Lane line interruption method, device, equipment and computer program product

Abstract

The disclosed embodiments disclose a method, device, equipment and computer program product for lane line interruption, the method comprising: obtaining traffic lines in the current processing area, wherein the traffic lines include: lane lines to be processed and reference lane lines; calculating the road direction of the current processing area according to the reference lane lines; determining an interruption point, determining an interruption direction according to the road direction, taking the interruption point as a starting point, generating an interruption line based on the interruption direction; and interrupting the lane lines to be processed based on the interruption line. This technical solution can quickly, accurately and automatically realize the interruption of lane lines, which not only improves the accuracy of lane line interruption, but also saves a lot of labor costs and improves the work efficiency of lane line interruption.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of traffic data processing, and in particular to a method, device, equipment and computer program product for uniformly interrupting lane lines. Background Art

[0002] With the development and progress of society, there are more and more vehicles on the road, and the road conditions are becoming more and more complicated. Many users rely on the guidance of electronic maps for travel. Therefore, the accurate drawing of traffic lines such as lane lines in electronic maps has become very important. Among them, the common production process of lane lines is data collection, lane line recognition, manual verification and modification, and data release. Under current technical conditions, the recognition accuracy of lane lines is not enough, so the workload of manual verification and modification will be relatively large and time-consuming, and there will be certain errors in manual verification and modification. Therefore, there is an urgent need for a solution that can quickly and accurately automatically interrupt lane lines. Summary of the invention

[0003] The embodiments of the present disclosure provide a method, device, equipment and computer program product for lane line interruption.

[0004] In a first aspect, a method for interrupting lane lines is provided in an embodiment of the present disclosure.

[0005] Specifically, the lane line interruption method includes:

[0006] Obtaining traffic lines in the current processing area, wherein the traffic lines include: lane lines to be processed and reference lane lines;

[0007] Calculate the road direction of the current processing area according to the reference lane line;

[0008] Determine a break point, determine a break direction according to the road direction, take the break point as a starting point, and generate a break line based on the break direction;

[0009] The lane lines to be processed are broken based on the broken lines.

[0010] In one embodiment of the present disclosure, after obtaining the traffic lines of the current processing area, the method further includes:

[0011] Preprocessing is performed on the traffic line, wherein the preprocessing includes one or more of the following processing:

[0012] Mark and classify the traffic lines to obtain the attributes and categories of the traffic lines;

[0013] Performing coordinate system conversion on the point coordinates of the traffic line;

[0014] Remove noisy traffic lines.

[0015] In one embodiment of the present disclosure, after the preprocessing of the traffic line, the method further includes:

[0016] Acquire an input trajectory line, and determine a target reference traffic line from the traffic lines according to the input trajectory line;

[0017] The step of calculating the road direction of the current processing area according to the reference lane line is implemented as follows:

[0018] The road direction of the current processing area is calculated based on the target reference traffic line.

[0019] In one embodiment of the present disclosure, the traffic line further includes: a collected trajectory line;

[0020] The step of determining a target reference traffic line from the traffic lines according to the input trajectory line includes:

[0021] Filtering the reference lane line in the traffic line according to the angle and distance between the input trajectory line and the reference lane line in the traffic line;

[0022] Screening the collected trajectory lines in the traffic line according to the angle between the input trajectory line and the trajectory line in the traffic line;

[0023] The screened reference lane lines and collected trajectory lines are used as the target reference traffic lines.

[0024] In one embodiment of the present disclosure, the calculating the road direction of the current processing area according to the target reference traffic line includes:

[0025] Obtaining the direction and length of the target reference traffic line;

[0026] Determining a direction weight of the target reference traffic line according to the length of the target reference traffic line;

[0027] The direction of the target reference traffic line is weighted averaged according to the direction weight of the target reference traffic line to obtain the road direction of the current processing area.

[0028] In one embodiment of the present disclosure, after determining the interruption point, the method further includes:

[0029] Determine the bidirectional lane lines to be processed in the traffic line, and the lane lines to be processed in the traffic line that are located within the preset range of the interruption point and whose angle with the road direction is less than a third preset angle as target lane lines to be processed;

[0030] The performing the aligning of the lane lines to be processed based on the aligning of the lane lines is implemented as follows:

[0031] The target lane line to be processed is broken based on the broken line.

