A method and system for optimizing guide lines at intersections on medium-precision maps

Abstract

The present invention provides a method and system for optimizing the guide line of a medium-precision map intersection. Multiple landing points are determined at equal intervals of arc length at both ends of the total arc length of the intersection road guide line, and the deflection radius and deflection angle of each arc length are calculated. Two adjacent landing points are connected by circular arcs. For arc lengths with undetermined landing points, circular arcs are used to connect the landing points at both ends, and finally the optimized guide line of the intersection road is generated. The present invention proposes a method for constructing the center line of a lane in a medium-precision map lane line intersection, so that the connecting line in the intersection can be smoothly connected and has the characteristics of smooth curvature change, which can solve the problem of instantaneous curvature change caused by directly fitting the guide line with a circle in the intersection in the past medium-precision map, and improve the discomfort of passengers caused by the steering wheel being in place in one step during the automatic driving process.

Description

Technical Field

[0001] The present invention relates to the field of medium-precision map production, and more specifically, to a method and system for optimizing guide lines at intersections on medium-precision maps. Background Art

[0002] With the development of autonomous driving, the accuracy of lane lines is becoming increasingly important for high-precision maps. How to generate smooth lane fitting lines that conform to reality is a major technical challenge for major map manufacturers.

[0003] In real road conditions, intersections often do not have road demarcation lines, but guide lines are needed for guidance during vehicle control, so it is necessary to construct virtual connecting lines to supplement the data within this range. The guide lines constructed using the tangent circle method will have a sudden change in curvature, resulting in the uncomfortable phenomenon of the steering wheel "in one step" during autonomous driving. Summary of the invention

[0004] The present invention aims at the technical problems existing in the prior art and provides a method and system for optimizing guide lines at intersections on a medium-precision map.

[0005] According to a first aspect of the present invention, a method for optimizing guide lines at intersections on a medium-precision map is provided, comprising:

[0006] Based on the total arc length and minimum curvature radius of the optimized intersection road guide line, calculate the A value of the transition curve;

[0007] Calculate the deflection radius and deflection angle corresponding to the m-th arc length according to the A value of the transition curve and the cumulative arc length corresponding to the current m-th arc length;

[0008] Based on the deflection radius and deflection angle corresponding to the mth arc length, determine the mth landing point on the total arc length;

[0009] Repeat the search for the landing point on the total arc length until the cumulative arc length reaches 1 / 3 of the total arc length, and n landing points are found;

[0010] For the symmetrical 1 / 3 total arc length, use the same method to find n landing points;

[0011] For the two adjacent landing points among the n landing points at both ends of the total arc length, a circular arc is used to connect them. For the 1 / 3 arc length of the total arc length where no landing point is found, a circular arc is used to connect them to generate the optimized guide line of the intersection road.

[0012] Based on the above technical solution, the present invention can also make the following improvements.

[0013] Optionally, the calculation of the A value of the transition curve based on the optimized total arc length and minimum curvature radius of the intersection road guide line includes:

[0014]

[0015] Among them, L clothoid is the total arc length after optimization, L circle is the total arc length before optimization, Curvature max is the maximum curvature after optimization, is the inverse of the minimum curvature radius, R circle is the arc radius before optimization,

[0016] Optionally, the calculating the deflection radius and the deflection angle corresponding to the m-th arc length according to the A value of the transition curve and the cumulative arc length corresponding to the current m-th arc length includes:

[0017]

[0018] ∠m=step_len / A;

[0019] Among them, step_len is the length of each arc segment, and step_len is less than or equal to 1 / 6 of the total arc length. m is the deflection radius corresponding to the m-th arc length, ∠m is the deflection angle corresponding to the m-th arc length, and the length of each arc segment is equal.

[0020] Optionally, determining the mth landing point on the total arc length based on the deflection radius and the deflection angle corresponding to the mth arc length includes:

[0021] According to the deflection radius R1 and the entrance vector corresponding to the first arc length, the first center O1 is determined; according to the first center O1 and the deflection angle ∠1 corresponding to the first arc length, the first landing point on the total arc length is determined;

[0022] According to the deflection radius corresponding to the second arc length, the second center O2 is determined on the line connecting the first center O1 and the first landing point; according to the deflection angle ∠2 corresponding to the second center O2 and the second arc length, the second landing point on the total arc length is determined;

[0023] In this way, the mth landing point on the total arc length is determined until n landing points are determined on the total arc length. The cumulative arc from the first arc length to the nth arc length is 1 / 3 of the total arc length.

