multiple lanes, taking the distance between the two lanes being less than the first threshold as the objective function, the number of polynomial solution times K is less than the number of iterations iter max , then take the derivative of D K to obtain

[0078] Based on and the distance relationship between the two lanes, obtain D K+1 ;

[0079] Based on the comparison between D K+1 and the first threshold, determine whether there is an intersection relationship between the two lanes.

[0080] In this exemplary embodiment, Figure 3 is a flowchart for determining the lane topological relationship based on a polynomial equation shown according to an exemplary embodiment Figure 2 . As Figure 3 shown, the flowchart for determining the lane topological relationship based on a polynomial equation includes:

[0081] Step 40: Obtain the initial positions of the center lines of the first lane and the second lane k = 0;

[0082] Step 41: Determine whether the number of polynomial solution times K with the distance between the two lanes being less than the first threshold as the objective function is less than iter max ; If K is greater than iter max , then the loop iteration ends and it is determined that there is no intersection between the two lanes;

[0083] Step 42: If K is less than iter max , then calculate the gradient of the polynomial equation D K , and obtain K through the gradient of the polynomial equation D Obtain D through ​K+1 ;

[0084] Step 43, determine whether D K+1 is less than the first threshold d min . If D K+1 is less than the first threshold d min , it is determined that there is an intersection between the first lane and the second lane, and the intersection position is determined as

[0085] Step 44, determine whether |D K+1 - D K | is less than the threshold ε. If |D K+1 - D K | is less than the threshold ε, it is determined that there is no intersection between the two lanes;

[0086] Step 45, if |D K+1 - D K | is greater than the threshold ε, compare the magnitudes of D K+1 and D K . If D K+1 is not less than D K , it is determined that there is no intersection between the two lanes; if D K+1 is less than D K , then let K = K + 1 and execute Step 41.

[0087] In some embodiments, comparing D K+1 with the first threshold to determine whether there is an intersection relationship between two lanes includes:

[0088] If D K+1 is less than the first threshold, it is determined that there is an intersection relationship between the two lanes;

[0089] If D K+1 is not less than the first threshold, compare D K+1 and D K . If D K+1 is less than D K , then perform k = k + 1 and perform the (k + 1)-th polynomial solution with the distance between the two lanes being less than the first threshold as the objective function.

[0090] In some embodiments, determining the road topological relationship existing between the two lanes with an intersection relationship based on the intersection position of the two lanes with an intersection relationship and the position of the point corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold includes:

[0091] Starting from the intersection position of the first lane and the second lane, both s1 and s2 decrease by the step size of step, and determine the value of D(s1, s2). If the value of D(s1, s2) exists and the first point position on the lane center line greater than the second threshold is located at the beginning of the lane and there is no second point position on the lane center line greater than the second threshold at the end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road confluence; or,

[0092] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase by the step size of step, and determine the value of D(s1, s2). If the value of D(s1, s2) exists and the second point position on the lane center line greater than the second threshold is located at the end of the lane and there is no first point position on the lane center line greater than the second threshold at the beginning of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road divergence; or,

[0093] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase by the step size of step, and determine the value of D(s1, s2). If the value of D(s1, s2) exists and the first point position on the lane center line greater than the second threshold is located at the end of the lane and the second point position on the lane center line greater than the second threshold exists at the end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road X-shaped bifurcation; or,

[0094] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase by the step size of step, and determine the value of D(s1, s2). If there is no first point position on the lane center line greater than the second threshold at the beginning of the lane and no second point position on the lane center line greater than the second threshold at the end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road coincidence. Among them, in this application, the reverse direction of the specified lane forward direction is the beginning of the lane, and the lane forward direction is the end of the lane.

