A method and device for generating road structure based on lane lines

Abstract

The present invention relates to a method and device for generating a road structure based on lane lines, including: obtaining a set of lane lines L = {l j , j = 1, 2,..., m}; randomly selecting a lane line l j , and drawing a rectangular frame based on the selected lane line l j , and extracting the lane lines located within the rectangular frame according to the positional relationship between the shape points of all lane lines and the rectangular frame; randomly selecting a lane line l k in the rectangular frame, and drawing a fragmentary road structure according to the relative positional relationship between the other lane lines in the rectangular frame and the lane line l k ; sliding the rectangular frame and drawing a plurality of fragmentary road structures along the road direction until all lane lines have participated in the drawing of the road structure, and then outputting a complete set of road structures composed of each fragmentary road structure. The present invention generates a complete road structure by means of lane lines, which better helps vehicle driving decision-making.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method and device for generating a road structure based on lane lines. Background Art

[0002] In the field of autonomous driving, in order to accurately control vehicle driving, the drawing of high-precision maps is often involved. In the process of drawing high-precision maps, complete road structure data is required to provide lane-level driving guidance for autonomous vehicles. When the sensors of autonomous vehicles fail due to severe weather such as heavy fog, hail, and heavy rain, the vehicle can use the high-precision map data stored in the vehicle for subsequent driving. At the same time, high-precision maps also allow autonomous vehicles to process road conditions that are beyond the normal field of view. Due to the partial or complete lack of collected lane line data, the road structure is incomplete, which may cause the autonomous vehicle to enter the wrong lane while driving, greatly reducing driving safety and comfort. Therefore, a complete road structure can better improve the driving safety and comfort of autonomous vehicles. To this end, a method for generating road structure based on lane lines is required. Summary of the invention

[0003] In view of the technical problems existing in the prior art, the present invention provides a method and device for generating a road structure based on lane lines, which can better assist vehicle driving decisions by generating a complete road structure with the help of lane lines.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] In a first aspect, the present invention provides a method for generating a road structure based on lane lines, comprising:

[0006] S1, obtain the lane line set L = {l j ,j=1,2,...,m}, lane line l j It is composed of multiple shape points q, l j The lane linear points in are sorted according to the collection time;

[0007] S2, choose any lane line l j , and based on the selected lane line l j Draw a rectangular frame, and extract the lane lines within the rectangular frame based on the positional relationship between the shape points of all lane lines and the rectangular frame;

[0008] S3, select any lane line l in the rectangular box k , and according to the other lane lines in the rectangular box and the lane line l k The relative position relationship of the fragment road structure is drawn;

[0009] S4, sliding the rectangular frame to draw multiple fragmentary road structures along the road direction until all lane lines have participated in the drawing of the road structure, and then outputting a complete road structure set composed of the fragmentary road structures.

[0010] Furthermore, the step S2 comprises:

[0011] S201, select any lane line l j , calculate the unit direction vector of the lane line direction and lane line l j The unit direction vector that is perpendicular

[0012] S202, take lane line l j Starting point q j0 and the distance q from the starting point on the lane line j0 The specified distance to the geometric point q j0e , starting from q j0 With the shape point q j0e The midpoint q' j0 As the center point, and Draw a rectangular box in the direction of the clockwise direction. The four vertices of the rectangular box are marked as A, B, C, and D. The coordinates of the four vertices are

[0013] S203, respectively calculate the vectors from the shape point q of all lane lines in the lane line set to the vertex ABCD of the rectangular box And respectively with the vector Perform a cross product, and the corresponding shape point whose cross product result is negative is located in the rectangular frame;

[0014] S204, extracting the lane lines within the rectangular frame according to the calculation result of step S203.

[0015] Furthermore, the step S3 includes:

[0016] S301, select a lane line l in the rectangular frame k , calculate l k The vector from the starting point to the end point

[0017] S302, calculate all lane lines l in the rectangular frame respectively i From the starting point to the lane line l k The starting point vector

[0018] S303, calculation And all lane lines l in the rectangular box i According to d iSort from large to small to obtain the fragment road structure.

[0019] Furthermore, the sliding of the rectangular frame to draw a plurality of fragment road structures along the road direction includes:

[0020] From the segmented road structure drawn in step S3, select the lane line at the median position, take its tail point as the center point to draw a rectangular frame, and execute steps S2 to S3 to obtain multiple segmented road structures in the road direction.

[0021] In a second aspect, the present invention provides a device for generating a road structure based on lane lines, comprising:

[0022] Data acquisition module, used to obtain lane line set L = {l j ,j=1,2,...,m}, lane line l j It is composed of multiple shape points q, l j The lane linear points in are sorted according to the collection time;

[0023] Lane line interception module, used to select any lane line l j , and based on the selected lane line l j Draw a rectangular frame, and extract the lane lines within the rectangular frame based on the positional relationship between the shape points of all lane lines and the rectangular frame;

[0024] The fragment road structure generation module is used to select a lane line l in the rectangular box k , and according to the other lane lines in the rectangular box and the lane line l k The relative position relationship of the fragment road structure is drawn;

[0025] The road structure generation module is used to slide the rectangular frame to draw multiple fragment road structures along the road direction until all lane lines have participated in the drawing of the road structure, and then output a complete road structure set composed of each fragment road structure.