[0024] According to a second aspect of the present invention, a medium-precision map intersection guide line optimization system is provided, comprising:

[0025] A calculation module, for calculating the A value of the transition curve based on the total arc length and the minimum curvature radius of the optimized intersection road guide line; and calculating the deflection radius and deflection angle corresponding to the mth arc length according to the A value of the transition curve and the cumulative arc length corresponding to the current mth arc length;

[0026] A determination module is used to determine the mth landing point on the total arc length based on the deflection radius and deflection angle corresponding to the mth arc length; repeatedly determine the landing point on the total arc length until the cumulative arc length reaches 1 / 3 of the total arc length, and n landing points are found; and for a symmetrical 1 / 3 total arc length, the n landing points are determined in the same way;

[0027] The generation module is used to connect two adjacent landing points among the n landing points at both ends of the total arc length with circular arcs, and to connect the 1 / 3 arc length of the total arc length where no landing points have been found with circular arcs, so as to generate the optimized guide line of the intersection road.

[0028] Optionally, the determination module is used to determine the mth landing point on the total arc length based on the deflection radius and the deflection angle corresponding to the mth arc length, including:

[0029] According to the deflection radius R1 and the entrance vector corresponding to the first arc length, the first center O1 is determined; according to the first center O1 and the deflection angle ∠1 corresponding to the first arc length, the first landing point on the total arc length is determined;

[0030] According to the deflection radius corresponding to the second arc length, the second center O2 is determined on the line connecting the first center O1 and the first landing point; according to the deflection angle ∠2 corresponding to the second center O2 and the second arc length, the second landing point on the total arc length is determined;

[0031] In this way, the mth landing point on the total arc length is determined until n landing points are determined on the total arc length. The cumulative arc from the first arc length to the nth arc length is 1 / 3 of the total arc length.

[0032] According to a third aspect of the present invention, there is provided an electronic device comprising a memory and a processor, wherein the processor is configured to implement the steps of a method for optimizing guide lines at intersections of medium-precision maps when executing a computer management program stored in the memory.

[0033] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having a computer management program stored thereon, which, when executed by a processor, implements the steps of a method for optimizing guide lines at intersections on a medium-precision map.

[0034] The present invention provides a method and system for optimizing the guide line of a medium-precision map intersection, which determines multiple landing points with equal arc lengths symmetrically spaced at both ends of the total arc length of the intersection road guide line, calculates the deflection radius and deflection angle of each arc length, connects two adjacent landing points with circular arcs, and connects the landing points at both ends of the arc length with an undetermined landing point, and finally generates the optimized guide line of the intersection road. The present invention proposes a method for constructing the center line of the lane in the intersection of the lane line of the medium-precision map, so that the connecting line in the intersection can be smoothly connected and has the characteristics of smooth curvature change, which can solve the problem of instantaneous curvature change caused by directly fitting the guide line with a circle in the intersection in the past medium-precision map, and improve the discomfort of passengers caused by the one-step steering wheel in the process of automatic driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flow chart of a method for optimizing guide lines at intersections on a medium-precision map provided by the present invention;

[0036] Figure 2 Schematic diagram of lane centerline and curvature space of a traditional intersection;

[0037] Figure 3 is a schematic diagram of the distance-curvature space;

[0038] Figure 4 Schematic diagram for determining the first landing point on the total arc length;

[0039] Figure 5 Schematic diagram for determining the second landing point on the total arc length;

[0040] Figure 6 The schematic diagram for determining n landing points on the total arc length;

[0041] Figure 7 Schematic diagram of the optimized shape and curvature of the centerline of the lane at the intersection;

[0042] Figure 8 A comparison diagram of road guide lines before and after optimization;

[0043] Fig. 9 It is a structural schematic diagram of a medium-precision map intersection guide line optimization system of the present invention;

[0044] Fig.10 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0045] Fig.11 A schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0046] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0047] Based on the background technology, the present invention aims to propose a method for constructing the center line of a lane in an intersection of lane lines in a medium-precision map, and optimizes the traditional method for constructing the center line of a lane so that the connecting lines within the intersection can be smoothly connected and have the characteristic of smooth curvature change.

