Method, apparatus, electronic device and computer program product for drawing intersection virtual lines

Abstract

An embodiment of the present disclosure discloses a method, apparatus, electronic device, and computer program product for drawing virtual lines at intersections. The method includes: determining a target intersection, a target direction of entering the intersection, and a target direction of exiting the intersection; determining an entering lane line group for entering the target intersection according to the target direction of entering the intersection; determining an exiting lane line group corresponding to the entering lane line group according to the target direction of exiting the intersection and the road topology relationship; generating an entering-exiting path according to the entering lane line group and the exiting lane line group, and drawing virtual lines at the intersection according to the entering-exiting path. This technical solution can automatically group and draw virtual lines at intersections according to the road topology relationship, thereby improving the efficiency of drawing virtual lines at intersections, reducing the difficulty of drawing virtual lines at intersections, and reducing the manual drawing cost.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of traffic data processing, and in particular, to a method, apparatus, electronic device, and computer program product for drawing intersection virtual lines. Background Art

[0002] With the development of society and the progress of science and technology, safer and more efficient autonomous driving technology has been recognized as one of the future directions of the automotive travel industry. Many autonomous driving behaviors rely on virtual traffic lines in high-precision maps, such as intersection virtual lines for U-turns, left turns, straight-throughs, right turns, main-auxiliary switches, etc. in the intersection area. In the prior art, when making intersection virtual lines, it is usually first to infer the intersection virtual lines based on point cloud and image acquisition data, and then manually verify and modify them to ensure the integrity of the intersection virtual lines. However, due to the overlapping and interlacing of lane lines within the intersection and the complex relationship between road elements, it is very difficult for humans to screen out the relevant information required for virtual line drawing from the complex intersection information. Therefore, there is an urgent need for a solution that can automatically group and draw intersection virtual lines according to the road topology relationship to improve the efficiency of intersection virtual line drawing, reduce the difficulty of intersection virtual line drawing, and reduce the manual drawing cost. Summary of the Invention

[0003] Embodiments of the present disclosure provide a method, apparatus, electronic device, and computer program product for drawing intersection virtual lines.

[0004] In a first aspect, embodiments of the present disclosure provide a method for drawing intersection virtual lines.

[0005] Specifically, the method for drawing intersection virtual lines includes:

[0006] Determine a target intersection, a target entering intersection direction, and a target exiting intersection direction;

[0007] According to the target entering intersection direction, determine an entering lane line group entering the target intersection;

[0008] According to the target exiting intersection direction and the road topology relationship, determine an exiting lane line group corresponding to the entering lane line group;

[0009] Generate an entering-exiting path according to the entering lane line group and the exiting lane line group, and draw intersection virtual lines according to the entering-exiting path.

[0010] In an embodiment of the present disclosure, the step of determining an entering lane line group entering the target intersection according to the target entering intersection direction includes:

[0011] According to the target entering intersection direction, determine an initial entering lane line entering the target intersection, and form an initial entering lane line group;

[0012] Acquire an associated entry lane line that has a road same-direction association relationship with the initial entry lane line;

[0013] The initial entry lane line and its corresponding associated entry lane line form a target entry lane line group.

[0014] In one embodiment of the present disclosure, it also includes:

[0015] Delete the lane line in the target entry lane line group that is opposite to the initial entry lane line.

[0016] In one embodiment of the present disclosure, it also includes:

[0017] For each target lane line in the target entry lane line group, searching whether there is a historical intersection virtual line within a first preset range centered at the tail point thereof;

[0018] If so, retain the target lane line in the target entry lane line group;

[0019] If it does not exist, the next lane line with a historical intersection virtual line within a first preset range centered on the tail point retrieved along the direction of the target lane line will replace the corresponding target lane line and be placed in the target entry lane line group.

[0020] In one embodiment of the present disclosure, determining the exit lane line group corresponding to the entry lane line group according to the target exit intersection direction and the road topology relationship includes:

[0021] For each entry lane line in the entry lane line group, searching whether there is a historical intersection virtual line within a second preset range centered at the rear point of the entry lane line;

[0022] If it exists, continue searching along the direction of the target exit intersection until a lane line without a historical intersection virtual line is found within the second preset range centered on the tail point, or until the lane line retrieval depth reaches a preset depth threshold, and all retrieved lane lines with a historical intersection virtual line within the second preset range centered on the tail point are used as exit lane lines corresponding to the entry lane line.