[0095] In this exemplary embodiment, starting from the intersection position of the first lane and the second lane, both s1 and s2 decrease by the step size of step, and determining the value of D(s1, s2) is equivalent to extending from the intersection position of the first lane and the second lane in the reverse driving direction of the lane to find D(s1, s2); starting from the intersection position of the first lane and the second lane, both s1 and s2 increase by the step size of step, and determining the value of D(s1, s2) is equivalent to extending from the intersection position of the first lane and the second lane in the driving direction of the lane to find D(s1, s2);

[0096] Then, starting from the intersection position of the first lane and the second lane, both s1 and s2 are decreased by the step of step, and the value of D(s1, s2) is determined. If the position of the first point on the lane center line where the value of D(s1, s2) is greater than the second threshold is located at the head end of the lane and there is no position of the second point on the lane center line where the value of D(s1, s2) is greater than the second threshold at the end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road confluence; or,

[0097] Starting from the intersection position of the first lane and the second lane, both s1 and s2 are increased by the step of step, and the value of D(s1, s2) is determined. If the position of the second point on the lane center line where the value of D(s1, s2) is greater than the second threshold is located at the end of the lane and there is no position of the first point on the lane center line where the value of D(s1, s2) is greater than the second threshold at the head end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road divergence; or,

[0098] Starting from the intersection position of the first lane and the second lane, both s1 and s2 are increased by the step of step, and the value of D(s1, s2) is determined. If the position of the first point on the lane center line where the value of D(s1, s2) is greater than the second threshold is located at the end of the lane and the position of the second point on the lane center line where the value of D(s1, s2) is greater than the second threshold is located at the end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road X-shaped bifurcation; or,

[0099] Starting from the intersection position of the first lane and the second lane, both s1 and s2 are increased by the step of step, and the value of D(s1, s2) is determined. If there is no position of the first point on the lane center line where the value of D(s1, s2) is greater than the second threshold at the head end of the lane and there is no position of the second point on the lane center line where the value of D(s1, s2) is greater than the second threshold at the end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road coincidence. In this way, through the intersection position of the two lanes with an intersection relationship and the position of the point corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold, the road topological relationship existing between the two lanes with an intersection relationship is determined.

[0100] Figure 2 is a flow for determining lane topological relationship based on a polynomial equation shown according to an exemplary embodiment Figure 1 . As Figure 2 shown, the flow for determining lane topological relationship based on a polynomial equation includes:

[0101] Step 20, obtain a set of original lane line polynomial equations;

[0102] Step 21: Align the lane line polynomial sets in position;

[0103] Step 22: Calculate the range of position s;

[0104] Step 23: Take s = sk;

[0105] Step 24: Take the i-th lane line;

[0106] Step 25: Determine whether the point position s is on the i-th lane line. If the point position s is not on the i-th lane line, then set i = i + 1 and execute Step 24;

[0107] Step 26: If the point position s is on the lane line, then take the j-th lane line;

[0108] Step 27: Determine whether the point position s is on the j-th lane line. If the point position s is not on the j-th lane line, then set j = j + 1 and execute Step 26;

[0109] Step 28: If the point position s is on the j-th lane line, then 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 set j = j + 1 and execute Step 26;

[0110] Step 29: If the topological relationship between the two lane lines is obtained, then calculate the intersection relationship and intersection position of the two lanes by the Newton iteration method;

[0111] Step 30: Determine whether the lane lines of the two lanes intersect. If the lane lines of the two lanes do not intersect, then set j = j + 1 and execute Step 26;

[0112] Step 31: If the lane lines of the two lanes intersect, then calculate the coordinate points of the intersecting lane lines;

[0113] Step 32: Based on the coordinate points of the intersecting lane lines and the distance between the two lane lines determined by the step size increment, determine the lane topological type.