[0048] Embodiment 1

[0049] Figure 1 A flow chart of a method for optimizing guide lines at intersections on a medium-precision map provided by the present invention is shown in FIG. Figure 1 As shown, the method mainly includes the following steps:

[0050] S1, calculate the A value of the transition curve based on the total arc length and minimum curvature radius of the optimized intersection road guide line.

[0051] It is understandable that in the field of traditional road intersections, the least squares method is used to make an inscribed circle to connect two consecutive lanes. The center line and curvature space of the intersection lane can be seen in Figure 2 , resulting in a sudden change in curvature within the intersection, making the curvature change in a block shape as the distance changes. After applying this method, the curvature of the virtual guide line within the intersection changes into an isosceles trapezoid. When applied to the autonomous driving guidance process, it can improve the passenger's riding experience and enable smooth steering when turning.

[0052] Among them, before calculating the A value of the transition curve, the entrance reference vector (referred to as the entrance vector) and the exit reference vector (referred to as the exit vector) of the connecting lanes in the intersection and the step length of the point selection have been obtained, that is, the length of each arc when determining the landing point.

[0053] Specifically, the area of ​​the distance-curvature space image of the guide line before traditional optimization is a rectangular block. Along the distance, the arc curvature is unchanged. In the present invention, since the length of the transition curve: the length of the circular curve: the length of the transition curve = 1:1:1, the basic representation in the curvature space is a regular trapezoid.

[0054] See also Figure 3 In order to keep the area unchanged in the arc length-curvature space, we can get the total arc length multiplied by the maximum curvature, which will increase to 1.5 times compared with the original method. Since the arc length increases significantly and the maximum curvature increases significantly, we can guess that the total arc length increases to 1.2247448 times (square root of 1.5), and the maximum curvature also increases in the same way.

[0055] Then we can calculate the constant value of the curvature of the transition curve road section multiplied by the cumulative arc length, let it be A, the expression of A value is:

[0056]

[0057] Among them, L clothoid is the total arc length after optimization, L circle is the total arc length before optimization, Curvature max is the maximum curvature after optimization, is the inverse of the minimum curvature radius, R circle is the arc radius before optimization,

[0058] S2, calculating the deflection radius and deflection angle corresponding to the m-th arc length according to the A value of the transition curve and the cumulative arc length corresponding to the current m-th arc length.

[0059] As an embodiment, the deflection radius and the deflection angle corresponding to the m-th arc length are calculated according to the A value of the transition curve and the cumulative arc length corresponding to the current m-th arc length, including:

[0060]

[0061] ∠m=step_len / A;

[0062] Where step_len is the length of each arc segment, m*step_len is the cumulative arc length from the first arc segment to the m arc segments, where each arc segment has the same length, which is step_len, and step_len is less than or equal to 1 / 6 of the total arc length. m is the deflection radius corresponding to the m-th arc length, and ∠m is the deflection angle corresponding to the m-th arc length.

[0063] S3, based on the deflection radius and deflection angle corresponding to the m-th arc length, determine the m-th landing point on the total arc length; repeat the search for landing points on the total arc length until the cumulative arc length reaches 1 / 3 of the total arc length, and n landing points are found; for the symmetrical 1 / 3 total arc length, use the same method to find n landing points.

[0064] As an embodiment, the method of determining the mth landing point on the total arc length based on the deflection radius and deflection angle corresponding to the mth arc length includes: determining the first center O1 according to the deflection radius R1 and the entrance vector corresponding to the first arc length; determining the first landing point on the total arc length according to the first center O1 and the deflection angle ∠1 corresponding to the first arc length; determining the second center O2 on the line connecting the first center O1 and the first landing point according to the deflection radius corresponding to the second arc length; determining the second landing point on the total arc length according to the second center O2 and the deflection angle ∠2 corresponding to the second arc length; and so on, determining the mth landing point on the total arc length, until n landing points are determined on the total arc length, and the cumulative arc from the first arc length to the nth arc length is 1 / 3 of the total arc length.

