Lane changing lane line interruption method, electronic device and storage medium

Abstract

The present application is about a lane line interruption method, electronic device and storage medium for lane change. The method includes: obtaining an initial road line data, wherein the initial road line data includes at least one group of connected lane lines and lane change lines; using a preset means to obtain an initial interruption line of the initial road line data, wherein the initial interruption line is obtained by a group of connected lane lines and lane change lines; selecting all other road line data in the map that meet preset conditions according to the initial road line data to obtain a road line data group; using a binary method to locate all intersecting lane lines and lane change lines in the road line data group to obtain multiple intersections; and using the initial interruption line as the interruption line for each intersection in the road line data group for interruption. The lane line interruption method, electronic device and storage medium provided in the present application are used to improve the efficiency of lane line interruption in a map.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a lane line interruption method for lane change, an electronic device and a storage medium. Background Art

[0002] With the development of technologies such as artificial intelligence and autonomous driving, vehicle-road integration technology is becoming more and more mature. In complex road scenes, the navigation accuracy of high-precision maps and lane path planning directly affect the intelligence and safety of autonomous driving. When making high-precision maps, in the process of processing the collected raw data, when processing the lane change lines in the road lines, it is necessary to first locate them separately, and then specially make break lines according to the shape of the acquired road lines. This method processes a large amount of data and has significantly low efficiency, which is not conducive to the efficiency of automatic processing to obtain high-precision maps. Summary of the invention

[0003] In order to solve or partially solve the problems existing in the related art, the present application provides a lane line interruption method for lane change, an electronic device and a storage medium to improve the efficiency of lane line interruption for lane change in a map.

[0004] A first aspect of the present application provides a lane line interruption method for lane change, comprising:

[0005] Acquire an initial road line data, wherein the initial road line data includes at least one set of connected lane lines and lane change lines;

[0006] Obtaining an initial breaking line of the initial road line data by a preset means, wherein the initial breaking line is obtained by a group of connected lane lines and lane change lines;

[0007] Selecting all other road line data in the map that meet preset conditions according to the initial road line data to obtain a road line data group;

[0008] Locating all intersecting lane lines and lane change lines in the road line data set by using a binary search method to obtain a plurality of intersection points;

[0009] The initial breaking line is used as a breaking line for each intersection in the road line data set.

[0010] In one embodiment, the preset condition includes: each road line data in the other road line data has at least one set of intersecting lane lines and lane change lines, and the difference between the angle between each set of intersecting lane lines and lane change lines and the angle between the lane lines and the lane change lines in the initial road line data is within a first preset range, and / or,

[0011] The difference in length between the other road line data and the lane line in the initial road line data is within a second pre-set range, and / or,

[0012] The difference between the number of intersection points of each line in the other road line data and the number of intersection points in the initial road line data satisfies a third pre-set range.

[0013] In one implementation, the method of using the binary method to locate all intersecting lane lines and lane change lines in the road line data set to obtain a plurality of intersection points includes:

[0014] Acquire a piece of road line data in the road line data group, wherein the road line data is composed of a plurality of connected line segments;

[0015] Assigning coordinate values ​​to the endpoints of the plurality of connected line segments based on a plane coordinate system;

[0016] Obtaining an initial middle coordinate value and an initial first coordinate value and an initial second coordinate value located on both sides of the road line data according to the assigned coordinate value;

[0017] Substituting the initial intermediate coordinate value, the initial first coordinate value and the initial second coordinate value into calculations according to the straight line equation in the plane coordinate system, if the calculation results of the intermediate coordinate value and the first coordinate value have different signs, they are retained;

[0018] Detect whether the intermediate coordinate value and the first coordinate value are the two endpoints of a line segment. If so, the line segment is the line segment where the intersection point is located. Otherwise, multiple connected line segments between the first coordinate value and the intermediate coordinate value are repeatedly calculated as new road line data.

[0019] In one implementation, the selecting all other road line data in the map that meet preset conditions according to the initial road line data to obtain a road line data group includes:

[0020] Acquire all original road line data in the map, wherein the original road line data includes the initial road line data;

[0021] Establishing a spatial index for the original road line data;

[0022] The original road line data is screened according to the screening requirements that meet the preset conditions inputted by the initial road line data to obtain the road line data group including the initial road line data and the other road line data.