[0114] The present disclosure provides an apparatus for determining lane topological relationships based on polynomial equations. Figure 4 It is a schematic structural diagram of an apparatus for determining lane topological relationships based on polynomial equations shown according to an exemplary embodiment. As Figure 4 shown, the apparatus for determining lane topological relationships based on polynomial equations includes:

[0115] An equation acquisition module 40, configured to acquire the polynomial equations corresponding to the center lines of multiple lanes in the area where the vehicle is located; wherein, the polynomial equation represents the route position of the lane center line in the coordinate system;

[0116] An equation solving module 41, configured to perform polynomial solving on the polynomial equations corresponding to the center lines of any two lanes among the multiple lanes, with the distance between the two lanes being less than a first threshold as the objective function based on the Newton iteration method, and determine two lanes with an intersection relationship;

[0117] A dependent variable determining module 42, configured to increment or decrement the dependent variable of the polynomial equation in steps starting from the intersection position of the two lanes with the intersection relationship, and determine the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold; wherein the dependent variable corresponding to the polynomial equation is the position of each point on the center line of the lane;

[0118] A road topological relationship determining module 43, configured to determine the road topological relationship existing between the two lanes with the intersection relationship based on the intersection position of the two lanes with the intersection relationship and the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold; wherein the road topological relationship includes road diversion, road confluence, road coincidence, and road X-shaped bifurcation.

[0119] In this exemplary embodiment, the method for determining the lane topological relationship based on the polynomial equation in the present application can be applied to the process of vehicle autonomous driving. During the vehicle autonomous driving process, the method for determining the lane topological relationship based on the polynomial equation in the present application can be autonomously executed to identify the road topological relationship.

[0120] In this exemplary embodiment, the decision and planning module of the vehicle can obtain the polynomial equations corresponding to the center lines of multiple lanes in the area where the vehicle is located from the cloud or the route recognition module of the vehicle. For example, the polynomial equation is a cubic equation polynomial, etc.

[0121] In this exemplary embodiment, the first threshold and the second threshold can be set according to actual needs. Among them, the first threshold is less than the second threshold. When the distance between two lanes is less than the first threshold, it can be considered that the distance between the two lanes is relatively close, and it can be considered that the two roads tend to intersect. When the distance between two lanes is greater than the second threshold, it can be considered that the distance between the two lanes is relatively far, and it can be considered that the two roads tend to be separated at a long distance. Then, based on the intersection position of the two lanes with the intersection relationship and the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold, the road topological relationship existing between the two lanes with the intersection relationship can be determined. The whole process can perform real-time section road topological relationship recognition during the vehicle driving process, thereby effectively improving the accuracy of route recognition during the vehicle autonomous driving process, and thus improving the safety of vehicle autonomous driving.

[0122] In some embodiments, the polynomial equations corresponding to the center lines of the multiple lanes include:

[0123] Among them, L1 is the polynomial equation corresponding to the center line of the first lane, and L2 is the polynomial equation corresponding to the center line of the second lane; s1 is the point position on the center line of the first lane; s2 is the point position on the center line of the second lane;

[0124] The spacing relationship between the two lanes is:

[0125]

[0126] Among them, s1 is the dependent variable in the polynomial equation f1(s1) corresponding to the center line of the first lane; s2 is the dependent variable in the polynomial equation f2(s2) corresponding to the center line of the second lane;

[0127] The equation solving module is used to

[0128] Set the number of iterations iter;

[0129] If, based on the Newton iteration method, for the polynomial equations corresponding to the center lines of any two lanes among the multiple lanes, the number of polynomial solutions K with the spacing between the two lanes less than the first threshold as the objective function is less than the number of iterations iter, then for D K Take the derivative to obtain

[0130] Based on And the spacing relationship between the two lanes, obtain D K+1 ;

[0131] Based on D K+1 Compare with the first threshold to determine whether there is an intersection relationship between the two lanes.

[0132] In this exemplary embodiment, the equation solving module is used to

[0133] If D K+1 Is less than the first threshold, it is determined that there is an intersection relationship between the two lanes;

[0134] If D K+1 Is not less than the first threshold, then compare D K+1 With D K If D K+1 Is less than D K , then perform k = k + 1 and perform the (k + 1)-th polynomial solution with the spacing between the two lanes less than the first threshold as the objective function.