[0065] It can be understood that the present invention is carried out from the entrance and exit ends of the total arc length respectively, and the landing point is found on 1 / 3 of the total arc length on the entrance side and 1 / 3 of the total arc length on the exit side, as well as the deflection radius and deflection angle corresponding to each arc length.

[0066] For the length of the first arc, refer to Figure 4 , according to the A value of the transition curve and the length of the first arc step_len, calculate the first deflection radius R1 and the first deflection angle ∠1, where:

[0067]

[0068] ∠1=step_len / R1.

[0069] According to R1, the entrance and the entrance vector, the first center O1 can be determined in the vertical direction, and then the first landing point on the total arc length can be determined according to the first center O1 and the first deflection angle ∠1.

[0070] When looking for the second drop point, refer to Figure 5 , according to the current cumulative arc length (the first arc length plus the second arc length), calculate the second deflection radius R2 and the second deflection angle ∠2 corresponding to the second arc length, where:

[0071]

[0072] ∠2=step_len / R2.

[0073] According to R2, the second center O2 is determined on the line connecting the first center O1 and the first landing point, and then the second landing point on the total arc length is determined according to the second center O2 and the first deflection angle ∠2.

[0074] Similarly, determine the mth landing point on the total arc length until n landing points are determined on the total arc length. The cumulative arc from the first arc length to the nth arc length is 1 / 3 of the total arc length. At this time, n landing points are determined on the 1 / 3 total arc length on the entrance side of the total arc length. The schematic diagram of the determined n landing points can be seen in Figure 6 . Use the same method to determine n landing points on 1 / 3 of the total arc length on the exit side of the total arc length.

[0075] S4, for two adjacent landing points among the n landing points at both ends of the total arc length, use circular arcs to connect them, and for the 1 / 3 arc length of the total arc length where no landing points are found, use circular arcs to connect them, so as to generate the optimized guide line of the intersection road.

[0076] It can be understood that for the n landing points on the 1 / 3 of the total arc length on the entrance side of the intersection road, for two adjacent landing points, arc lines are used to connect them, and then two adjacent landing points are connected with arcs in turn to connect the n landing points together. For the n landing points on the 1 / 3 of the total arc length on the exit side, the same method is used to connect them to form two arcs on the entrance and exit sides. For the 1 / 3 of the total arc length in the middle where no landing points are found, the rotation radius lines at the tangent points at both ends are calculated based on the landing points at both ends of the arc length, and the two transition curves are connected with the intersection of the two lines as the center of the final arc to generate the optimized guide line of the intersection road. The shape and curvature space of the optimized centerline of the intersection lane can be seen in Figure 7 Finally, the effect diagram of the optimized guide line of the intersection road can be seen in Figure 8 , a new construction method is used to construct lane guide lines, so that their connecting lines in intersections can be smoothly connected and have the characteristics of smoothly changing curvature. Compared with the problem of instantaneous curvature changes caused by directly using circular fitting guide lines in intersections in the past medium-precision maps, the phenomenon of passenger discomfort caused by the steering wheel being in place in one step during autonomous driving has been improved.

[0077] Embodiment 2

[0078] A medium-precision map intersection guide line optimization system, see Fig. 9 The system includes a calculation module 901, a determination module 902 and a generation module 903, wherein:

[0079] The calculation module 901 is used to calculate the A value of the transition curve based on the total arc length and the minimum curvature radius of the optimized intersection road guide line; and calculate the deflection radius and deflection angle corresponding to the mth arc length according to the A value of the transition curve and the cumulative arc length corresponding to the current mth arc length;

[0080] The determination module 902 is used to determine the mth landing point on the total arc length based on the deflection radius and the deflection angle corresponding to the mth arc length; repeatedly determine the landing point on the total arc length until the cumulative arc length reaches 1 / 3 of the total arc length, and n landing points are found; and for a symmetrical 1 / 3 of the total arc length, determine n landing points in the same way;

[0081] The generation module 903 is used to connect two adjacent landing points among the n landing points at both ends of the total arc length with a circular arc, and to connect the 1 / 3 arc length of the total arc length where no landing points are found with a circular arc, so as to generate the optimized guide line of the intersection road.