[0023] In one implementation, the acquiring of all original road line data in the map, wherein the original road line data includes the initial road line data, comprises:

[0024] Selecting a piece of road line data from the original road line data;

[0025] It is checked whether there is a position in the road line data that meets the preset lane change pattern. If so, the initial road line data with intersecting lane lines and lane change lines are obtained.

[0026] In one implementation, obtaining all original road line data in a map, wherein the original road line data includes the initial road line data, includes:

[0027] Acquire image data, wherein the image data includes lane line information on the road;

[0028] The image data is processed using a deep learning method to obtain the original road line data in the map, wherein at least part of the original road line data includes connected lane lines and lane change lines.

[0029] In one implementation, the step of establishing a spatial index for the original road line data includes:

[0030] The road line data of each road line in the original road line data that meets the same preset condition are named with the same suffix, and the spatial index is established according to the suffix naming.

[0031] In one embodiment, the method of obtaining an initial breaking line of the initial road line data by a preset means, wherein the initial breaking line is obtained by a set of connected lane lines and lane change lines, comprises:

[0032] Acquire a piece of initial road line data, wherein the initial road line data includes a plurality of connected line segments;

[0033] Obtaining the intersection of the connected lane line and the lane change line in the initial road line data;

[0034] Obtaining the target line segment where the intersection point is located according to the position of the intersection point;

[0035] A line segment perpendicular to the target line segment is drawn through the intersection point to obtain the initial breaking line.

[0036] A second aspect of the present application provides an electronic device, including:

[0037] Processor; and

[0038] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0039] A third aspect of the present application provides a storage medium having executable code stored thereon, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0040] The technical solution provided by this application may have the following beneficial effects:

[0041] The lane line interruption method, electronic device, and storage medium provided in the embodiments of the present application do not need to locate the intersection and create the interruption line for each road line data separately. Only one of the road line data needs to be used as a reference, and other similar road line data only need to directly copy the interruption line, which reduces the complexity of data processing and improves processing efficiency. In addition, in this process, the method of locating the intersection of the road line data by binary search is conducive to quickly finding and locating the intersection, which also reduces the complexity of data processing and is conducive to improving the efficiency of data processing, so as to facilitate and quickly complete the creation of the interruption line of the lane change line in the road line data.

[0042] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0044] Figure 1 It is a schematic diagram of the first process of the lane line interruption method for lane change shown in an embodiment of the present application;

[0045] Figure 2 1 is a schematic diagram of a second process of a lane line interruption method for lane change shown in an embodiment of the present application;

[0046] Figure 3 is a third flow chart of the lane line interruption method for lane change shown in an embodiment of the present application;

[0047] Figure 4 4 is a schematic diagram of a fourth process of a lane line interruption method for lane change shown in an embodiment of the present application;

[0048] Figure 5 It is a simple structural diagram of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0050] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0051] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] In the related art, lane line information collected on the road can be used for autonomous driving, and is generally used to serve autonomous driving by entering pre-made high-precision maps. Taking the use of collected data containing different road lines for the production of high-precision maps as an example, when the high-precision map is produced by the collected data, the collected data contains the road data information of all road lines (which can be understood as all data in the area that can be covered by the high-precision map), and the data is the original unprocessed line contour. It is necessary to go through the subsequent processing steps such as line type recognition, interruption, and removal of redundant line segments before a high-precision map matching the actual road line can be produced. Due to the large amount of data, especially in the data of road lines with lane change lines, it is necessary to identify the intersection of the lane change line and the lane line during processing, and to specially produce the interruption line according to the information such as the shape of the lane corresponding to the intersection point, so as to complete the production of the lane change line by interrupting the interruption line. However, when facing the huge amount of data to process the interrupted lane change line separately, it takes a lot of processing time, which is not conducive to the efficiency of automatic processing to obtain high-precision maps.

[0053] In response to the above problems, the present application provides a lane change lane line interruption method to improve the lane change lane line interruption efficiency in the map.

[0054] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0055] Figure 1 It is a first flow chart of the lane line interruption method for lane change shown in an embodiment of the present application.