[0135] In this exemplary embodiment, the road topology relationship determining module is used to

[0136] Starting from the intersection position of the first lane and the second lane, both s1 and s2 decrease by a step size of step, and determine the value of D(s1, s2). If the position of the first point on the lane center line where the value of D(s1, s2) is greater than the second threshold is located at the beginning of the lane and there is no position of the second point on the lane center line where the value of D(s1, s2) is greater than the second threshold at the end of the lane, then determine that the road topological relationship existing between the two lanes with an intersection relationship is road confluence; or,

[0137] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase by a step size of step, and determine the value of D(s1, s2). If the position of the second point on the lane center line where the value of D(s1, s2) is greater than the second threshold is located at the end of the lane and there is no position of the first point on the lane center line where the value of D(s1, s2) is greater than the second threshold at the beginning of the lane, then determine that the road topological relationship existing between the two lanes with an intersection relationship is road divergence; or,

[0138] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase by a step size of step, and determine the value of D(s1, s2). If the position of the first point on the lane center line where the value of D(s1, s2) is greater than the second threshold is located at the end of the lane and the position of the second point on the lane center line where the value of D(s1, s2) is greater than the second threshold is located at the end of the lane, then determine that the road topological relationship existing between the two lanes with an intersection relationship is road X-shaped bifurcation; or,

[0139] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase by a step size of step, and determine the value of D(s1, s2). If there is no position of the first point on the lane center line where the value of D(s1, s2) is greater than the second threshold at the beginning of the lane and there is no position of the second point on the lane center line where the value of D(s1, s2) is greater than the second threshold at the end of the lane, then determine that the road topological relationship existing between the two lanes with an intersection relationship is road coincidence.

[0140] In this exemplary embodiment, starting from the intersection position of the first lane and the second lane, both s1 and s2 decrease by a step size of step, and determining the value of D(s1, s2) is equivalent to extending in the reverse driving direction of the lane from the intersection position of the first lane and the second lane to find D(s1, s2); starting from the intersection position of the first lane and the second lane, both s1 and s2 increase by a step size of step, and determining the value of D(s1, s2) is equivalent to extending in the driving direction of the lane from the intersection position of the first lane and the second lane to find D(s1, s2);

[0141] Then, starting from the intersection position of the first lane and the second lane, both s1 and s2 decrease in steps of step, and the value of D(s1, s2) is determined. If there is a first point position on the center line of the lane where the value of D(s1, s2) is greater than the second threshold and this first point position is at the head end of the lane, and there is no second point position on the center line of the lane where the value of D(s1, s2) is greater than the second threshold at the tail end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road confluence; or,

[0142] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase in steps of step, and the value of D(s1, s2) is determined. If there is a second point position on the center line of the lane where the value of D(s1, s2) is greater than the second threshold and this second point position is at the tail end of the lane, and there is no first point position on the center line of the lane where the value of D(s1, s2) is greater than the second threshold at the head end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road divergence; or,

[0143] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase in steps of step, and the value of D(s1, s2) is determined. If there is a first point position on the center line of the lane where the value of D(s1, s2) is greater than the second threshold and this first point position is at the tail end of the lane, and there is a second point position on the center line of the lane where the value of D(s1, s2) is greater than the second threshold and this second point position is at the tail end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road X-shaped bifurcation; or,

[0144] Starting from the intersection position of the first lane and the second lane, both s1 and s2 increase in steps of step, and the value of D(s1, s2) is determined. If there is no first point position on the center line of the lane where the value of D(s1, s2) is greater than the second threshold at the head end of the lane and there is no second point position on the center line of the lane where the value of D(s1, s2) is greater than the second threshold at the tail end of the lane, then it is determined that the road topological relationship existing between the two lanes with an intersection relationship is road coincidence. In this way, through the intersection position of the two lanes with an intersection relationship and the point positions corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold, the road topological relationship existing between the two lanes with an intersection relationship is determined.