[0023] In one embodiment of the present disclosure, generating an entry and exit path according to the entry lane line group and the exit lane line group includes:

[0024] The entry lane line in the entry lane line group is connected with the exit lane line corresponding thereto to generate an entry and exit path.

[0025] In one embodiment of the present disclosure, drawing a virtual intersection line according to the entry and exit paths includes:

[0026] According to the preset virtual line drawing requirements, the intersection virtual line is drawn along the entry / exit path.

[0027] In a second aspect, an embodiment of the present disclosure provides an intersection virtual line drawing device.

[0028] Specifically, the intersection virtual line drawing device includes:

[0029] A first determination module configured to determine a target intersection, a target entry intersection direction, and a target exit intersection direction;

[0030] A second determination module configured to determine an entry lane line group entering the target intersection according to the target entry intersection direction;

[0031] A third determination module configured to determine an exit lane line group corresponding to the entry lane line group according to the target exit intersection direction and the road topology relationship;

[0032] A drawing module configured to generate an entry / exit path according to the entry lane line group and the exit lane line group, and draw the intersection virtual line according to the entry / exit path.

[0033] In a third aspect, an embodiment of the present disclosure provides an electronic device, including a memory and a processor. The memory is used to store one or more computer instructions for supporting the intersection virtual line drawing device to execute the above-mentioned intersection virtual line drawing method, and the processor is configured to execute the computer instructions stored in the memory. The intersection virtual line drawing device may further include a communication interface for the intersection virtual line drawing device to communicate with other devices or communication networks.

[0034] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium for storing computer instructions used by the intersection virtual line drawing device, which includes computer instructions for executing the above-mentioned intersection virtual line drawing method for the intersection virtual line drawing device.

[0035] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program / instructions, wherein when the computer program / instructions are executed by a processor, the above-mentioned intersection virtual line drawing method is implemented.

[0036] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects:

[0037] The above technical solution obtains the entry lane line group and the exit lane line group according to the determined target intersection, the target entry direction of the intersection, and the target exit direction of the intersection, and further generates an entry-exit path according to the entry lane line group and the exit lane line group, and draws the virtual intersection line. This technical solution can automatically group and draw the virtual intersection line according to the road topology relationship, thereby improving the drawing efficiency of the virtual intersection line, reducing the drawing difficulty of the virtual intersection line, and reducing the manual drawing cost.

[0038] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the embodiments of the present disclosure. Brief Description of the Drawings

[0039] In conjunction with the drawings, through the following detailed description of non-limiting embodiments, other features, objects, and advantages of the embodiments of the present disclosure will become more apparent. In the drawings:

[0040] Figure 1 A flowchart showing a method for drawing a virtual intersection line according to an embodiment of the present disclosure;

[0041] Figure 2A A schematic diagram showing a four-lane and initial entry lane line according to an embodiment of the present disclosure;

[0042] Figure 2B A schematic diagram showing an associated entry lane line according to an embodiment of the present disclosure;

[0043] Figure 2C A schematic diagram showing the end point of a lane line according to an embodiment of the present disclosure;

[0044] Figure 2D A schematic diagram showing an exit lane line according to an embodiment of the present disclosure;

[0045] Figure 2E A schematic diagram showing a virtual intersection line according to an embodiment of the present disclosure;

[0046] Figure 3 A block diagram showing the structure of a device for drawing a virtual intersection line according to an embodiment of the present disclosure;

[0047] Figure 4 A schematic diagram showing the structure of a computer system suitable for implementing the method for drawing a virtual intersection line according to an embodiment of the present disclosure. Detailed Embodiments

[0048] In the following, exemplary embodiments of the embodiments of the present disclosure will be described in detail with reference to the drawings, so that those skilled in the art can easily implement them. In addition, for the sake of clarity, parts irrelevant to the description of the exemplary embodiments are omitted in the drawings.

[0049] In the embodiments of the present disclosure, it should be understood that terms such as "including" or "having" are intended to indicate the existence of features, numbers, steps, actions, components, parts, or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0050] In addition, it should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments may be combined with each other. The embodiments of the present disclosure will be described in detail below with reference to the drawings and in combination with the embodiments.