[0082] It can be understood that the medium-precision map intersection guide line optimization system provided by the present invention corresponds to the medium-precision map intersection guide line optimization method provided by the aforementioned embodiments. The relevant technical features of the medium-precision map intersection guide line optimization system can refer to the relevant technical features of the medium-precision map intersection guide line optimization method, which will not be repeated here.

[0083] Embodiment 3

[0084] See also Fig.10 , Fig.10 Schematic diagram of an electronic device provided by an embodiment of the present invention. Fig.10 As shown, an embodiment of the present invention provides an electronic device, including a memory 1010, a processor 1020, and a computer program 1011 stored in the memory 1010 and executable on the processor 1020. When the processor 1020 executes the computer program 1011, the following steps are implemented: based on the total arc length and the minimum curvature radius of the optimized intersection road guide line, a transition curve A value is calculated; based on the transition curve A value and the cumulative arc length corresponding to the current m-th arc length, a deflection radius and a curvature radius corresponding to the m-th arc length are calculated; Deflection angle; based on the deflection radius and deflection angle corresponding to the mth arc length, determine the mth landing point on the total arc length; repeat the search for landing points on the total arc length until the cumulative arc length reaches 1 / 3 of the total arc length, and n landing points are found; for the symmetrical 1 / 3 total arc length, the same method is used to find n landing points; for the adjacent two landing points at both ends of the total arc length, use an arc to connect them, and for the 1 / 3 arc length on the total arc length where no landing point is found, use an arc to connect them, and generate the optimized guide line of the intersection road.

[0085] Embodiment 4

[0086] See also Fig.11 , Fig.11 Schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. Fig.11As shown, the present embodiment provides a computer-readable storage medium 1100 on which a computer program 1111 is stored. When the computer program 1111 is executed by a processor, the following steps are implemented: based on the total arc length and the minimum curvature radius of the optimized intersection road guide line, a transition curve A value is calculated; based on the transition curve A value and the cumulative arc length corresponding to the current m-th arc length, a deflection radius and a deflection angle corresponding to the m-th arc length are calculated; based on the deflection radius and the deflection angle corresponding to the m-th arc length, the m-th landing point on the total arc length is determined; the landing point is repeatedly searched on the total arc length until the cumulative arc length reaches 1 / 3 of the total arc length, and n landing points are found; for the symmetrical 1 / 3 total arc length, n landing points are found in the same way; for two adjacent landing points among the n landing points at both ends of the total arc length, an arc is used to connect them, and for the 1 / 3 arc length on the total arc length where no landing point is found, an arc is used to connect them, so as to generate the optimized intersection road guide line.

[0087] An embodiment of the present invention provides a method and system for optimizing guide lines at intersections on medium-precision maps, and proposes a method for constructing lane center lines at intersections on medium-precision maps, so that the connecting lines at the intersection can be smoothly connected and have the characteristic of smoothly changing curvature. This can solve the problem of instantaneous curvature changes caused by directly using circular fitting guide lines at intersections in medium-precision maps in the past. When applied to the autonomous driving guidance process, it can improve the passenger riding experience, enable the steering wheel to be turned smoothly when turning, and improve the phenomenon of passenger discomfort caused by the steering wheel being in place in one step during the autonomous driving process.

[0088] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0089] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0090] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0091] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0092] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0093] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0094] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for optimizing guide lines at intersections on a medium-precision map, characterized in that: include: Based on the total arc length and minimum curvature radius of the optimized intersection road guide line, calculate the A value of the transition curve; Calculate the deflection radius and deflection angle corresponding to the m-th arc length according to the A value of the transition curve and the cumulative arc length corresponding to the current m-th arc length; Based on the deflection radius and deflection angle corresponding to the mth arc length, determine the mth landing point on the total arc length; Repeat the search for the landing point on the total arc length until the cumulative arc length reaches 1 / 3 of the total arc length, and n landing points are found; For the symmetrical 1 / 3 total arc length, use the same method to find n landing points; For the two adjacent landing points among the n landing points at both ends of the total arc length, a circular arc is used to connect them. For the 1 / 3 arc length of the total arc length where no landing point is found, a circular arc is used to connect them to generate the optimized guide line of the intersection road.