[0056] See also Figure 1 , the method comprising:

[0057] S101. Acquire an initial road line data, where the initial road line data includes at least one set of connected lane lines and lane change lines.

[0058] S102: using a preset method to obtain an initial breaking line of the initial road line data, where the initial breaking line is obtained from a group of connected lane lines and lane change lines.

[0059] S103. Select all other road line data in the map that meet preset conditions according to the initial road line data to obtain a road line data group.

[0060] S104. Using a binary search method, locate all intersecting lane lines and lane change lines in the road line data set to obtain a plurality of intersection points.

[0061] S105: Use the initial breaking line as the breaking line of each intersection in the road line data set for breaking.

[0062] In an embodiment of the present application, when making a high-precision map, information on the road surface including road lines on the road can be first collected by a collection vehicle, and the collected data can be collected into a database for making the high-precision map to obtain an original database for making the high-precision map.

[0063] It can be understood that the collection vehicle is provided with a collection device for collecting roads, and the collection device can be a laser radar or a camera arranged on the collection vehicle, which is not specifically limited here.

[0064] In this solution, in the process of processing the data in the original database, when the data needs to be processed to complete the production of the lane change line, the initial road line data for which the lane change line needs to be produced is first obtained, and the initial breaking line in the data is obtained by using a preset means. The initial breaking line is used to break the lane line at the position corresponding to the connection lane line of a complete lane line, thereby obtaining the trajectory of the lane change lane in the initial road line data in the high-precision map.

[0065] Based on the initial road line data, other road data similar to the initial road line data are obtained, and the intersection points of the lane change lines in each road line data are quickly located using the dichotomy method. On this basis, the initial breaking lines are directly used on each intersection point, so as to efficiently and quickly complete the breaking of lane change lines in a batch of road line data similar to the initial road line data. Similarly, the breaking lines in all road line data with lane change lines in the original data are completed, so that the lane change lines can be made through the breaking lines.

[0066] Through the above method, there is no need to locate the intersection and create the break line for each road line data separately. Only one road line data needs to be used as a reference, and the break line of other similar road line data can be directly copied, which reduces the complexity of data processing and improves processing efficiency. In addition, in this process, the method of locating the intersection of road line data by binary division is conducive to quickly finding and locating the location of the intersection, which also reduces the complexity of data processing and is conducive to improving data processing efficiency, so as to facilitate and quickly complete the creation of the break line of the lane change line in the road line data.

[0067] In one embodiment, the preset conditions include:

[0068] Each of the other road line data has at least one set of intersecting lane lines and lane change lines, and the difference between the angle between each set of intersecting lane lines and lane change lines and the angle between the lane lines and lane change lines in the initial road line data is within a first pre-set range, and / or,

[0069] The difference in length between the lane lines in the other road line data and the initial road line data is within a second pre-set range, and / or,

[0070] The difference between the number of intersection points of each line in the other road line data and the number of intersection points in the initial road line data satisfies the third pre-set range.

[0071] When selecting other road line data in the original database as the road line data group according to the initial road line data, in order to make the initial breaking line applicable to other road line data as the breaking line, the preset condition for selection is strict. The higher the similarity accuracy of the selected other road line data, the higher the accuracy of directly reusing the initial breaking line for breaking, and the more conducive to improving the accuracy of making lane change lines.

[0072] Therefore, for the preset conditions set, one or more conditions can be set according to the needs for restriction, and are not limited to the above-mentioned conditions, which are not listed here one by one. For example, compared with the initial road line data, the selected other road line data have the similarity of the curved shape of the lane line, the difference range of the angle between the lane line and the lane change line, the difference range of the length of the lane line, etc. When the selected other road line data that meets the prefabricated range is used as the road line data group, the reuse effect of the initial interruption line is better, while ensuring that the interruption of the lane change line position in each road line data can be completed with high precision, it increases the difficulty of breaking the line production and improves the efficiency of interruption.

[0073] It can be understood that the specific settings of the first prefabricated range, the second prefabricated range, the third prefabricated range, etc. for obtaining the road line data group can be specifically limited according to the actual situation such as the accuracy requirements when actually making high-precision maps. The smaller the range, the higher the accuracy, and no specific limitation is made here.