[0032] In one embodiment of the present disclosure, the method of performing an aligning and breaking operation on the target lane line to be processed based on the aligning and breaking line includes:

[0033] Calculate the intersection point between the target lane line to be processed or the extension line of the target lane line to be processed along the road direction and the aligned broken line;

[0034] Determine whether the target lane line to be processed needs to be extended or whether the target lane line to be processed has a protruding portion that exceeds the aligned broken line according to the positional relationship between the intersection and the target end point of the target lane line to be processed along the road direction;

[0035] If it is determined that the target lane line to be processed needs to be extended, the target lane line to be processed is extended to the intersection;

[0036] If it is determined that the target lane line to be processed has a protruding portion that exceeds the aligned broken line, determine whether the protruding portion has an intersection with other lane lines, and if not, delete the protruding portion.

[0037] In one embodiment of the present disclosure, extending the target lane line to be processed to the intersection includes:

[0038] Extending the target lane line to be processed by a third preset distance along the road direction;

[0039] Calculating the intersection point between the target lane line to be processed and the aligned breaking line;

[0040] If it is determined based on the positional relationship between the intersection point and the end point of the target lane line to be processed along the road direction that the target lane line to be processed protrudes beyond the aligned broken line, the protruding portion is deleted.

[0041] In one embodiment of the present disclosure, it also includes:

[0042] Generate new lane line data based on the uniform interruption result, and adjust the new lane line data, wherein the new lane line data includes one or more of the following data: lane line endpoint, interruption point on the lane line, lane line position, lane line length, and lane line width.

[0043] In one embodiment of the present disclosure, the adjusting the new lane line data includes:

[0044] Calculate a first distance between an endpoint of the lane line along the road direction and an adjacent interruption point, and if the first distance is less than a first preset distance threshold, delete the endpoint;

[0045] A second distance between different lane line interruption points is calculated, and if the second distance is less than a second preset distance threshold, the different lane line interruption points are merged into the same interruption point.

[0046] In one embodiment of the present disclosure, it also includes:

[0047] Post-processing is performed on the new lane line data, wherein the post-processing includes one or more of the following processing:

[0048] Compare the new lane line data with the original lane line data generated before the lane line is interrupted to obtain lane line change data;

[0049] The coordinate system is inversely transformed for the point coordinates of the lane line.

[0050] In a second aspect, a lane line interruption device is provided in an embodiment of the present disclosure.

[0051] Specifically, the lane line interruption device includes:

[0052] An acquisition module is configured to acquire traffic lines in a current processing area, wherein the traffic lines include: lane lines to be processed and reference lane lines;

[0053] A calculation module, configured to calculate a road direction of a current processing area according to the reference lane line;

[0054] A generating module is configured to determine a break point, determine a break direction according to the road direction, and generate a break line based on the break direction with the break point as a starting point;

[0055] The lane breaking module is configured to break the lane line to be processed based on the lane breaking line.

[0056] In a third aspect, an embodiment of the present disclosure provides an electronic device, including a memory and a processor, wherein the memory is used to store one or more computer instructions that support a lane line interruption device to execute the lane line interruption method, and the processor is configured to execute the computer instructions stored in the memory. The lane line interruption device may also include a communication interface for the lane line interruption device to communicate with other devices or communication networks.

[0057] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium for storing computer instructions used by a lane line interruption device, which includes computer instructions involved in the lane line interruption device for executing the above-mentioned lane line interruption method.

[0058] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program / instruction, wherein the computer program / instruction, when executed by a processor, implements the above-mentioned lane line interruption method.

[0059] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0060] The above technical solution uses the reference lane line to calculate the road direction, and generates the break line based on the road direction, and then uses the break line to achieve the break of the lane line to be processed. This technical solution can quickly, accurately and automatically achieve the break of the lane line, which not only improves the accuracy of the lane line break, but also saves a lot of labor costs and improves the work efficiency of the lane line break.

[0061] 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 embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Other features, purposes and advantages of the embodiments of the present disclosure will become more apparent through the following detailed description of non-limiting embodiments in conjunction with the accompanying drawings. In the accompanying drawings:

[0063] Figure 1 A flow chart showing a method for interrupting lane lines in unison according to an embodiment of the present disclosure is shown;

[0064] Figure 2A A schematic diagram of traffic lines in a current processing area according to an embodiment of the present disclosure is shown;

[0065] Figure 2B A schematic diagram of a traffic line after preprocessing according to an embodiment of the present disclosure is shown;

[0066] Figure 2C A schematic diagram of a traffic line showing a target reference traffic line according to an embodiment of the present disclosure is shown;

[0067] Figure 2D A schematic diagram of a traffic line showing a target lane line to be processed according to an embodiment of the present disclosure is shown;

[0068] Figure 2E A schematic diagram showing a uniform interruption effect according to an embodiment of the present disclosure is shown;

[0069] Figure 3 A structural block diagram of a lane line interruption device according to an embodiment of the present disclosure is shown;

[0070] Figure 4 It is a structural schematic diagram of a computer system suitable for implementing the lane line interruption method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0071] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, parts not related to the description of the exemplary embodiments are omitted in the accompanying drawings.