[0051] The technical solution provided by the embodiments of the present disclosure obtains an entry lane line group and an exit lane line group according to a determined target intersection, a target entry intersection direction, and a target exit intersection direction, and further generates an entry-exit path according to the entry lane line group and the exit lane line group, and draws an intersection virtual line. This technical solution can automatically group and draw the intersection virtual line according to the road topology relationship, thereby improving the drawing efficiency of the intersection virtual line, reducing the drawing difficulty of the intersection virtual line, and reducing the manual drawing cost.

[0052] Figure 1 The flowchart showing the method for drawing an intersection virtual line according to an embodiment of the present disclosure is as Figure 1 shown, and the method for drawing an intersection virtual line includes the following steps S101-S104:

[0053] In step S101, a target intersection, a target entry intersection direction, and a target exit intersection direction are determined;

[0054] In step S102, according to the target entry intersection direction, an entry lane line group entering the target intersection is determined;

[0055] In step S103, according to the target exit intersection direction and the road topology relationship, an exit lane line group corresponding to the entry lane line group is determined;

[0056] In step S104, an entry-exit path is generated according to the entry lane line group and the exit lane line group, and an intersection virtual line is drawn according to the entry-exit path.

[0057] As mentioned above, with the development of society and the progress of science and technology, more secure and efficient autonomous driving technology has been recognized as one of the future directions of the automotive travel industry. Many autonomous driving behaviors rely on virtual traffic lines in high-precision maps, such as the turning around, left turn, straight, right turn, main and auxiliary lane switching virtual lines in the intersection area. In the prior art, when making intersection virtual lines, it is usually first to infer the intersection virtual lines based on point cloud and image acquisition data, and then manually verify and modify them to ensure the integrity of the intersection virtual lines. However, due to the overlapping and interlacing of lane lines within the intersection and the complex relationship between road elements, it is very difficult for manual work to screen out the relevant information required for virtual line drawing from the complex intersection information. Therefore, there is an urgent need for a solution that can automatically group and draw intersection virtual lines according to the road topology relationship to improve the efficiency of intersection virtual line drawing, reduce the difficulty of intersection virtual line drawing, and reduce the manual drawing cost.

[0058] Considering the above problems, in this embodiment, a method for drawing intersection virtual lines is proposed. This method obtains the entering lane line group and the exiting lane line group according to the determined target intersection, the target entering intersection direction, and the target exiting intersection direction, and further generates an entering and exiting path based on the entering lane line group and the exiting lane line group, and draws the intersection virtual lines. This technical solution can automatically group and draw intersection virtual lines according to the road topology relationship, thereby improving the efficiency of intersection virtual line drawing, reducing the difficulty of intersection virtual line drawing, and reducing the manual drawing cost.

[0059] In an embodiment of the present disclosure, the method for drawing intersection virtual lines is applicable to computers, computing devices, electronic devices, servers, service clusters, etc. that can execute intersection virtual line drawing.

[0060] In an embodiment of the present disclosure, the target intersection refers to the intersection where virtual lines are to be drawn. Among them, the target intersection can be specified or input by the user or staff.

[0061] In an embodiment of the present disclosure, the target entrance intersection direction refers to the direction of entering the target intersection that is related to the starting point where the virtual line is intended to be drawn. Similarly, the target exit intersection direction refers to the direction of exiting the target intersection that is related to the ending point where the virtual line is intended to be drawn. Among them, both the target entrance intersection direction and the target exit intersection direction can be specified or input by the user or the staff. After the target entrance intersection direction and the target exit intersection direction are given, the grouped drawing of the intersection virtual line in the case of the given target entrance intersection direction and the target exit intersection direction can be realized. For example, if the target entrance intersection direction is straight from south to north and the target exit intersection direction is also from south to north, that is, the vehicle is in a straight state, then the finally drawn virtual line is the virtual line that enters the target intersection straight from the straight lane, passes through the target intersection straight and leaves the target intersection straight; for another example, if the target entrance intersection direction is left-turn from south to north and the target exit intersection direction is from east to west, that is, the vehicle is in a left-turn state, then the finally drawn virtual line is the virtual line that enters the target intersection from the left-turn lane, turns left and leaves the target intersection.

[0062] Further, the target exit intersection direction may not be specified or may be selected as all directions. In this case, the obtained virtual line is the virtual line that enters the intersection from the target entrance intersection direction and exits the intersection from all possible exit directions.

[0063] In an embodiment of the present disclosure, the entrance lane line group refers to the combination formed by all the entrance lane lines that enter the target intersection from the target entrance intersection direction. Among them, the entrance lane line group may include two or more entrance lane lines.