[0145] The present disclosure provides a computer-readable storage medium, on which a program for determining lane topological relationship based on a polynomial equation is stored. When the program for determining lane topological relationship based on a polynomial equation is executed by a processor, the method for determining lane topological relationship based on a polynomial equation described in the above embodiments is implemented.

[0146] The present disclosure provides an electronic device, including a memory, a processor, and a program for determining lane topological relationships based on polynomial equations, which is stored in the memory and can run on the processor. When the processor executes the program for determining lane topological relationships based on polynomial equations, the method for determining lane topological relationships described in the above embodiments is implemented.

[0147] It should be noted that the logic and / or steps represented in the flowchart or described in other ways 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, apparatus, 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.

[0148] It should be understood that each part 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 the 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 with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0149] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean 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 expressions 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.

[0150] In the description of the present disclosure, it should be understood that the orientation or positional relationships indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. It is 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 cannot be construed as a limitation of the present disclosure.

[0151] In addition, the terms "first", "second", etc. used in the embodiments of the present disclosure are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the technical features indicated in this embodiment. Thus, the features defined with terms such as "first", "second", etc. in the embodiments of the present disclosure can explicitly 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 than two, such as two, three, four, etc., unless otherwise specifically defined in the embodiments.

[0152] In the present disclosure, unless otherwise clearly specified or limited by relevant regulations in the embodiments, the terms "installed", "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 the specific implementation situations.

[0153] In this disclosure, unless otherwise clearly defined and limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediate medium. Moreover, a first feature being "above", "over" and "on top of" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher level than the second feature in terms of horizontal height. A first feature being "under", "below" and "beneath" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower level than the second feature in terms of horizontal height.

[0154] Although the embodiments of the present disclosure have been shown and described above, it can 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 topology based on polynomial equations, characterized in that: include: Obtaining polynomial equations corresponding to lane centerlines of multiple lanes in an area where the vehicle is located; wherein the polynomial equations represent route positions of the lane centerlines in a coordinate system; Based on the Newton iteration method, a polynomial equation corresponding to the center lines of any two lanes of the plurality of lanes is solved by taking the distance between the two lanes being less than a first threshold as an objective function to determine two lanes that have an intersecting relationship; Based on the intersection position of the two lanes having an intersection relationship as the starting position, the dependent variable of the polynomial equation is increased or decreased with step as the step length, and the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than the second threshold is determined; wherein the dependent variable corresponding to the polynomial equation is the position of each point on the lane centerline of the lane; Based on the intersection position of the two lanes with an intersection relationship and the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold, the road topological relationship between the two lanes with an intersection relationship 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 topology based on polynomial equations according to claim 1, characterized in that: The polynomial equations corresponding to the lane centerlines of the plurality of lanes include: Wherein, L1 is the polynomial equation corresponding to the lane centerline of the first lane, L2 is the polynomial equation corresponding to the lane centerline of the second lane; s1 is the point position on the lane centerline of the first lane; s1 is the point position on the lane centerline of the second lane; The spacing between the two lanes is: Wherein, s1 is the dependent variable in the polynomial equation f1(s1) corresponding to the lane centerline of the first lane; s2 is the dependent variable in the polynomial equation f2(s2) corresponding to the lane centerline of the second lane; Based on the Newton iteration method, a polynomial equation corresponding to the lane center lines of any two lanes of the plurality of lanes is solved by taking the distance between the two lanes being less than a first threshold as an objective function to determine two lanes having an intersecting relationship, including: Set the number of iterations iter max ; If based on the Newton iteration method, for the polynomial equation corresponding to the lane center lines of any two lanes of the plurality of lanes, the number of polynomial solutions K is less than the number of iterations iter with the distance between the two lanes being less than the first threshold as the objective function max , then for D K Derivation, get based on And the distance relationship between the two lanes, we get D K+1 ; Based on D K+1 The lanes are compared with the first threshold to determine whether there is an intersection relationship between the two lanes.