[0072] 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, behaviors, components, parts, or a combination thereof disclosed in this specification, and are not intended to exclude the possibility of one or more other features, numbers, steps, behaviors, components, parts, or a combination thereof existing or being added.

[0073] It should also be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0074] The technical solution provided by the embodiment of the present disclosure uses the reference lane line to calculate the road direction, and generates the aligning line based on the road direction, and then uses the aligning line to realize the aligning of the lane line to be processed. This technical solution can quickly, accurately and automatically realize the aligning of the lane line, which not only improves the accuracy of the aligning of the lane line, but also saves a lot of labor costs and improves the work efficiency of the aligning of the lane line.

[0075] Figure 1 A flow chart of a lane line interruption method according to an embodiment of the present disclosure is shown as follows: Figure 1 As shown, the lane line interruption method includes the following steps S101-S104:

[0076] In step S101, traffic lines in the current processing area are obtained, wherein the traffic lines include: lane lines to be processed and reference lane lines;

[0077] In step S102, the road direction of the current processing area is calculated according to the reference lane line;

[0078] In step S103, a break point is determined, a break direction is determined according to the road direction, and a break line is generated based on the break direction and the break point is used as a starting point;

[0079] In step S104, the lane line to be processed is broken based on the broken line.

[0080] As mentioned above, with the development and progress of society, there are more and more vehicles on the road, and the road conditions are becoming more and more complicated. Many users rely on the guidance of electronic maps for travel. Therefore, the accurate drawing of traffic lines such as lane lines in electronic maps has become very important. Among them, the common production process of lane lines is data collection, lane line recognition, manual verification and modification, and data release. Under current technical conditions, the recognition accuracy of lane lines is not enough, so the workload of manual verification and modification will be relatively large and time-consuming, and there will be certain errors in manual verification and modification. Therefore, there is an urgent need for a solution that can quickly and accurately automatically interrupt lane lines.

[0081] Considering the above problems, in this implementation, a lane line breaking method is proposed, which uses reference lane lines to calculate the road direction, generates breaking lines based on the road direction, and then uses the breaking lines to achieve the breaking of the lane lines to be processed. This technical solution can quickly, accurately and automatically achieve the breaking of lane lines, which not only improves the accuracy of lane line breaking, but also saves a lot of labor costs and improves the work efficiency of lane line breaking.

[0082] In one embodiment of the present disclosure, the lane line interruption method may be applicable to computers, computing devices, electronic devices, servers, service clusters, etc. that can perform lane line interruption.

[0083] In one embodiment of the present disclosure, the traffic line refers to a traffic line that helps to achieve lane line interruption, such as the trajectory line of a vehicle actually collected, the pending lane line that needs to be interrupted in the current electronic traffic data, the reference lane line from the database, etc., for subsequent lane line interruption.

[0084] In one embodiment of the present disclosure, the current processing area refers to the area that currently needs to be processed and has various traffic lines. For example, the area displayed on the current screen, where various traffic lines exist and corresponds to the actual geographical location, can also be directly considered as the area displayed on the current screen.

[0085] Figure 2A A schematic diagram of traffic lines in a current processing area according to an embodiment of the present disclosure is shown. Figure 2A In the figure, a single solid line represents a one-way lane line, a double solid line represents a two-way lane line, a dotted line represents a trajectory line, and a segmented dashed line represents a reference lane line.

[0086] In one embodiment of the present disclosure, the road direction refers to the direction of a road, and can also be understood as the driving direction of a vehicle on the road.

[0087] In one embodiment of the present disclosure, the straight break line refers to a line used to interrupt the lane line to achieve the straight interruption of multiple lane lines. The direction of the straight break line, i.e., the interruption direction, is perpendicular to the road direction. In one embodiment of the present disclosure, the interruption direction includes two relative directions starting from the interruption point, and when the straight break line is generated based on the interruption direction with the interruption point as the starting point, it is necessary to extend the first preset distance along the interruption direction respectively, so as to ensure that the straight break line can cover the entire road, and finally achieve the straight interruption of multiple lane lines, wherein the first preset distance can be set according to the needs of the actual application, for example, it can be set to 30 meters.

[0088] In one embodiment of the present disclosure, the interruption point refers to a point that is predetermined as the starting point for generating the parallel interruption line and should coincide with the endpoint of the interrupted lane line. In one embodiment of the present disclosure, the endpoint of a reference lane line in the same direction as the road direction can be selected as the interruption point. When there are two or more reference lane lines in the same direction as the road direction, the endpoint of one of the reference lane lines in the road direction can be selected as the interruption point, or the middle point of the endpoints of two or more reference lane lines in the road direction can be selected as the interruption point.