[0064] In an embodiment of the present disclosure, the exit lane line group refers to the combination formed by all the exit lane lines that are corresponding to the entrance lane lines in the entrance lane line group and exit the target intersection along the target exit intersection direction. Among them, the exit lane line group may include two or more exit lane lines.

[0065] In an embodiment of the present disclosure, the entrance-exit path refers to the path from the entrance road formed by two certain entrance lane lines in the entrance lane line group to the exit road formed by two exit lane lines in the exit lane line group that is corresponding to the entrance road. Based on the entrance-exit path, the intersection virtual line can be drawn, and subsequently, the autonomous driving vehicle can enter and exit the target intersection along the entrance-exit path formed by the intersection virtual line.

[0066] In the above embodiments, first, determine the target intersection, the target entering intersection direction, and the target exiting intersection direction of the virtual intersection line to be drawn; then, according to the target entering intersection direction, determine the entering lane line group entering the target intersection; next, according to the target exiting intersection direction and the road topology relationship, determine the exiting lane line group corresponding to the entering lane line group; finally, generate an entering-exiting path based on the entering lane line group and the exiting lane line group, and then group-draw the virtual intersection line according to the entering-exiting path.

[0067] In an embodiment of the present disclosure, step S102, that is, the step of determining the entering lane line group entering the target intersection according to the target entering intersection direction, may include the following steps:

[0068] According to the target entering intersection direction, determine the initial entering lane lines entering the target intersection, and form an initial entering lane line group;

[0069] Obtain the associated entering lane lines having a same-direction road association relationship with the initial entering lane lines;

[0070] Form a target entering lane line group with the initial entering lane lines and their corresponding associated entering lane lines.

[0071] In this embodiment, first, according to the target entering intersection direction, determine the initial entering lane lines entering the target intersection, and form an initial entering lane line group. Assume that there are four roads entering the target intersection from south to north, that is, four lanes. Among them, the leftmost lane is a left-turn lane, the middle two lanes are straight lanes, and the rightmost lane is a right-turn lane. As Figure 2A shown, assume that the target entering intersection direction is the direction of straight lane 1. Then, the initial entering lane lines entering the target intersection are the two lane lines forming straight lane 1, as Figure 2A shown by the short dashed lines in. These two lane lines form the initial entering lane line group. Then, obtain the associated entering lane lines having a same-direction road association relationship with the initial entering lane lines. Among them, the associated entering lane lines having a same-direction road association relationship with the initial entering lane lines refer to the lane lines of the road having a same-direction relationship with the road formed by the initial entering lane lines. For example, the associated entering lane lines having a same-direction road association relationship with the initial entering lane lines in the above example are the lane lines of straight lane 2 forming the same south-north straight lane. Among them, the left lane line of straight lane 2 and the right lane line of straight lane 1 are the same lane line. Finally, form a target entering lane line group with the initial entering lane lines and their corresponding associated entering lane lines. In the above example, there are three initial entering lane lines and their corresponding associated entering lane lines, as Figure 2B shown by the short dashed lines in.

[0072] In an embodiment of the present disclosure, the method may further include the following steps:

[0073] Delete the lane line in the target entry lane line group that is opposite to the initial entry lane line.

[0074] In this embodiment, in order to ensure the drawing accuracy of the virtual line, it is also necessary to screen the lane lines in the target entry lane line group, that is, delete the lane lines in the target entry lane line group that are opposite to the direction of the initial entry lane line. Among them, the direction of the lane line can be obtained based on the lane line attribute information or the arrangement order of the points forming the lane line.

[0075] In an embodiment of the present disclosure, the method may further include the following steps:

[0076] For each target lane line in the target entry lane line group, retrieve whether there is a historical intersection virtual line within a first preset range centered on its end point;

[0077] If it exists, retain the target lane line in the target entry lane line group;

[0078] If it does not exist, replace the corresponding target lane line with the next lane line that has a historical intersection virtual line within the first preset range centered on the end point retrieved along the direction of the target lane line and place it into the target entry lane line group.

