Method, device, equipment, storage medium and product for generating lane guide marks

Abstract

The disclosure provides a method, device, equipment, storage medium and product for generating lane guide marks, relates to the technical field of maps, and particularly relates to the technical field of lane guide marks. A specific implementation scheme is as follows: a plurality of lane marks of a target lane are acquired, the lane marks include a center point of the lane marks and a direction of the lane marks; based on the center point of the lane marks, a final center point for generating a lane guide mark of the target lane is calculated; and based on the final center point and the direction, the lane guide mark of the target lane is automatically generated. Through the disclosure, the lane guide arrow is automatically generated, the generation efficiency is improved, and human resources are saved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of map, in particular to the technical field of lane guide sign, and specifically to a method, device, equipment, storage medium and product for generating lane guide sign. BACKGROUND

[0002] The emergence of electronic map makes the travel of users more convenient. With the development of electronic map, electronic map provides more abundant functions for users.

[0003] Among them, the electronic map shows the corresponding guide arrow of the lane ground in the electronic map by drawing the ground arrow of the road network base map. SUMMARY

[0004] The present disclosure provides a method, device, equipment, storage medium and product for generating lane guide sign.

[0005] According to a first aspect of the present disclosure, a method for generating lane guide sign is provided, applied to a map, and the method comprises:

[0006] obtaining a plurality of lane marks of a target lane, the lane mark comprising a center point of the lane mark and a direction of the lane mark; calculating a final center point for generating a lane guide sign of the target lane based on the center point of the lane mark; and automatically generating the lane guide sign of the target lane based on the final center point and the direction.

[0007] According to a second aspect of the present disclosure, a device for generating lane guide sign is provided, applied to a map, and the device comprises:

[0008] an obtaining module, configured to obtain a plurality of lane marks of a target lane, the lane mark comprising a center point of the lane mark and a direction of the lane mark; a calculating module, configured to calculate a final center point for generating a lane guide sign of the target lane based on the center point of the lane mark; and a generating module, configured to automatically generate the lane guide sign of the target lane based on the final center point and the direction.

[0009] According to a third aspect of the present disclosure, an electronic device is provided, comprising:

[0010] at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method of the first aspect.

[0011] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to perform the method according to the first aspect.

[0012] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method according to the first aspect.

[0013] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0014] The accompanying drawings are used to better understand the present scheme, and do not limit the present disclosure. Among them:

[0015] Figure 1 A flowchart of a method for drawing a guide arrow provided by an embodiment of the present disclosure is shown;

[0016] Figure 2 A flowchart of a method for generating a lane guide mark provided by an embodiment of the present disclosure is shown;

[0017] Figure 3 A schematic diagram of a lane mark provided by an embodiment of the present disclosure is shown;

[0018] Figure 4 A schematic diagram of a lane mark provided by an embodiment of the present disclosure is shown;

[0019] Figure 5 A flowchart of a method for generating a lane guide mark provided by an embodiment of the present disclosure is shown;

[0020] Figure 6 A schematic diagram of a method for calculating the mean of a vector provided by an embodiment of the present disclosure is shown;

[0021] Figure 7 A schematic diagram of a center point position display provided by an embodiment of the present disclosure is shown;

[0022] Figure 8 A flowchart of a method for generating a lane guide mark provided by an embodiment of the present disclosure is shown;

[0023] Figure 9 A flowchart of a method for generating a lane guide mark provided by an embodiment of the present disclosure is shown;

[0024] Figure 10 A schematic diagram of a projection center point provided by an embodiment of the present disclosure is shown;

[0025] Figure 11 A schematic diagram of generating a bounding box is shown;

[0026] Figure 12 A schematic diagram of a bounding box compared with an actual arrow is shown;

[0027] Figure 13 A schematic diagram of generating a bounding box is shown;

[0028] Figure 14 A schematic diagram of a device for generating a lane guide mark is shown;

[0029] Figure 15 A block diagram of an electronic device for implementing the method for generating a lane guide mark is shown. DETAILED DESCRIPTION

[0030] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the exemplary embodiments of the present disclosure to assist in understanding, which should be considered in a descriptive sense only. Thus, it will be apparent to one of ordinary skill in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, for the sake of brevity and clarity, descriptions of well-known functions and constructions are omitted from the following description.