[0089] In the above-mentioned implementation, firstly, traffic lines in the current processing area that are helpful for realizing lane line interruption are obtained; then, the road direction of the current processing area is calculated based on the reference lane lines in the traffic lines; then, the interruption point is determined, and the interruption direction is determined based on the road direction, and the interruption point is used as the starting point to generate an even interruption line based on the interruption direction; finally, based on the even interruption line, the lane lines to be processed in the traffic lines are evenly interrupted to obtain multiple lane lines that are evenly interrupted.

[0090] In one embodiment of the present disclosure, in step S101, after the step of obtaining the traffic lines of the current processing area, the following steps may also be included:

[0091] The traffic line is pre-processed.

[0092] In this embodiment, in order to improve the quality of the even interruption of the lane line, the traffic line needs to be preprocessed, wherein the preprocessing may include one or more of the following processes: marking and classifying the traffic line to obtain the attributes and categories of the traffic line, such as determining the length of the traffic line, determining whether the lane line in the traffic line has an intersection with other lane lines, whether the lane line in the traffic line is a two-way lane line or a one-way lane line, whether the lane line in the traffic line is a hanging line with a length greater than a first preset length and no intersection with other lane lines, etc.; performing coordinate system conversion on the point coordinates of the traffic line. In practical applications, The initial coordinates of each point on the traffic line are usually longitude and latitude coordinates. Considering that longitude and latitude coordinates are not convenient for calculating the length and other properties of the traffic line, they need to be converted into position coordinates. For example, the longitude and latitude coordinates can be first projected into Mercator world coordinates, and then the Mercator world coordinate values ​​can be converted into relative coordinate values ​​with smaller values ​​and easier calculation, such as coordinate values ​​in a relative coordinate system with a certain sampling point as the origin, so as to reduce accuracy errors; remove noisy traffic lines, wherein, considering that shorter isolated line segments have little significance for actual calculations, traffic lines with a length less than a second preset length and no intersection with other traffic lines can be removed as noise traffic lines, such as Figure 2A The shorter single lane line shown in the figure, the traffic line after preprocessing is as follows Figure 2B The first preset length may be the same as or different from the second preset length, for example, the two may be set to be the same, that is, 5 meters.

[0093] In one embodiment of the present disclosure, after the step of preprocessing the traffic line, the following steps may also be included:

[0094] An input trajectory line is acquired, and a target reference traffic line is determined from the traffic lines according to the input trajectory line.

[0095] Considering that the reference lane line in the traffic line is not the most suitable reference lane line for assisting lane line breaking, for example, the reference lane line in the opposite direction of the road is not suitable for assisting lane line breaking. Therefore, in this embodiment, a target reference traffic line suitable for assisting lane line breaking can be determined from the traffic line. Specifically, the determination of the target reference traffic line can be achieved with the help of an input trajectory line, wherein the input trajectory line refers to a trajectory line generated by a vehicle traveling on the road, which is different from the collected trajectory line in the traffic line, is input by a user or other input party, has a trajectory direction, and the trajectory direction is consistent or substantially consistent with the road direction. Assume Figure 2A and Figure 2B The dotted line in is the input trajectory line.

[0096] Further, in this embodiment, the step S102, i.e. the step of calculating the road direction of the current processing area according to the reference lane line, can be implemented as follows:

[0097] The road direction of the current processing area is calculated based on the target reference traffic line.

[0098] As mentioned above, the traffic line also includes a collected trajectory line. In this embodiment, the step of determining a target reference traffic line from the traffic lines according to the input trajectory line may include the following steps:

[0099] Filtering the reference lane line in the traffic line according to the angle and distance between the input trajectory line and the reference lane line in the traffic line;

[0100] Screening the collected trajectory lines in the traffic line according to the angle between the input trajectory line and the trajectory line in the traffic line;

[0101] The screened reference lane lines and collected trajectory lines are used as the target reference traffic lines.