[0079] In this embodiment, the nearest adjacent lane line of the intersection is determined based on the historical intersection virtual line to replace the target lane line, and is used to determine the starting point of the entry / exit path. Specifically, for each target lane line in the target entry lane line group, based on the high-precision traffic data, retrieve whether there is a historical intersection virtual line within a first preset range centered on its end point. Among them, the end point of the lane line refers to the last point forming the lane line in the direction away from the target intersection. For example, for the left lane line of the straight lane 1 in the above example, its end point is as Figure 2Cas shown by the black dots therein, where the first preset range can be set according to the needs of actual applications. For example, it can be set as a range centered on the end point of the target lane line with a radius of 0.01 meters. The historical intersection virtual line refers to the intersection virtual line drawn within a preset historical time period. The retrieval of the historical intersection virtual line can be used to determine whether the target lane line is close to an intersection. If so, it means that the target lane line meets the condition of being close to an intersection, and then the target lane line can be retained in the target entry lane line group and can be used as the starting point of the entry / exit path in the future. If not, it means that the target lane line does not meet the condition of being close to an intersection, that is, the target lane line is not a lane line close to an intersection. Then, along the direction of the target lane line, it is necessary to determine whether the next lane line is a lane line close to an intersection, that is, to retrieve whether there is a historical intersection virtual line within the first preset range centered on the end point of the next lane line. Iterate in this way until a lane line with a historical intersection virtual line within the first preset range centered on the end point is found, and replace the corresponding target lane line with this lane line as the new target lane line and place it in the target entry lane line group. In the above example, it is assumed that the target lane lines located in front of the stop line are all retained in the target entry lane line group. That is, after the above judgment of adjacent lane lines, the lane lines in the target entry lane line group are still Figure 2B the lane lines shown by the short dashed lines in

[0080] In an embodiment of the present disclosure, step S103, that is, the step of determining the exit lane line group corresponding to the entry lane line group according to the target exit intersection direction and the road topology relationship, may include the following steps:

[0081] For each entry lane line in the entry lane line group, retrieve whether there is a historical intersection virtual line within the second preset range centered on its end point;

[0082] If there is, continue to retrieve along the target exit intersection direction until a lane line with no historical intersection virtual line within the second preset range centered on the end point is found, or until the lane line retrieval depth reaches the preset depth threshold. All the retrieved lane lines with historical intersection virtual lines within the second preset range centered on the end point are used as the exit lane lines corresponding to the entry lane line.

[0083] In this embodiment, an exit lane line group corresponding to the entry lane line group is determined according to the target exit intersection direction and the road topology relationship to determine the end point of the entry-exit path. Specifically, for each entry lane line in the entry lane line group, it is retrieved based on high-precision traffic data whether there is a historical intersection virtual line within a second preset range centered on its end point. Similar to the first preset range, the second preset range can be set according to the needs of actual applications. For example, it can be set as a range obtained by taking the end point of the entry lane line as the center and 0.01 meters as the radius. The historical intersection virtual line refers to the intersection virtual line drawn within a preset historical time period. The retrieval of the historical intersection virtual line can be used to determine whether the entry lane line is a lane line within the intersection area and to determine the last lane line within the intersection area to further determine the end point of the entry-exit path. If there is one, it means that the entry lane line is a lane line within the intersection area, and then the retrieval can continue along the target exit intersection direction to retrieve whether there is a historical intersection virtual line within the second preset range centered on the end point of the next lane line. Iterate in this way until the retrieval ends when a lane line with no historical intersection virtual line within the second preset range centered on its end point is found. If a lane line with no historical intersection virtual line within the second preset range centered on its end point cannot be found all the time, the retrieval can end when the lane line retrieval depth reaches a preset depth threshold. At this time, all the retrieved lane lines with historical intersection virtual lines within the second preset range centered on their end points can be used as the exit lane lines within the intersection area corresponding to the entry lane line. Connecting the entry lane lines and the corresponding exit lane lines that can form a road can generate the entry-exit path. The lane line retrieval depth can be considered as the number of times the retrieval operation is executed. The preset depth threshold can be set according to the needs of actual applications. For example, it can be set to 7. In the above example, assume that the retrieved exit lane lines corresponding to the entry lane line are as Figure 2D shown by the medium long dashed line.

[0084] In an embodiment of the present disclosure, the step of generating the entry-exit path according to the entry lane line group and the exit lane line group in step S104 may include the following steps:

[0085] Connect the entry lane lines in the entry lane line group with their corresponding exit lane lines to generate the entry-exit path.