[0031] The emergence of electronic maps makes travel more convenient for users. With the development of electronic maps, electronic maps provide users with more rich functions. One of the functions is that electronic maps show the corresponding guide arrows of the lane ground by drawing the ground arrows of the road network base map.

[0032] In the related art, the style of the actual guide arrow on the lane ground is collected by manual means, and the collected guide arrow is drawn in the road network base map. For example, Figure 1 A flowchart of a method for drawing a guide arrow is shown, as shown in Figure 1 As shown in the method, the top view of the target guide arrow is obtained, the shape feature of the guide arrow is determined by outlining the top view arrow, the drawn guide arrow is associated with the base map lane center line, and the guide arrow for display in the electronic map is obtained.

[0033] The shape style of the lane guide arrow is determined by manual operation, which is relatively large in workload and time-consuming and laborious. Moreover, in the data laying stage, it is difficult to guarantee the quality, and a large amount of resources need to be invested for manual drawing operation.

[0034] Based on this, the disclosure provides a method and device for generating lane guide marks, which calculates the position, direction and size of lane guide arrows through the resources of map updating, thereby automatically generating the guide arrows of the lane. Through the disclosure, the guide arrows of the lane can be automatically generated, thereby improving the generation efficiency and saving human resources.

[0035] Figure 2 A flowchart of a method for generating lane guide marks provided by an embodiment of the disclosure is shown in FIG. 1. Figure 2 As shown in FIG. 1, the method applied to a map can include the following steps.

[0036] In step S110, a plurality of lane marks of a target lane are acquired.

[0037] In an embodiment of the disclosure, the lane mark at least includes a center point of the lane mark and a direction of the lane mark.

[0038] In the disclosure, the lane mark of the target lane can be acquired through the resources of map data road network updating. The resources can be arrow distribution resources for expressing a road section. The lane mark records the coordinate position of the lane mark and the arrow direction of the lane mark.

[0039] Exemplarily, Figure 3 A schematic diagram of a lane mark provided by an embodiment of the disclosure is shown in FIG. 2. Figure 3 As shown in FIG. 2, lane_Mark_A represents a lane mark, which is represented by a symbol "?". Figure 3 As shown in FIG. 2, the lane mark includes three lane units. The lane mark records the coordinate position of the lane mark and records the arrow directions of the lane marks corresponding to the three lane units, which are straight, straight and right, and straight and right.

[0040] In an embodiment of the disclosure, the map data road network is periodically updated, and a plurality of data needs to be collected in one period. When the resources are acquired, a plurality of lane marks of the same lane can be acquired. Exemplarily, Figure 4 A schematic diagram of acquiring lane marks provided by an embodiment of the disclosure is shown in FIG. 3. Figure 4 As shown in FIG. 3, the lane marks of the same lane are six.

[0041] In step S120, based on the center point of the lane mark, a final center point for generating the lane guide mark of the target lane is calculated.

[0042] In an embodiment of the disclosure, based on the lane mark center point included in the lane mark, the center point of the lane mark is processed, and the processed center point of the lane mark is calculated to obtain the final center point for generating the lane guide mark.

[0043] In step S130, a lane guide mark of the target lane is automatically generated based on the final center point and the direction.

[0044] In the embodiments of the present disclosure, the road network map is acquired, the direction of the lane guide mark of the target lane to be automatically generated is determined according to the marking direction of the arrow included in the lane mark, and the lane guide mark of the target lane of the road network base map is automatically generated according to the determined direction of the lane guide mark, the final center point, and the standard arrow size of the lane guide mark to be generated.