[0074] In one embodiment, see Figure 2 , using the binary method to locate all intersecting lane lines and lane change lines in the road line data set, and obtain multiple intersection points, taking a road line data in the road line data set as an example, including:

[0075] S1041. Obtain a piece of road line data in the road line data group, where the road line data consists of a plurality of connected line segments.

[0076] In the original database, each road line data can be understood as consisting of a plurality of line segments that are connected and not necessarily on the same straight line, and one road line data in the road line data group is selected for operation.

[0077] S1042. Assign coordinate values ​​to the endpoints of a plurality of connected line segments based on a plane coordinate system.

[0078] According to the selected road line data, multiple line segments are numbered in sequence from one end to the other end. For example, they can be named P0, P1, P2, P3, etc. from the endpoint of one end to the endpoint of the other end. Alternatively, they can be named in sequence with adjacent or non-adjacent numbers, etc., which are not specifically limited here. Based on the plane coordinate system, the numbered line segment endpoints are assigned coordinate values, for example, P0 (1, 1), P1 (2, 2), and are set according to the specific positions of the line segment endpoints in the road line data relative to the plane coordinate system, which are not detailed here.

[0079] S1043. Obtain an initial middle coordinate value and an initial first coordinate value and an initial second coordinate value located on both sides of the road line data according to the assigned coordinate value.

[0080] In the road line data, according to the marked endpoints, the coordinate values ​​at both ends and in the middle are found, namely, the initial middle coordinate value P (N / 2), the initial first coordinate value P0, and the initial second coordinate value PN.

[0081] S1044. According to the straight line equation in the plane coordinate system, the initial intermediate coordinate value, the initial first coordinate value and the initial second coordinate value are respectively substituted into the calculation. If the calculation results of the intermediate coordinate value and the first coordinate value have different signs, they are retained.

[0082] Use the straight line equation AX+BY+C as the break line equation to bring the initial intermediate coordinate value, the initial first coordinate value, and the initial second coordinate value into the calculation respectively to obtain the corresponding calculation results. If the calculation results of the initial intermediate coordinate value and the initial first coordinate value are of different signs, they are retained, otherwise they are deleted; if the calculation results of the initial intermediate coordinate value and the initial second coordinate value are of different signs, they are retained, otherwise they are deleted.

[0083] S1045. Detect whether the middle coordinate value and the first coordinate value are two end points of a line segment. If so, the line segment is the line segment where the intersection point is located. Otherwise, multiple connected line segments between the first coordinate value and the middle coordinate value are used as new road line data and are repeatedly calculated.

[0084] After comparing the calculation results with the same or different signs, the number of line segments between the two endpoints with different signs that are retained is compared. For example, if there are more than two line segments between the initial middle coordinate value P (N / 2) and the initial first coordinate value P0 with different signs, it is necessary to repeat the above operation, use the initial middle coordinate value and the initial first coordinate value as the new endpoints, find the midpoint between the two as the new initial middle coordinate value, and substitute it into the straight line formula for calculation until the line segment between the two endpoints with different signs is one. Using the method of gradually excluding from the middle to quickly locate the line segment where the intersection is located is conducive to quickly locating the intersection of the lane line and the lane change line, thereby improving efficiency.