[0102] In this embodiment, the target reference traffic line may include two parts of traffic lines, one part is a reference lane line in the traffic line that meets certain conditions, and the other part is a collection trajectory line in the traffic line that meets certain conditions. Specifically, a reference lane line in the traffic line whose angle with the input trajectory line is less than a first preset angle and whose distance with the input trajectory line is less than a second preset distance may be used as the target reference traffic line, wherein the first preset angle may be set to 80 degrees, and the second preset distance may be set to 10 meters, that is, it can be considered that a reference lane line with a too large angle with the input trajectory line and a too long distance is not suitable as the target reference traffic line. Specifically, a collection trajectory line in the traffic line whose angle with the input trajectory line is less than a second preset angle may be used as the target reference traffic line, wherein the second preset angle may be set to an angle between 180-90 degrees, that is, it can be considered that a trajectory line in the same direction as the input trajectory line is suitable as the target reference traffic line. For example, Figure 2B The leftmost reference lane line is a reference lane line that is too far away from the input trajectory line. Figure 2B The reference lane line in the upper right corner is the reference lane line with a large angle to the input trajectory line, and is not suitable for use as a target reference traffic line. Figure 2B The reference lane line on the right side of the input trajectory line has a proper angle and a proper distance, so it can be used as the target reference traffic line. Figure 2B The reference lane lines and collected trajectory lines that are not suitable as target reference traffic lines are deleted. The deleted traffic lines are as follows Figure 2Cshown.

[0103] In one embodiment of the present disclosure, the step S102, i.e., the step of calculating the road direction of the current processing area according to the target reference traffic line, may include the following steps:

[0104] Obtaining the direction and length of the target reference traffic line;

[0105] Determining a direction weight of the target reference traffic line according to the length of the target reference traffic line;

[0106] The direction of the target reference traffic line is weighted averaged according to the direction weight of the target reference traffic line to obtain the road direction of the current processing area.

[0107] In this implementation, the road direction of the current processing area is determined according to the target reference traffic line. Specifically, first determine the direction and length of the target reference traffic line; then determine the direction weight of the target reference traffic line according to the length of the target reference traffic line, for example, the length of the target reference traffic line can be normalized, and the normalized value is used as the direction weight of the target reference traffic line; then perform weighted averaging on the direction of the target reference traffic line according to the direction weight of the target reference traffic line, and the obtained direction can be considered as the road direction of the current processing area, wherein the longer the length of the target reference traffic line, the greater its weight, that is, the road direction is closer to the direction of the target reference traffic line with a longer length. According to the target reference traffic line determined in the above example, it can be determined that the road direction in this example is an upward direction.

[0108] In one embodiment of the present disclosure, in step S103, after the step of determining the interruption point, the following steps may be further included:

[0109] The bidirectional lane lines to be processed in the traffic line and the lane lines to be processed in the traffic line that are located within the preset range of the interruption point and whose angle with the road direction is less than a third preset angle are determined as target lane lines to be processed.

[0110] Considering that not all lane lines in the lane lines to be processed need to be interrupted uniformly, for example, those lane lines in the opposite direction of the road do not belong to the range of lane lines that need to be interrupted uniformly. Therefore, in order to improve the effectiveness of the uniform interruption operation, in this embodiment, the lane lines to be processed in the traffic line are also screened for effectiveness. Specifically, considering that the bidirectional lane lines to be processed have two directions, one of them must be in the same direction as the road direction. Therefore, the bidirectional lane lines to be processed in the traffic line can be determined as the target lane lines to be processed that need to be interrupted uniformly. In addition, the lane lines that are close to the interruption point and are approximately in the same direction as the road direction, that is, the lane lines that are located within the preset range of the interruption point, for example, the lane lines to be processed that are located within the range of 10m with the interruption point as the center and the angle between them and the road direction is less than the third preset angle, can also be used as the target lane lines to be processed that need to be interrupted uniformly. The third preset angle can be set according to the needs of the actual application, for example, it can be set to 30 degrees, 15 degrees, etc. Figure 2C The leftmost lane line to be processed is basically opposite to the road direction, so it is not the target lane line to be processed. For convenience, Figure 2C The non-target lane lines to be processed are deleted, and the traffic lines after deletion are as follows Figure 2D shown.

[0111] Further, in this embodiment, the step S104, i.e., the step of performing an aligning break on the lane line to be processed based on the aligning break line, may be implemented as follows:

[0112] The target lane line to be processed is broken based on the broken line.

[0113] In one embodiment of the present disclosure, the step S104, i.e., the step of performing an aligning break on the target lane line to be processed based on the aligning break line, may include the following steps:

[0114] Calculate the intersection point between the target lane line to be processed or the extension line of the target lane line to be processed along the road direction and the aligned broken line;

[0115] Determine whether the target lane line to be processed needs to be extended or whether the target lane line to be processed has a protruding portion that exceeds the aligned broken line according to the positional relationship between the intersection and the target end point of the target lane line to be processed along the road direction;

[0116] If it is determined that the target lane line to be processed needs to be extended, the target lane line to be processed is extended to the intersection;

[0117] If it is determined that the target lane line to be processed has a protruding portion that exceeds the aligned broken line, determine whether the protruding portion has an intersection with other lane lines, and if not, delete the protruding portion.