[0045] According to the present disclosure, the final center point and the direction of the lane guide mark of the target lane to be automatically generated are calculated according to the center point of the lane mark and the direction of the lane mark included in the lane mark, so that the lane guide mark of the target lane can be automatically generated according to the size of the lane guide mark. The human resources are reduced, and the efficiency of generating the lane guide mark is improved.

[0046] Figure 5 A flowchart of a method for generating a lane guide mark according to an embodiment of the present disclosure is shown, as shown in Figure 5 The method can include the following steps:

[0047] In step S210, a starting center point is determined from the center points of the plurality of lane marks.

[0048] In the embodiments of the present disclosure, a distance threshold value between the plurality of center points can be preset, the plurality of center points are filtered by the distance threshold value, and the center points exceeding the distance threshold value are determined. The center points exceeding the distance threshold value are determined as independent samples, and the independent samples are cleaned. The error of calculating the center point can be reduced by cleaning the independent coordinates, so that the obtained center point is more accurate.

[0049] In the center points meeting the requirements, a center point is randomly selected, and the center point is determined as the starting center point. Generally, the center point with sparse edges can be preferentially selected as the starting point.

[0050] In step S220, a vector from the starting center point to each of the remaining center points is calculated, and a mean value of the vectors is calculated to determine a moving direction and a distance of the starting center point.

[0051] In step S230, the starting center point is moved based on the moving direction and the distance to obtain a final center point for generating the lane guide mark.

[0052] In the embodiments of the present disclosure, according to the determined starting center point, a vector from the starting point to other center points is calculated, a mean value between the vectors is calculated, a mean vector is determined, and the other end of the vector is the position of the movement of the starting center point, so as to obtain the movement direction and distance of the starting center point. For example, the cluster point is searched along the density rising direction. In the present disclosure, according to the determined movement direction and distance, the starting center point is moved, so as to determine the final center point of the lane guide mark of the target lane.

[0053] The following embodiments will be described in combination with the drawings to calculate the vector mean value and obtain the offset mean value.

[0054] In the embodiments of the present disclosure, the starting center point is taken as the center, and a target range is determined based on a preset range size, and at least one coordinate in the target range is determined. Figure 6 A schematic diagram of a method for calculating a vector mean value provided by an embodiment of the present disclosure is shown in FIG. 1. Figure 6 As shown in FIG. 1, the preset range can be a circular range, and the radius can be a certain distance, for example, 15 meters.

[0055] A vector from the starting center point to each coordinate in the target range is calculated, and a mean value of the vectors is calculated to obtain an offset mean value. According to the determined offset mean value, an intermediate starting point is obtained, the original starting point is moved to the intermediate starting point, the position of the offset mean value is determined as the starting center point, and the target range is determined again based on the preset range size. The starting center point is moved again based on the re-determined mean value, until each center point in the threshold range is traversed, the last offset mean value is calculated, and the final center point is determined. The position of the final center point is the center point required by the present disclosure, so as to determine the movement direction and distance from the starting center point to the final center point, and determine the final center point of the lane guide mark of the target lane for generating the road network base map.

[0056] For example, Figure 7 A schematic diagram of a center point position display provided by an embodiment of the present disclosure is shown in FIG. 2. Figure 7 As shown in FIG. 2, the distance between the center point calculated by the present disclosure and the ideal center point is within the accuracy error range, which meets the expected accuracy requirement.

[0057] Figure 8 A flowchart of a method for generating a lane guide mark provided by an embodiment of the present disclosure is shown in FIG. 3. Figure 8 As shown in FIG. 3, the method can include the following steps.

[0058] In step S310, time information corresponding to a plurality of lane marks is obtained.

[0059] In the embodiments of the present disclosure, the lane mark further includes time information corresponding thereto, and the time information corresponding to each lane mark is obtained.