[0085] For example, the endpoints of multiple line segments in a road line data are marked as P0, P1, P2, P3, and P4 in order from one end to the other. Based on the plane coordinate system, the coordinate values ​​of P0, P4, and P2 are selected as the initial first coordinate value, the initial second coordinate value, and the initial intermediate coordinate value. Based on the plane coordinate system, the equation of the break line made by the straight line equation AX+BY+C is 2X+3Y-6=0. The initial first coordinate value, the initial second coordinate value, and the initial intermediate coordinate value are respectively substituted into the calculation to obtain the first calculation result, the second calculation result, and the third calculation result. The first calculation result is compared with the third calculation result, and the second calculation result is compared. If they are of different signs, they are retained. For example, the initial first coordinate value is P0 (1, 1), and the initial intermediate coordinate value is P2 (2, 2). They are substituted into the calculation, 2x1+3x1-6=-1<0, 2x2+3x2-6=4>0, and the two calculation results are of different signs, which means that the break line is located between them. On this basis, the mark between the initial first coordinate value and the initial intermediate coordinate value is determined. If there are no other marks between the two, it means that the initial first coordinate value and the initial intermediate coordinate value are the coordinate values ​​of the two ends of a line segment, and the line segment is the line segment where the intersection point is located. If there are other marks between the two, such as P1 between P0 and P2, it is impossible to determine which line segment the break line is on. Then, the binary search idea is continued to be used to re-assign the initial first coordinate value, the initial second coordinate value, and the initial intermediate coordinate value to the retained line segments marked by P0, P1, and P2, and bring them into the break line equation calculation until there are no other endpoints between the two endpoints of the retained calculation results of opposite signs, so as to realize the rapid positioning of the line segment where the intersection point is located. No detailed description is given here.

[0086] In some embodiments, see Figure 3 , select all other road line data in the map that meet the preset conditions according to the initial road line data to obtain a road line data group, which specifically includes:

[0087] S1031. Acquire all original road line data in the map, where the original road line data includes initial road line data.

[0088] The acquired original road line data includes a large amount of data such as initial road line data with connected lane lines and lane change lines, straight lane line data, etc., which will not be described in detail here.

[0089] In order to quickly obtain the initial road line data from the original road line data, the following steps are specifically included:

[0090] Selecting a road line data from the original road line data;

[0091] Check whether there is a position in the road line data that meets the preset lane change pattern. If so, obtain initial road line data with intersecting lane lines and lane change lines.

[0092] In the above method for obtaining the initial road line data, in order to reduce the difficulty of selection and avoid wasting time due to the calculation of a large amount of data, the initial road line data can be randomly selected and then integrated and subtracted based on the initial road line data.

[0093] Optionally, the acquired original road line data may be, for example, image data on the road acquired by a camera, etc., and the image data includes lane line information on the road. The image data is then processed using a deep learning method to obtain original road line data in the map, and at least part of the original road line data includes connected lane lines and lane change lines, which will not be described in detail here.

[0094] S1032: Create a spatial index for the original road line data.

[0095] The road line data satisfying the same preset conditions for each road line in the original road line data are named with the same suffix, and a spatial index is established based on the suffix naming. Optionally, before searching the original road line data for whether each road line has a position that meets the preset lane change form, the road line data in the original road line data can be classified based on the difference in adjusting the preset lane change form. In order to facilitate subsequent work, the road line data satisfying the same preset lane change form conditions are named with the same suffix, so that by obtaining one of them, other road line data with the same form can be quickly found through suffix naming.

[0096] S1033. Filter the original road line data according to the screening requirements that meet the preset conditions according to the initial road line data input, and obtain a road line data group including the initial road line data and other road line data.

[0097] Through the above steps, other road line data with similar shapes to the initial road line data can be obtained quickly and easily, without the need to repeatedly search and filter the original road data, thus reducing the difficulty.

[0098] In one embodiment, see Figure 4 , an initial breaking line of the initial road line data is obtained by a preset method, and the initial breaking line is obtained by a set of connected lane lines and lane change lines, including:

[0099] S1021. Acquire an initial road line data, where the initial road line data includes a plurality of connected line segments.

[0100] S1022: Obtain intersection points of connected lane lines and lane change lines in the initial road line data.

[0101] S1023. Obtain the target line segment where the intersection point is located according to the position of the intersection point.

[0102] S1024. Draw a line segment perpendicular to the target line segment through the intersection point to obtain an initial breaking line.

[0103] In the above steps, a breaking line can be made for the intersection of the lane line and the lane change line in the initial road line data to obtain the initial breaking line, but the specific implementation method of obtaining the initial breaking line is not limited thereto.

[0104] The present application also provides an electronic device, see Figure 5 , the electronic device 1000 includes a memory 1010 and a processor 1020 .

[0105] The processor 1020 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0106] The memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at runtime. In addition, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mik SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not contain carrier waves and transient electronic signals transmitted wirelessly or wired.

[0107] The memory 1010 stores executable codes, and when the executable codes are processed by the processor 1020 , the processor 1020 can execute part or all of the methods described above.