[0026] In a third aspect, the present invention provides an electronic device, comprising:

[0027] Memory for storing computer software programs;

[0028] The processor is used to read and execute the computer software program, thereby implementing the method for generating a road structure based on lane lines described in the first aspect of the present invention.

[0029] In a third aspect, the present invention provides a non-transitory computer-readable storage medium, in which a computer software program is stored for implementing a method for generating a road structure based on lane lines as described in the first aspect of the present invention.

[0030] The beneficial effects of the present invention are as follows: the present invention realizes a method for generating a road structure according to lane lines, so that the position of ground elements on the road is more accurate and logical, and provides better support for the behavior decision of autonomous driving. The method is simple and fast to execute, and has high robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic flow chart of a method for generating a road structure based on lane lines provided in an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of a device structure for generating a road structure based on lane lines provided in an embodiment of the present invention;

[0033] Figure 3 A schematic diagram of an electronic device according to an embodiment of the present invention;

[0034] Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0036] Figure 1 A schematic flow chart of a method for generating a road structure based on lane lines provided in an embodiment of the present invention. Figure 1 As shown, the method includes:

[0037] S1, obtain the lane line set L = {l j ,j=1,2,...,m}, lane line l j It is composed of multiple shape points q, l j The lane linear points in are sorted according to the collection time.

[0038] S2, choose any lane line l j , and based on the selected lane line l j A rectangular frame is drawn, and the lane lines located within the rectangular frame are extracted based on the positional relationship between the shape points of all lane lines and the rectangular frame.

[0039] It includes the following sub-steps:

[0040] S201, select any lane line l j , calculate the unit direction vector of the lane line direction and lane line l j The unit direction vector that is perpendicular

[0041] S202, take lane line lj Starting point q j0 and the distance q from the starting point on the lane line j0 6m point q j0e , starting from q j0 With the shape point q j0e The midpoint q' j0 As the center point, and Draw a rectangular box in the direction of the clockwise direction. The four vertices of the rectangular box are marked as A, B, C, and D. The coordinates of the four vertices are

[0042] S203, respectively calculate the vectors from the shape point q of all lane lines in the lane line set to the vertex ABCD of the rectangular box And respectively with the vector Do a cross product, and the corresponding shape point whose cross product result is negative is located in the rectangular frame;

[0043] S204, extracting the lane lines within the rectangular frame according to the calculation result of step S203.

[0044] S3, select any lane line l in the rectangular box k , and according to the other lane lines in the rectangular box and the lane line l k The relative position relationship of the segments is used to draw the fragment road structure.

[0045] S301, select a lane line l in the rectangular frame k , calculate l k The vector from the start point to the end point

[0046] S302, calculate all lane lines l in the rectangular frame respectively i From the starting point to the lane line l k The starting point vector

[0047] S303, calculation And all lane lines l in the rectangular box i According to d i Sort from large to small to obtain the fragment road structure.

[0048] S4, from the fragmented road structure drawn in step S3, select the lane line at the median position, take its tail point as the center point to draw a rectangular frame, and execute steps S2 to S3 to obtain multiple fragmented road structures in the road direction, until all lane lines have participated in the drawing of the road structure, and then output a complete road structure set composed of each fragmented road structure.

[0049] Figure 2A schematic diagram of a device structure for generating a road structure based on lane lines provided by an embodiment of the present invention. Figure 2 As shown, the device comprises:

[0050] Data acquisition module, used to obtain lane line set L = {l j ,j=1,2,...,m}, lane line l j It is composed of multiple shape points q, l j The lane linear points in are sorted according to the collection time;

[0051] Lane line interception module, used to select any lane line l j , and based on the selected lane line l j Draw a rectangular frame, and extract the lane lines within the rectangular frame based on the positional relationship between the shape points of all lane lines and the rectangular frame;

[0052] The fragment road structure generation module is used to select a lane line l in the rectangular box k , and according to the other lane lines in the rectangular box and the lane line l k The relative position relationship of the fragment road structure is drawn;

[0053] The road structure generation module is used to slide the rectangular frame to draw multiple fragment road structures along the road direction until all lane lines have participated in the drawing of the road structure, and then output a complete road structure set composed of each fragment road structure.