[0060] In step S320, the arrow direction for automatically generating the lane guide arrow is determined based on the time information and the directions of all the lane marks.

[0061] In the embodiments of the present disclosure, the directions of the lane guide marks corresponding to the plurality of lane marks are obtained, and the direction of each lane mark is determined one by one.

[0062] If the directions of the plurality of lane marks are consistent, the direction of any one lane mark is obtained, and the direction is determined as the direction for automatically generating the lane guide mark of the road network base map.

[0063] If the directions of the plurality of lane marks are inconsistent, the direction of the lane mark corresponding to the time information is determined as the direction for automatically generating the lane guide mark of the road network base map. For example, the straight arrow in January 2020 and the straight and right arrow in October 2021 are used as the arrow direction for automatically generating the lane guide mark of the road network base map.

[0064] In step S330, the lane guide arrow of the target lane is automatically generated based on the final center point and the arrow direction.

[0065] In the embodiments of the present disclosure, the arrow size corresponding to the target lane is obtained, and the lane guide arrow of the target lane of the road network base map is automatically generated based on the determined final center point and the arrow direction according to the obtained arrow size.

[0066] In the embodiments of the present disclosure, if the direction of the lane guide arrow cannot be determined, further verification is required, for example:

[0067] If the direction of any one lane guide mark in the directions of the plurality of lane marks cannot be recognized, it is determined to re-collect the current guide direction of the target lane, verify the current arrow direction, and determine the arrow direction for automatically generating the lane guide mark of the road network base map.

[0068] If the number of the directions of the plurality of lane marks is inconsistent with the number of the recognized lane units, it is determined to re-collect the current mark direction of the target lane, verify the current mark direction, and determine the direction for automatically generating the lane guide mark of the road network base map. The number of lane units needs to exclude emergency lanes, escape lanes, and the like.

[0069] If the directions of the plurality of lane marks are two or more in the same direction, it is determined to re-collect the arrow direction of the current lane mark of the target lane, that is, to verify the current arrow direction and determine the arrow direction for automatically generating the lane guide mark of the road network base map. For example, the urban up-and-down viaduct road.

[0070] In the present disclosure, based on the verification result of the arrow direction, the arrow direction of the lane guide arrow for automatically generating the target lane of the road network base map is determined.

[0071] Figure 9 A flowchart of a method for generating a lane guide sign according to an embodiment of the present disclosure is shown in FIG. 6. As shown in FIG. 6, the method can include the following steps. Figure 9

[0072] In step S410, the arrow size of the lane guide arrow corresponding to the target lane is obtained.

[0073] In the embodiment of the present disclosure, the standard arrow size and the color of the displayed arrow also need to be obtained. The length of a general guide arrow can be 3.0 m, 4.5 m, 6.0 m, or 9.0 m. Different road grades and speeds correspond to different arrow sizes.

[0074] In the present disclosure, the standard of the lane guide sign of the target lane can be determined by the standard of the lane guide sign, and the size of the lane guide sign can be determined.

[0075] Thus, the size of the lane guide arrow to be generated can be determined according to the standard and the arrow size determined in the above embodiment.

[0076] In step S420, the arrow bounding box of the lane guide arrow is automatically generated based on the final center point and the arrow size.

[0077] In step S430, the lane guide arrow is automatically generated based on the arrow direction and the arrow bounding box.

[0078] In the embodiment of the present disclosure, according to the line speed limit value distribution of the target lane, the arrow area, i.e., the size of the bounding box, to be generated is determined. Based on the determined arrow direction and the arrow bounding box, the arrow of the lane guide sign of the target lane of the road network base map is automatically generated.

[0079] The following embodiment will describe the automatic generation of the arrow bounding box of the lane guide sign of the target lane of the road network base map in conjunction with the accompanying drawings.