[0118] In this implementation, when the target lane line to be processed is broken based on the broken line:

[0119] First, calculate the intersection between the target lane line to be processed and the aligned break line. If there is no intersection between the current target lane line to be processed and the aligned break line, it means that there is a certain distance between the target lane line to be processed and the aligned break line. At this time, it can be assumed that the target lane line to be processed is extended along the road direction, and then calculate the intersection between the extension line of the target lane line to be processed along the road direction and the aligned break line.

[0120] Then, based on the positional relationship between the intersection and the target endpoint of the target lane line to be processed along the road direction, it is determined whether the target lane line to be processed needs to be extended, or whether the target lane line to be processed has a protruding portion that exceeds the flush break line. For example, if the intersection coincides with the target endpoint, it means that the target lane line to be processed is just connected to the flush break line, and the target lane line to be processed does not need to be extended and will not exceed the flush break line; if the intersection does not coincide with the target endpoint, and the intersection is located on the extension line of the target endpoint along the road direction, it means that the target lane line to be processed needs to be extended so that it can intersect with the flush break line; if the intersection does not coincide with the target endpoint, and the intersection is located on the reverse extension line of the target endpoint along the road direction, it means that the target lane line to be processed has intersected with the flush break line and has a protruding portion that exceeds the flush break line.

[0121] If it is determined that the target lane line to be processed needs to be extended, the target lane line to be processed is extended to the intersection; if it is determined that the target lane line to be processed has a protruding portion that exceeds the broken line, it is further determined whether the protruding portion has an intersection with other lane lines. If so, the protruding portion is retained; if not, the protruding portion is considered to be isolated, hanging, and meaningless, and can be deleted.

[0122] In one embodiment of the present disclosure, the step of extending the target lane line to be processed to the intersection may include the following steps:

[0123] Extending the target lane line to be processed by a third preset distance along the road direction;

[0124] Calculating the intersection point between the target lane line to be processed and the aligned breaking line;

[0125] If it is determined based on the positional relationship between the intersection point and the end point of the target lane line to be processed along the road direction that the target lane line to be processed protrudes beyond the aligned broken line, the protruding portion is deleted.

[0126] In this embodiment, when extending the target lane line to be processed to the intersection, first extend the target lane line to be processed by a third preset distance along the road direction, wherein the third preset distance can be set according to the needs of the actual application, for example, it can be set to 30 meters; then calculate the intersection between the extended target lane line to be processed and the straight break line; then, according to the above description, determine the protruding portion of the target lane line to be processed that exceeds the straight break line based on the positional relationship between the intersection and the target endpoint of the target lane line to be processed along the road direction, and finally delete the protruding portion. The schematic diagram of the effect of the straight break is shown in FIG. Figure 2E As shown, the dotted lines represent the broken lines.

[0127] In one embodiment of the present disclosure, the method may further include the following steps:

[0128] Generate new lane line data based on the uniform interruption result, and adjust the new lane line data, wherein the new lane line data includes one or more of the following data: lane line endpoint, interruption point on the lane line, lane line position, lane line length, and lane line width.

[0129] After the target lane line to be processed is interrupted based on the interruption line, some lane lines may be extended, while some lane lines may be shortened, interruption points may be added to some lane lines, and some lane lines do not have any interruption points added because their endpoints coincide with the interruption points, or interruption points are added but the endpoints are reduced. Therefore, the relevant data of the lane line will change compared to before the interruption. Considering that the electronic map or other traffic data platform requires accurate lane line data, in this embodiment, after the target lane line to be processed is interrupted based on the interruption line, new lane line data is generated according to the interruption result, wherein the new lane line data may include one or more of the following data: lane line endpoints, interruption points on the lane line, lane line position, lane line length, lane line width, etc. Afterwards, the new lane line data may also be adjusted, for example, by merging points that are close to each other, etc. Specifically:

[0130] In one embodiment of the present disclosure, the step of adjusting the new lane line data may include the following steps:

[0131] Calculate a first distance between an endpoint of the lane line along the road direction and an adjacent interruption point, and if the first distance is less than a first preset distance threshold, delete the endpoint;

[0132] A second distance between different lane line interruption points is calculated, and if the second distance is less than a second preset distance threshold, the different lane line interruption points are merged into the same interruption point.