[0086] As mentioned above, connecting the entry lane lines and the corresponding exit lane lines that can form a road can generate the entry-exit path. Therefore, in this embodiment, connecting the entry lane lines in the entry lane line group with their corresponding exit lane lines can generate one or more entry-exit paths, such asFigure 2D as shown

[0087] In an embodiment of the present disclosure, the step of drawing the intersection virtual line according to the entry / exit path in step S104 may include the following steps:

[0088] Draw the intersection virtual line along the entry / exit path according to the preset virtual line drawing requirements.

[0089] In this embodiment, along the entry / exit path, draw the constituent sides of the entry / exit path according to the preset virtual line drawing requirements, and the intersection virtual line can be obtained, as shown by the dotted line in Figure 2E as shown.

[0090] The following is an embodiment of the device of the present disclosure, which can be used to execute the embodiment of the method of the present disclosure.

[0091] Figure 3 The structural block diagram of the intersection virtual line drawing device according to an embodiment of the present disclosure is shown. This device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. As Figure 3 shown, the intersection virtual line drawing device includes:

[0092] The first determination module 301 is configured to determine a target intersection, a target entry intersection direction, and a target exit intersection direction;

[0093] The second determination module 302 is configured to determine the entry lane line group entering the target intersection according to the target entry intersection direction;

[0094] The third determination module 303 is configured to determine the exit lane line group corresponding to the entry lane line group according to the target exit intersection direction and the road topology relationship;

[0095] The drawing module 304 is configured to generate an entry / exit path according to the entry lane line group and the exit lane line group, and draw the intersection virtual line according to the entry / exit path.

[0096] As mentioned above, with the development of society and the progress of science and technology, autonomous driving technology with higher safety and efficiency has been recognized as one of the future directions of the automotive travel industry. Many autonomous driving behaviors rely on virtual traffic lines in high-precision maps, such as the virtual lines at intersections for U-turns, left turns, straight-throughs, right turns, main-auxiliary lane switches, etc. In the prior art, when making virtual intersection lines, it is usually first to infer the virtual intersection lines based on point cloud and image acquisition data, and then manually verify and modify them to ensure the integrity of the virtual intersection lines. However, due to the overlapping and interlacing of lane lines within the intersection and the complex relationships between road elements, it is very difficult for humans to screen out the relevant information required for virtual line drawing from the complex intersection information. Therefore, there is an urgent need for a solution that can automatically group and draw virtual intersection lines according to the road topology relationship to improve the efficiency of virtual intersection line drawing, reduce the difficulty of virtual intersection line drawing, and reduce the manual drawing cost.

[0097] Considering the above problems, in this embodiment, a device for drawing virtual intersection lines is proposed. The device obtains an entering lane line group and an exiting lane line group according to the determined target intersection, target entering intersection direction, and target exiting intersection direction, and further generates an entering-exiting path based on the entering lane line group and the exiting lane line group, and draws the virtual intersection lines. This technical solution can automatically group and draw virtual intersection lines according to the road topology relationship, thereby improving the efficiency of virtual intersection line drawing, reducing the difficulty of virtual intersection line drawing, and reducing the manual drawing cost.

[0098] In an embodiment of the present disclosure, the device for drawing virtual intersection lines can be implemented as a computer, computing device, electronic device, server, service cluster, etc. that can execute the drawing of virtual intersection lines.

[0099] The technical features involved in the above device embodiments and their corresponding explanations and descriptions are the same, corresponding, or similar to the technical features involved in the above method embodiments and their corresponding explanations and descriptions. For the technical features involved in the above device embodiments and their corresponding explanations and descriptions, reference can be made to the technical features involved in the above method embodiments and their corresponding explanations and descriptions, and the present disclosure will not repeat them here.

[0100] An embodiment of the present disclosure also discloses an electronic device, which includes a memory and a processor; wherein,

[0101] The memory is used to store one or more computer instructions, and wherein, the one or more computer instructions are executed by the processor to implement any of the above method steps.

[0102] Figure 4 It is a schematic structural diagram of a computer system suitable for implementing the method for drawing virtual intersection lines according to an embodiment of the present disclosure.

[0103] As Figure 4 shown, computer system 400 includes a processing unit 401, which can perform various processes in the above-described embodiments according to a program stored in a read-only memory (ROM) 402 or a program loaded into a random access memory (RAM) 403 from a storage section 408. In the RAM 403, various programs and data required for the operation of the computer system 400 are also stored. The processing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0104] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read from it can be installed into the storage section 408 as needed. Among them, the processing unit 401 can be implemented as a processing unit such as a CPU, a GPU, a TPU, an FPGA, an NPU, etc.