2. The guide line optimization method according to claim 1, characterized in that: The calculation of the A value of the transition curve based on the total arc length and the minimum curvature radius of the optimized intersection road guide line includes: Among them, Lclothoid is the total arc length after optimization, L circle is the total arc length before optimization, Curvature max is the maximum curvature after optimization, is the inverse of the minimum curvature radius, R circle is the arc radius before optimization, 3. The guide line optimization method according to claim 2, characterized in that: The calculating the deflection radius and the deflection angle corresponding to the m-th arc length according to the A value of the transition curve and the cumulative arc length corresponding to the current m-th arc length includes: ∠m=step_len / A; Among them, step_len is the length of each arc segment, step_len is less than or equal to 1 / 6 of the total arc length, R m is the deflection radius corresponding to the m-th arc length, ∠m is the deflection angle corresponding to the m-th arc length, and the length of each arc segment is equal.

4. The guide line optimization method according to claim 1, characterized in that: The step of determining the mth landing point on the total arc length based on the deflection radius and the deflection angle corresponding to the mth arc length includes: According to the deflection radius R1 and the entrance vector corresponding to the first arc length, the first center O1 is determined; according to the first center O1 and the deflection angle ∠1 corresponding to the first arc length, the first landing point on the total arc length is determined; According to the deflection radius corresponding to the second arc length, the second center O2 is determined on the line connecting the first center O1 and the first landing point; according to the deflection angle ∠2 corresponding to the second center O2 and the second arc length, the second landing point on the total arc length is determined; And so on, determine the mth landing point on the total arc length, until n landing points are determined on the total arc length, and the cumulative arc from the first arc length to the nth arc length is 1 / 3 of the total arc length.

5. A medium-precision map intersection guide line optimization system, characterized in that: include: A calculation module, used to calculate the A value of the transition curve based on the total arc length and the minimum curvature radius of the optimized road guide line of the intersection; Calculate the deflection radius and deflection angle corresponding to the m-th arc length according to the A value of the transition curve and the cumulative arc length corresponding to the current m-th arc length; A determination module, used to determine the mth landing point on the total arc length based on the deflection radius and the deflection angle corresponding to the mth arc length; Repeat the process of determining the landing points on the total arc length until the cumulative arc length reaches 1 / 3 of the total arc length, and n landing points are found; and for the symmetrical 1 / 3 of the total arc length, the n landing points are determined in the same way; The generation module is used to connect two adjacent landing points among the n landing points at both ends of the total arc length with circular arcs, and to connect the 1 / 3 arc length of the total arc length where no landing points have been found with circular arcs, so as to generate the optimized guide line of the intersection road.

6. The guide line optimization system according to claim 5, characterized in that: The determination module is used to determine the mth landing point on the total arc length based on the deflection radius and the deflection angle corresponding to the mth arc length, including: According to the deflection radius R1 and the entrance vector corresponding to the first arc length, the first center O1 is determined; according to the first center O1 and the deflection angle ∠1 corresponding to the first arc length, the first landing point on the total arc length is determined; According to the deflection radius corresponding to the second arc length, the second center O2 is determined on the line connecting the first center O1 and the first landing point; according to the deflection angle ∠2 corresponding to the second center O2 and the second arc length, the second landing point on the total arc length is determined; And so on, determine the mth landing point on the total arc length, until n landing points are determined on the total arc length, and the cumulative arc from the first arc length to the nth arc length is 1 / 3 of the total arc length.

7. An electronic device, characterized in that: It includes a memory and a processor, and the processor is used to implement the steps of the medium-precision map intersection guide line optimization method as described in any one of claims 1 to 4 when executing the computer management program stored in the memory.

8. A computer-readable storage medium, characterized in that: A computer management program is stored thereon, and when the computer management program is executed by the processor, the steps of the medium-precision map intersection guide line optimization method as described in any one of claims 1 to 4 are implemented.

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