3. The method for determining lane topology based on polynomial equations according to claim 1, characterized in that: Based on D K+1 Comparing with the first threshold value to determine whether there is an intersection relationship between the two lanes includes: If D K+1 If the value is less than the first threshold, it is determined that there is an intersection relationship between the two lanes; If D K+1 is not less than the first threshold, then D K+1 With D K For comparison, if D K+1 Less than D K , then k=k+1 is performed, and the polynomial solution is performed for the k+1th time with the distance between the two lanes being less than the first threshold as the objective function.

4. The method for determining lane topology based on polynomial equations according to claim 1, characterized in that: The determining of the road topological relationship between the two lanes having an intersecting relationship based on the intersection position of the two lanes having an intersecting relationship and the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold value comprises: Starting from the intersection of the first lane and the second lane, s1 and s2 are both decreased by the step length of step to determine the value of D(s1, s2). If the first point on the center line of the lane with a value of D(s1, s2) greater than the second threshold is located at the beginning of the lane and there is no second point on the center line of the lane with a value of D(s1, s2) greater than the second threshold at the end of the lane, then the road topological relationship between the two lanes with an intersection relationship is determined to be a road confluence; or, Starting from the intersection of the first lane and the second lane, s1 and s2 are incremented by the step length of step to determine the value of D(s1, s2). If the second point on the center line of the lane with a value of D(s1, s2) greater than the second threshold is located at the end of the lane and the first point on the center line of the lane with a value of D(s1, s2) greater than the second threshold does not exist at the beginning of the lane, then the road topological relationship between the two lanes with an intersection relationship is determined to be a road divergence; or, Starting from the intersection of the first lane and the second lane, s1 and s2 are incremented by the step length of step to determine the value of D(s1, s2). If the value of D(s1, s2) is greater than the second threshold, the first point on the center line of the lane is located at the end of the lane, and the value of D(s1, s2) is greater than the second threshold, the second point on the center line of the lane is located at the end of the lane, then the road topology relationship between the two lanes with an intersection relationship is determined to be an X-shaped road bifurcation; or, Starting from the intersection of the first lane and the second lane, s1 and s2 are incremented by the step size of step to determine the value of D(s1, s2). If there is no first point position on the lane centerline at the beginning of the lane with a value of D(s1, s2) greater than the second threshold and there is no second point position on the lane centerline at the end of the lane with a value of D(s1, s2) greater than the second threshold, then the road topological relationship between the two lanes with an intersection relationship is determined to be road overlap.

5. A device for determining lane topology based on polynomial equations, characterized in that: include: An equation acquisition module, used to acquire polynomial equations corresponding to lane center lines of multiple lanes in an area where the vehicle is located; wherein the polynomial equations represent the route positions of the lane center lines in a coordinate system; an equation solving module, for solving the polynomial equation corresponding to the lane center lines of any two lanes of the plurality of lanes based on the Newton iteration method, with the distance between the two lanes being less than a first threshold as the objective function, to determine the two lanes that have an intersecting relationship; A dependent variable determination module is used to determine the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold value based on the intersection position of the two lanes having an intersection relationship as the starting position, and to increase or decrease the dependent variable of the polynomial equation with a step length, wherein the dependent variable corresponding to the polynomial equation is the position of each point on the lane centerline of the lane; A road topology relationship determination module is used to determine the road topology relationship between the two lanes with an intersecting relationship based on the intersection position of the two lanes with an intersecting relationship and the point position corresponding to the dependent variable of the polynomial equation when the distance between the two lanes is greater than a second threshold value; wherein the road topology relationship includes road divergence, road convergence, road overlap and road X-shaped bifurcation.