[0080] In the present disclosure, the center point can be vertically projected onto the target lane center line. Figure 10 A schematic diagram of projecting a center point according to an embodiment of the present disclosure is shown in FIG. 8. As shown in FIG. 8, the center point is vertically projected onto each lane center line of the lane group. Figure 10 A schematic diagram of generating a bounding box according to an embodiment of the present disclosure is shown in FIG. 9. As shown in FIG. 9, the center point is vertically projected onto each lane center line of the lane group. Figure 11 A schematic diagram of generating a bounding box according to an embodiment of the present disclosure is shown in FIG. 9. As shown in FIG. 9, the center point is vertically projected onto each lane center line of the lane group. Figure 11 ​As shown, arrow bounding boxes for lane guide markers of the target lane on the road network base map are automatically generated along the centerline according to the corresponding arrow size. If the lane has no arrow, there is no need to generate an arrow bounding box. One side of the arrow bounding box is parallel to the centerline.

[0081] Figure 12 A schematic diagram comparing a bounding box with an actual arrow, as provided in an embodiment of this disclosure, is shown. Figure 12 As shown, after generating the bounding box, it is necessary to verify and calibrate the generated bounding box. Figure 13 A schematic diagram of a bounding box generation method provided by an embodiment of this disclosure is shown, such as... Figure 13 As shown, lane guidance arrows for the target lane are automatically generated based on the verified and calibrated bounding box and the determined direction of the guide arrows.

[0082] Based on and Figure 1 The method shown follows the same principle. Figure 14 A schematic diagram of a device for generating lane guidance markings according to an embodiment of this disclosure is shown, as follows: Figure 14 As shown, the device 100 for generating lane guidance markings may include:

[0083] The acquisition module 101 is used to acquire multiple lane markings of the target lane, the lane markings including the center point of the lane markings and the direction of the lane markings; the calculation module 102 is used to calculate the final center point of the lane guidance markings for generating the target lane based on the center point of the lane markings; the generation module 103 is used to automatically generate the lane guidance markings of the target lane based on the final center point and the direction.

[0084] In this embodiment of the disclosure, the calculation module 102 is used to determine a starting center point among the center points of the plurality of lane markings; calculate the vector from the starting center point to each of the remaining center points, and calculate the mean of the vectors to determine the moving direction and distance of the starting center point; and move the starting center point based on the moving direction and distance to obtain the final center point for generating the lane guidance markings.

[0085] In this embodiment of the disclosure, the calculation module 102 is used to determine a target range based on a preset range size, with the starting center point as the center, and to determine at least one coordinate within the target range; calculate the vector from the starting center point to each center point within the target range, and calculate the average value of the vectors to obtain the offset mean; determine the position of the offset mean as the starting center point, and re-determine the target range based on the preset range size, until each center point within a threshold range is traversed to obtain at least one offset mean; and determine the movement direction and distance of the starting center point based on the at least one offset mean.

[0086] In the embodiments of the present disclosure, the lane guide mark is a lane guide arrow; the generation module 103 is configured to acquire time information corresponding to the plurality of lane marks; determine an arrow direction for automatically generating the lane guide arrow based on the time information and the directions of all the lane marks; and automatically generate a lane guide arrow of a target lane based on the final center point and the arrow direction.

[0087] In the embodiments of the present disclosure, the generation module 103 is further configured to acquire a verification result of the direction of the lane mark, and determine the arrow direction for automatically generating the lane guide arrow based on the verification result.

[0088] In the embodiments of the present disclosure, the generation module 103 is configured to acquire an arrow size of the lane guide arrow corresponding to the target lane; automatically generate an arrow bounding box of the lane guide arrow based on the final center point and the arrow size; and automatically generate the lane guide arrow based on the arrow direction and the arrow bounding box.

[0089] In the embodiments of the present disclosure, the generation module 103 is configured to project the final center point vertically onto a center line of the target lane; automatically generate an arrow bounding box of the lane guide arrow on the center line according to the arrow size; and one side of the arrow bounding box is parallel to the center line.