[0105] Specifically, according to an embodiment of the present disclosure, the method described above can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program tangibly contained on a computer-readable medium, and the computer program includes program code for executing the intersection virtual line drawing method. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from the removable medium 411.

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0107] The units or modules involved in the embodiments described in the present disclosure can be implemented in software or in hardware. The described units or modules can also be provided in a processor, and the names of these units or modules do not, in some cases, constitute a limitation on the units or modules themselves.

[0108] As another aspect, the embodiments of the present disclosure also provide a computer-readable storage medium, which can be the computer-readable storage medium included in the device described in the above embodiments; or can exist separately and be a computer-readable storage medium not assembled into the device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the methods described in the embodiments of the present disclosure.

[0109] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with the technical features (but not limited to) having similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A method for drawing intersection virtual lines, comprising: Determine a target intersection, a target entering intersection direction, and a target exiting intersection direction; According to the target entering intersection direction, determine an entering lane line group entering the target intersection; For each target lane line in the target entering lane line group, retrieve whether there is a historical intersection virtual line within a first preset range centered on its end point; If it exists, retain the target lane line in the target entering lane line group; If it does not exist, replace the corresponding target lane line with the next lane line within a first preset range centered on the end point and having a historical intersection virtual line retrieved along the direction of the target lane line and place it into the target entering lane line group; According to the target exiting intersection direction and the road topology relationship, determine an exiting lane line group corresponding to the entering lane line group; Generate an entering-exiting path based on the entering lane line group and the exiting lane line group, and draw intersection virtual lines according to the entering-exiting path.

2. The method according to claim 1, wherein the determining the entering lane line group entering the target intersection according to the target entering intersection direction comprises: According to the target entering intersection direction, determine an initial entering lane line entering the target intersection, and form an initial entering lane line group; Obtain an associated entering lane line having a same-direction road association relationship with the initial entering lane line; Form a target entering lane line group with the initial entering lane line and its corresponding associated entering lane line.

3. The method according to claim 2, further comprising: Delete the lane lines in the target entering lane line group that are in the opposite direction to the initial entering lane line.

4. The method according to claim 1, wherein the determining the exiting lane line group corresponding to the entering lane line group according to the target exiting intersection direction and the road topology relationship comprises: For each entering lane line in the entering lane line group, retrieve whether there is a historical intersection virtual line within a second preset range centered on its end point; If it exists, continue to retrieve along the target exiting intersection direction until a lane line within a second preset range centered on the end point and having no historical intersection virtual line is found, or until the lane line retrieval depth reaches a preset depth threshold, and use all the retrieved lane lines within a second preset range centered on the end point and having a historical intersection virtual line as the exiting lane lines corresponding to the entering lane line.

5. The method according to any one of claims 1-4, wherein the generating the entering-exiting path based on the entering lane line group and the exiting lane line group comprises: Connect the entering lane lines in the entering lane line group with the corresponding exiting lane lines to generate an entering-exiting path.

6. The method according to any one of claims 1-4, wherein the drawing the intersection virtual lines according to the entering-exiting path comprises: Draw intersection virtual lines along the entering-exiting path according to preset virtual line drawing requirements.

7. An intersection virtual line drawing device, comprising: A first determination module configured to determine a target intersection, a target entering intersection direction, and a target exiting intersection direction; A second determination module, configured to determine an entry lane line group for entering the target intersection according to the target entry intersection direction; for each target lane line in the target entry lane line group, retrieve whether there is a historical intersection virtual line within a first preset range centered on its end point; If it exists, retain the target lane line in the target entry lane line group; If it does not exist, replace the corresponding target lane line with the next lane line that has a historical intersection virtual line within a first preset range centered on the end point retrieved along the direction of the target lane line and place it into the target entry lane line group; A third determination module, configured to determine an exit lane line group corresponding to the entry lane line group according to the target exit intersection direction and the road topology relationship; A drawing module, configured to generate an entry-exit path according to the entry lane line group and the exit lane line group, and draw an intersection virtual line according to the entry-exit path.

8. An electronic device, characterized in that, Comprising a memory and at least one processor; wherein, the memory is used to store one or more computer instructions, and the one or more computer instructions are executed by the at least one processor to implement the method steps described in any one of claims 1-6.

9. A computer program product comprising computer programs / instructions, wherein, When the computer program / instruction is executed by the processor, the method steps described in any one of claims 1-6 are implemented.

Images