[0108] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0109] Alternatively, the present application can also be implemented as a non-temporary machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or electronic device, server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0110] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A lane-changing lane line interruption method, characterized in that: include: Acquire an initial road line data, wherein the initial road line data includes at least one set of connected lane lines and lane change lines; Obtaining an initial breaking line of the initial road line data by a preset means, wherein the initial breaking line is obtained by a group of connected lane lines and lane change lines; Selecting all other road line data in the map that meet preset conditions according to the initial road line data to obtain a road line data group; Locating all intersecting lane lines and lane change lines in the road line data set by using a binary search method to obtain a plurality of intersection points; Using the initial breaking line as the breaking line of each intersection in the road line data set to break; The preset condition includes: each road line data in the other road line data has at least one set of intersecting lane lines and lane change lines, and the difference between the angle between each set of intersecting lane lines and lane change lines and the angle between the lane lines and the lane change lines in the initial road line data is within a first preset range, and / or, The length difference between the other road line data and the lane line in the initial road line data is within a second pre-set range, and / or, The difference between the number of intersection points of each line in the other road line data and the number of intersection points in the initial road line data satisfies a third pre-set range; The method of obtaining an initial breaking line of the initial road line data by a preset means, wherein the initial breaking line is obtained by a set of connected lane lines and lane change lines, comprises: Acquire a piece of initial road line data, wherein the initial road line data includes a plurality of connected line segments; Obtaining the intersection of the connected lane line and the lane change line in the initial road line data; Obtaining the target line segment where the intersection point is located according to the position of the intersection point; A line segment perpendicular to the target line segment is drawn through the intersection point to obtain the initial breaking line.

2. The method according to claim 1, characterized in that: The method of using the binary method to locate all intersecting lane lines and lane change lines in the road line data set to obtain a plurality of intersection points includes: Acquire a piece of road line data in the road line data group, wherein the road line data is composed of a plurality of connected line segments; Assigning coordinate values ​​to the endpoints of the plurality of connected line segments based on a plane coordinate system; Obtaining an initial middle coordinate value and an initial first coordinate value and an initial second coordinate value located on both sides of the road line data according to the assigned coordinate value; According to the straight line equation in the plane coordinate system, the initial intermediate coordinate value, the initial first coordinate value and the initial second coordinate value are respectively substituted into the calculation, and if the calculation results of the initial intermediate coordinate value and the initial first coordinate value have different signs, they are retained; Detect whether the initial intermediate coordinate value and the initial first coordinate value are the two endpoints of a line segment. If so, the line segment is the line segment where the intersection is located. Otherwise, multiple connected line segments between the initial first coordinate value and the initial intermediate coordinate value are used as new road line data and are repeatedly calculated.

3. The method according to claim 1, characterized in that The step of selecting all other road line data in the map that meet preset conditions according to the initial road line data to obtain a road line data group includes: Acquire all original road line data in the map, wherein the original road line data includes the initial road line data; Establishing a spatial index for the original road line data; The original road line data is screened according to the screening requirements that meet the preset conditions inputted by the initial road line data to obtain the road line data group including the initial road line data and the other road line data.

4. The method according to claim 3, characterized in that The acquiring of all original road line data in the map, wherein the original road line data includes the initial road line data, comprises: Selecting a piece of road line data from the original road line data; It is checked whether there is a position in the road line data that meets the preset lane change pattern. If so, the initial road line data with intersecting lane lines and lane change lines are obtained.

5. The method according to claim 3, characterized in that: Acquire all original road line data in the map, wherein the original road line data includes the initial road line data, including: Acquire image data, wherein the image data includes lane line information on the road; The image data is processed using a deep learning method to obtain the original road line data in the map, and at least part of the road line data in the original road line data includes connected lane lines and lane change lines.

6. The method according to claim 4, characterized in that The step of establishing a spatial index for the original road line data comprises: The road line data of each road line in the original road line data that meets the same preset lane change condition are named with the same suffix, and the spatial index is established according to the suffix naming.

7. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 6.

8. A storage medium, characterized in that: An executable code is stored thereon, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as claimed in any one of claims 1 to 6.

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