[0090] In the technical solutions of the present disclosure, the acquisition, storage and application of user personal information comply with relevant laws and regulations, and do not violate public order and good customs.

[0091] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium and a computer program product.

[0092] Figure 15 A schematic block diagram of an example electronic device 200 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the present disclosure described and / or claimed in this document.

[0093] As Figure 15As shown, the device 200 includes a computing unit 201 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 202 or a computer program loaded from a storage unit 208 into a random access memory (RAM) 203. In the RAM 203, various programs and data required for the operation of the device 200 can also be stored. The computing unit 201, the ROM 202, and the RAM 203 are connected to each other through a bus 204. An input / output (I / O) interface 205 is also connected to the bus 204.

[0094] A plurality of components in the device 200 are connected to the I / O interface 205, including: an input unit 206, such as a keyboard, a mouse, and the like; an output unit 207, such as various types of displays, speakers, and the like; a storage unit 208, such as a magnetic disk, an optical disk, and the like; and a communication unit 209, such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 209 allows the device 200 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0095] The computing unit 201 can be various general-purpose and / or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 201 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, and the like. The computing unit 201 performs various methods and processes described above, such as the method of generating lane guide marks. For example, in some embodiments, the method of generating lane guide marks can be implemented as a computer software program that is tangibly embodied in a machine-readable medium, such as the storage unit 208. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 200 via the ROM 202 and / or the communication unit 209. When the computer program is loaded into the RAM 203 and executed by the computing unit 201, one or more steps of the method of generating lane guide marks described above can be performed. Alternatively, in other embodiments, the computing unit 201 can be configured to perform the method of generating lane guide marks by any other appropriate means, such as by means of firmware.

[0096] The various embodiments of the systems and techniques described above can be implemented in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0097] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, or entirely on a remote machine or server.

[0098] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0099] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0100] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0101] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server is generally established by computer programs running on the respective computers and having a client-server relationship to each other. The servers can be cloud servers, servers of a distributed system, or servers combined with a blockchain.

[0102] It should be understood that various forms of flow shown above can be used, with steps reordered, added, or removed. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, without limitation herein, so long as the desired results of the technology disclosed in the present disclosure are achieved.

[0103] The specific embodiments described above are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that various modifications, combinations, sub-combinations, and alternatives can be made to the specific embodiments without departing from the spirit and principles of the present disclosure. Any further modifications, equivalent substitutions, improvements, and the like, either presently known or that are later developed, that are within the spirit and principles of the present disclosure are intended to be encompassed herein.

Claims

1. A method for generating lane guide marks, applied to a map, the method comprising: obtaining a plurality of lane marks of a target lane, each of the lane marks comprising a center point of the lane mark and a direction of the lane mark; calculating a final center point for generating a lane guide mark of the target lane based on the center points of the lane marks; automatically generating the lane guide mark of the target lane based on the final center point and the direction, the lane guide mark being a lane guide arrow, the lane guide arrow being determined based on an arrow direction and an arrow bounding box, the arrow bounding box being generated in the following manner: vertically projecting the final center point onto a center line of the target lane; automatically generating the arrow bounding box of the lane guide arrow on the center line according to an arrow size, one side of the arrow bounding box being parallel to the center line, the length and width of the arrow bounding box being determined based on a speed limit value distribution of the target lane; the calculating of the final center point for generating the lane guide mark of the target lane based on the center points of the lane marks comprises: determining a starting center point among the center points of the lane marks; calculating a vector from the starting center point to each of the remaining center points and calculating a mean value of the vectors to determine a moving direction and distance of the starting center point; moving the starting center point based on the moving direction and distance to obtain the final center point for generating the lane guide mark.