[0133] In this embodiment, when adjusting the new lane line data, the endpoints and interruption points that are closer to each other, and the interruption points that are closer to each other can be merged. For example, the first distance between the endpoint and the adjacent interruption point along the road direction of the lane line can be calculated. If it is determined that the first distance is less than the first preset distance threshold, the two points can be merged and the endpoint can be deleted; the second distance between the interruption points of different lane lines can be calculated. If it is determined that the second distance is less than the second preset distance threshold, the interruption points of different lane lines are merged into the same interruption point. For example, for two interruption points of two lane lines, one of the interruption points can be deleted, and the two lane lines share another reserved interruption point, or the two interruption points can be moved to a point in the middle of the two points. Among them, the first preset distance threshold and the second preset distance threshold can be set according to the needs of the actual application, and can be set to be the same or different. For example, the first preset distance threshold and the second preset distance threshold can be set to 0.1 meters.

[0134] In one embodiment of the present disclosure, the method may further include the following steps:

[0135] Post-processing is performed on the new lane line data, wherein the post-processing includes one or more of the following processing:

[0136] Compare the new lane line data with the original lane line data generated before the lane line is interrupted to obtain lane line change data;

[0137] The coordinate system is inversely transformed for the point coordinates of the lane line.

[0138] As mentioned above, what electronic maps or other traffic data platforms need is lane line data. If all new lane line data are sent to the traffic data platform, the data transmission volume will be very large, and there may be a large amount of data transmission redundancy, that is, there may be a large amount of overlap between the new lane line data and the previous lane line data. Therefore, in this embodiment, the new lane line data is compared with the original lane line data generated before the interruption to obtain lane line change data. The lane line change data can be sent directly to the traffic data platform to reduce the data transmission volume and save data transmission bandwidth. In addition, as mentioned above, the initial coordinates of each point on the traffic line are usually longitude and latitude coordinates. When the lane line is interrupted, the longitude and latitude coordinates are converted to relative coordinate values ​​via Mercator world coordinates for the convenience of calculation. Therefore, in this embodiment, after the lane line is interrupted, the point coordinates of the lane line can also be inversely converted to longitude and latitude coordinates.

[0139] The following are embodiments of the apparatus of the present disclosure, which can be used to execute embodiments of the method of the present disclosure.

[0140] Figure 3 FIG. 1 shows a structural block diagram of a lane line interruption device according to an embodiment of the present disclosure. The device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 3 As shown, the lane line interruption device includes:

[0141] The acquisition module 301 is configured to acquire traffic lines in the current processing area, wherein the traffic lines include: lane lines to be processed and reference lane lines;

[0142] A calculation module 302 is configured to calculate the road direction of the current processing area according to the reference lane line;

[0143] The generating module 303 is configured to determine a break point, determine a break direction according to the road direction, and generate a break line based on the break direction with the break point as a starting point;

[0144] The lane breaking module 304 is configured to break the lane line to be processed based on the lane breaking line.

[0145] As mentioned above, with the development and progress of society, there are more and more vehicles on the road, and the road conditions are becoming more and more complicated. Many users rely on the guidance of electronic maps for travel. Therefore, the accurate drawing of traffic lines such as lane lines in electronic maps has become very important. Among them, the common production process of lane lines is data collection, lane line recognition, manual verification and modification, and data release. Under current technical conditions, the recognition accuracy of lane lines is not enough, so the workload of manual verification and modification will be relatively large and time-consuming, and there will be certain errors in manual verification and modification. Therefore, there is an urgent need for a solution that can quickly and accurately automatically interrupt lane lines.

[0146] Considering the above problems, in this embodiment, a lane line breaking device is proposed, which uses reference lane lines to calculate the road direction, generates breaking lines based on the road direction, and then uses the breaking lines to achieve the breaking of the lane lines to be processed. This technical solution can quickly, accurately and automatically achieve the breaking of lane lines, which not only improves the accuracy of lane line breaking, but also saves a lot of labor costs and improves the work efficiency of lane line breaking.

[0147] In one embodiment of the present disclosure, the lane line interruption device may be implemented as a computer, computing device, electronic device, server, service cluster, etc. that can execute lane line interruption.

[0148] The technical features involved in the above-mentioned device embodiment and their corresponding explanations and descriptions are the same, corresponding or similar to the technical features involved in the method embodiment described above and their corresponding explanations and descriptions. For the technical features involved in the above-mentioned device embodiment and their corresponding explanations and descriptions, reference may be made to the technical features involved in the above-mentioned method embodiment and their corresponding explanations and descriptions, and the present disclosure will not repeat them here.

[0149] The present disclosure also discloses an electronic device, which includes a memory and a processor; wherein:

[0150] The memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement any of the above method steps.

[0151] Figure 4 It is a structural schematic diagram of a computer system suitable for implementing the lane line interruption method according to an embodiment of the present disclosure.

[0152] like Figure 4As shown, the computer system 400 includes a processing unit 401, which can perform various processes in the above-mentioned embodiments according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage part 408 into a random access memory (RAM) 403. 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.