6. The device for determining lane topology based on polynomial equations according to claim 5, characterized in that: The polynomial equations corresponding to the lane centerlines of the plurality of lanes include: Wherein, L1 is the polynomial equation corresponding to the lane centerline of the first lane, L2 is the polynomial equation corresponding to the lane centerline of the second lane; s1 is the point position on the lane centerline of the first lane; s1 is the point position on the lane centerline of the second lane; The spacing between the two lanes is: Wherein, s1 is the dependent variable in the polynomial equation f1(s1) corresponding to the lane centerline of the first lane; s2 is the dependent variable in the polynomial equation f2(s2) corresponding to the lane centerline of the second lane; The equation solving module is used to Set the number of iterations iter max ; If based on the Newton iteration method, for the polynomial equation corresponding to the lane center lines of any two lanes of the plurality of lanes, the number of polynomial solutions K is less than the number of iterations iter with the distance between the two lanes being less than the first threshold as the objective function max , then for D K Derivation, get based on And the distance relationship between the two lanes, we get D K+1 ; Based on D K+1 The lanes are compared with the first threshold to determine whether there is an intersection relationship between the two lanes.

7. The device for determining lane topology based on polynomial equations according to claim 6, characterized in that: The equation solving module is used to If D K+1 If the value is less than the first threshold, it is determined that there is an intersection relationship between the two lanes; If D K+1 is not less than the first threshold, then D K+1 With D K For comparison, if D K+1 Less than D K , then k=k+1 is performed, and the polynomial solution is performed for the k+1th time with the distance between the two lanes being less than the first threshold as the objective function.

8. The device for determining lane topology based on polynomial equations according to claim 5, characterized in that: The road topology relationship determination module is used to Starting from the intersection of the first lane and the second lane, s1 and s2 are both decreased by the step length of step to determine the value of D(s1, s2). If the first point on the center line of the lane with a value of D(s1, s2) greater than the second threshold is located at the beginning of the lane and there is no second point on the center line of the lane with a value of D(s1, s2) greater than the second threshold at the end of the lane, then the road topological relationship between the two lanes with an intersection relationship is determined to be a road confluence; or, Starting from the intersection of the first lane and the second lane, s1 and s2 are incremented by the step length of step to determine the value of D(s1, s2). If the second point on the center line of the lane with a value of D(s1, s2) greater than the second threshold is located at the end of the lane and the first point on the center line of the lane with a value of D(s1, s2) greater than the second threshold does not exist at the beginning of the lane, then the road topological relationship between the two lanes with an intersection relationship is determined to be a road divergence; or, Starting from the intersection of the first lane and the second lane, s1 and s2 are both incremented by the step length of step to determine the value of D(s1, s2). If the value of D(s1, s2) is greater than the second threshold, the first point on the center line of the lane is located at the end of the lane, and the value of D(s1, s2) is greater than the second threshold, the second point on the center line of the lane is located at the end of the lane, then the road topology relationship between the two lanes with an intersection relationship is determined to be an X-shaped road bifurcation; or, Starting from the intersection of the first lane and the second lane, s1 and s2 are incremented by the step size of step to determine the value of D(s1, s2). If there is no first point position on the lane centerline at the beginning of the lane with a value of D(s1, s2) greater than the second threshold and there is no second point position on the lane centerline at the end of the lane with a value of D(s1, s2) greater than the second threshold, then the road topological relationship between the two lanes with an intersection relationship is determined to be road overlap.

9. A computer-readable storage medium, characterized in that: A program for determining lane topology relationships based on polynomial equations is stored thereon. When the program for determining lane topology relationships based on polynomial equations is executed by a processor, the method for determining lane topology relationships based on polynomial equations as described in any one of claims 1 to 4 is implemented.

10. An electronic device, characterized in that: The invention comprises a memory, a processor and a program for determining lane topology relationships based on polynomial equations which is stored in the memory and can be run on the processor. When the processor executes the program for determining lane topology relationships based on polynomial equations, the method for determining lane topology relationships based on polynomial equations as described in any one of claims 1 to 4 is implemented.

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