2. The method of claim 1, wherein, the calculating of the vector from the starting center point to each of the remaining center points and the calculating of the mean value of the vectors to determine the moving direction and distance of the starting center point comprises: determining a target range based on a preset range size with the starting center point as the center and determining at least one coordinate in the target range; calculating a vector from the starting center point to each of the center points in the target range and calculating a mean value of the vectors to obtain a bias mean value; determining the starting center point as a position where the bias mean value is located, determining a target range again based on the preset range size, and repeating the above steps until each of the center points in a threshold range is traversed to obtain at least one bias mean value; determining the moving direction and distance of the starting center point based on the at least one bias mean value.

3. The method of claim 1, wherein, the lane guide mark is a lane guide arrow; the automatically generating of the lane guide mark of the target lane based on the final center point and the direction comprises: obtaining time information corresponding to the lane marks; determining an arrow direction for automatically generating the lane guide arrow based on the time information and the directions of all the lane marks; automatically generating the lane guide arrow of the target lane based on the final center point and the arrow direction.

4. The method of claim 3, wherein, the method further comprises: obtaining a verification result of the directions of the lane marks and determining the arrow direction for automatically generating the lane guide arrow based on the verification result.

5. The method of claim 3, wherein, the automatically generating of the lane guide arrow of the target lane based on the final center point and the arrow direction comprises: obtaining an arrow size of the lane guide arrow corresponding to the target lane; automatically generating an arrow bounding box of the lane guide arrow based on the final center point and the arrow size; automatically generate the lane guide arrow based on the arrow direction and the arrow bounding box. 6.An apparatus for generating a lane guide mark, applied to a map, the apparatus comprising: an acquisition module configured to acquire a plurality of lane marks of a target lane, the lane marks comprising a center point of a lane mark and a direction of the lane mark; a calculation module configured to calculate a final center point for generating a lane guide mark of the target lane based on the center points of the lane marks; a generation module configured to automatically generate the lane guide mark of the target lane based on the final center point and the direction, the lane guide mark being a lane guide arrow, the lane guide arrow being determined based on an arrow direction and an arrow bounding box, the arrow bounding box being generated based on the following manner: perpendicularly projecting the final center point onto a center line of the target lane; automatically generating the arrow bounding box of the lane guide arrow on the center line according to an arrow size, one side of the arrow bounding box being parallel to the center line, the length and width of the arrow bounding box being determined based on a speed limit value distribution of the target lane; the calculation module is configured to: determine a starting center point among the center points of the plurality of lane marks; calculate a vector from the starting center point to each of the remaining center points, and calculate a mean value of the vectors to determine a moving direction and distance of the starting center point; move the starting center point based on the moving direction and distance to obtain the final center point for generating the lane guide mark.

7. The apparatus of claim 6, wherein, the calculation module is configured to: determine a target range based on a preset range size with the starting center point as a center, and determine at least one coordinate within the target range; calculate a vector from the starting center point to each of the center points within the target range, and calculate a mean value of the vectors to obtain an offset mean value; determine the starting center point as a position where the offset mean value is located, and determine a target range based on the preset range size again until each of the center points within a threshold range is traversed to obtain at least one offset mean value; determine a moving direction and distance of the starting center point based on the at least one offset mean value.

8. The apparatus of claim 6, wherein, the generation module is configured to: acquire time information corresponding to the plurality of lane marks; determine an arrow direction for automatically generating the lane guide arrow based on the time information and the directions of all the lane marks; automatically generate the lane guide arrow of the target lane based on the final center point and the arrow direction.

9. The apparatus of claim 8, wherein, the generation module is further configured to: acquire a verification result of the directions of the lane marks, and determine an arrow direction for automatically generating the lane guide arrow based on the verification result.

10. The apparatus of claim 8, wherein, the generation module is configured to: acquire an arrow size of the lane guide arrow corresponding to the target lane; automatically generate an arrow bounding box of the lane guide arrow based on the final center point and the arrow size; automatically generate the lane guide arrow based on the arrow direction and the arrow bounding box. 11.An electronic device comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.

12. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are for causing the computer to perform the method of any one of claims 1-5.

13. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-5.

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