[0054] See also Figure 3 , Figure 3 Schematic diagram of an electronic device provided by an embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention provides an electronic device 500, including a memory 510, a processor 520, and a computer program 511 stored in the memory 520 and executable on the processor 520. When the processor 520 executes the computer program 511, the following steps are implemented:

[0055] S1, obtain the lane line set L = {l j ,j=1,2,...,m}, lane line l j It is composed of multiple shape points q, l j The lane linear points in are sorted according to the collection time;

[0056] S2, choose any lane line l j , and based on the selected lane line l j Draw a rectangular frame, and extract the lane lines within the rectangular frame based on the positional relationship between the shape points of all lane lines and the rectangular frame;

[0057] S3, select any lane line l in the rectangular boxk , and according to the other lane lines in the rectangular box and the lane line l k The relative position relationship of the fragment road structure is drawn;

[0058] S4, sliding the rectangular frame to draw multiple fragmentary road structures along the road direction until all lane lines have participated in the drawing of the road structure, and then outputting a complete road structure set composed of the fragmentary road structures.

[0059] See also Figure 4 , Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. Figure 4 As shown, this embodiment provides a computer-readable storage medium 600, on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the following steps are implemented:

[0060] S1, obtain the lane line set L = {l j ,j=1,2,...,m}, lane line l j It is composed of multiple shape points q, l j The lane linear points in are sorted according to the collection time;

[0061] S2, choose any lane line l j , and based on the selected lane line l j Draw a rectangular frame, and extract the lane lines within the rectangular frame based on the positional relationship between the shape points of all lane lines and the rectangular frame;

[0062] S3, select any lane line l in the rectangular box k , and according to the other lane lines in the rectangular box and the lane line l k The relative position relationship of the fragment road structure is drawn;

[0063] S4, sliding the rectangular frame to draw multiple fragmentary road structures along the road direction until all lane lines have participated in the drawing of the road structure, and then outputting a complete road structure set composed of the fragmentary road structures.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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 generating a road structure based on lane lines, characterized in that: include: S1, get the lane line set , lane line From multiple points q composition, The lane linear points in are sorted according to the collection time; S2, choose any lane , and based on the selected lane line Draw a rectangular frame, and extract the lane lines within the rectangular frame based on the positional relationship between the shape points of all lane lines and the rectangular frame; S3, select any lane line in the rectangular box , and according to the other lane lines and lane lines in the rectangular box The relative position relationship of the fragment road structure is drawn; S4, sliding the rectangular frame to draw a plurality of fragmented road structures along the road direction until all lane lines have participated in the drawing of the road structure, and then outputting a complete road structure set consisting of the fragmented road structures; The step S2 comprises: S201, choose any lane , calculate the unit direction vector of the lane line direction and lane lines The unit direction vector that is perpendicular ; S202, take lane line Starting point and the distance from the starting point on the lane line Specify the distance between points , starting from With shape point midpoint As the center point, and Draw a rectangular box in the direction of the clockwise direction. The four vertices of the rectangular box are marked as A, B, C, and D. The coordinates of the four vertices are , , , ; S203, respectively calculating the shape points of all lane lines in the lane line set q The vector to the vertex ABCD of the rectangular box , , , , and respectively with the vector , , , Do a cross product, and the corresponding shape point whose cross product result is negative is located in the rectangular frame; S204, extracting the lane lines within the rectangular frame according to the calculation result of step S203.

2. The method according to claim 1, characterized in that The step S3 comprises: S301, select a lane line in the rectangular frame ,calculate The vector from the start point to the end point ; S302, calculate all lane lines in the rectangular frame respectively From the starting point to the lane line The starting point vector ; S303, calculation , and all lane lines in the rectangular box according to Sort from large to small to obtain the fragment road structure.

3. The method according to claim 1, characterized in that The sliding of the rectangular frame to draw a plurality of fragment road structures along the road direction includes: From the segmented road structure drawn in step S3, select the lane line at the median position, take its tail point as the center point to draw a rectangular frame, and execute steps S2 to S3 to obtain multiple segmented road structures in the road direction.

4. A device for generating a road structure based on lane lines, used to implement the method for generating a road structure based on lane lines according to claim 1, characterized in that: include: Data acquisition module, used to obtain lane line sets , lane line From multiple points q composition, The lane linear points in are sorted according to the collection time; Lane line interception module, used to select any lane line , and based on the selected lane line Draw a rectangular frame, and extract the lane lines within the rectangular frame based on the positional relationship between the shape points of all lane lines and the rectangular frame; The fragment road structure generation module is used to select a lane line in a rectangular box , and according to the other lane lines and lane lines in the rectangular box The relative position relationship of the fragment road structure is drawn; The road structure generation module is used to slide the rectangular frame to draw multiple fragment road structures along the road direction until all lane lines have participated in the drawing of the road structure, and then output a complete road structure set composed of each fragment road structure.

5. An electronic device, characterized in that: include: Memory for storing computer software programs; A processor is used to read and execute the computer software program, thereby implementing the method for generating a road structure based on lane lines as described in any one of claims 1-3.

6. A non-transitory computer-readable storage medium, characterized in that: The storage medium stores a computer software program for implementing a method for generating a road structure based on lane lines as described in any one of claims 1 to 3.

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