[0153] 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; 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. The drive 410 is also connected to the I / O interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive 410 as needed, so that the computer program read therefrom is 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.

[0154] In particular, 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 readable medium, and the computer program includes a program code for executing the lane line interruption method. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 409, and / or installed from a removable medium 411.

[0155] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the road map or block diagram can represent a part of a module, program segment or code, and the part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a different order from the order marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0156] The units or modules involved in the embodiments described in the present disclosure may be implemented by software or hardware. The units or modules described may also be set in a processor, and the names of these units or modules do not constitute limitations on the units or modules themselves in some cases.

[0157] As another aspect, the embodiments of the present disclosure further provide a computer-readable storage medium, which may be a computer-readable storage medium included in the device described in the above-mentioned embodiment; or a computer-readable storage medium that exists independently and is 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.

[0158] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. 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 a 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 above features are replaced with (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A method for interrupting lane lines, comprising: Obtaining traffic lines in the current processing area, wherein the traffic lines include: lane lines to be processed and reference lane lines; Acquire an input trajectory line, determine a target reference traffic line from the traffic lines according to the input trajectory line, and calculate a road direction of a current processing area according to the target reference traffic line; Determine a break point, determine the break direction according to the road direction, take the break point as a starting point, and generate a break line based on the break direction, wherein when there is one reference lane line in the same direction as the road direction, the break point is the end point of the reference lane line in the same direction as the road direction along the road direction; when there are two or more reference lane lines in the same direction as the road direction, the break point is the end point of one of the reference lane lines in the road direction, or the middle point of the end points of two or more reference lane lines in the road direction; The lane lines to be processed are broken based on the broken lines.

2. The method according to claim 1, after obtaining the traffic lines of the current processing area, further comprising: Preprocessing is performed on the traffic line, wherein the preprocessing includes one or more of the following processing: Mark and classify the traffic lines to obtain the attributes and categories of the traffic lines; Performing coordinate system conversion on the point coordinates of the traffic line; Remove noisy traffic lines.

3. The method according to claim 2, wherein the traffic line further comprises: The collected trajectory line; The step of determining a target reference traffic line from the traffic lines according to the input trajectory line includes: Filtering the reference lane line in the traffic line according to the angle and distance between the input trajectory line and the reference lane line in the traffic line; Screening the collected trajectory lines in the traffic line according to the angle between the input trajectory line and the collected trajectory lines in the traffic line; The screened reference lane lines and collected trajectory lines are used as the target reference traffic lines.

4. The method according to claim 1 or 3, wherein the step of calculating the road direction of the current processing area according to the target reference traffic line comprises: Obtaining the direction and length of the target reference traffic line; Determining a direction weight of the target reference traffic line according to the length of the target reference traffic line; The direction of the target reference traffic line is weighted averaged according to the direction weight of the target reference traffic line to obtain the road direction of the current processing area.

5. The method according to claim 3, after determining the interruption point, further comprising: Determine the bidirectional lane lines to be processed in the traffic line, and the lane lines to be processed in the traffic line that are located within the preset range of the interruption point and whose angle with the road direction is less than a third preset angle as target lane lines to be processed; The performing the aligning of the lane lines to be processed based on the aligning of the lane lines is implemented as follows: The target lane line to be processed is broken based on the broken line.

6. The method according to claim 5, wherein the step of performing an aligning break on the target lane line to be processed based on the aligning break line comprises: Calculate the intersection point between the target lane line to be processed or the extension line of the target lane line to be processed along the road direction and the aligned broken line; Determine whether the target lane line to be processed needs to be extended or whether the target lane line to be processed has a protruding portion that exceeds the aligned broken line according to the positional relationship between the intersection and the target end point of the target lane line to be processed along the road direction; If it is determined that the target lane line to be processed needs to be extended, the target lane line to be processed is extended to the intersection; If it is determined that the target lane line to be processed has a protruding portion that exceeds the aligned broken line, determine whether the protruding portion has an intersection with other lane lines, and if not, delete the protruding portion.

7. The method according to claim 6, wherein extending the target lane line to be processed to the intersection comprises: Extending the target lane line to be processed by a third preset distance along the road direction; Calculating the intersection point between the target lane line to be processed and the aligned breaking line; If it is determined based on the positional relationship between the intersection point and the end point of the target lane line to be processed along the road direction that the target lane line to be processed protrudes beyond the aligned broken line, the protruding portion is deleted.

8. The method according to any one of claims 1-3, 5-7, further comprising: Generate new lane line data based on the uniform interruption result, and adjust the new lane line data, wherein the new lane line data includes one or more of the following data: lane line endpoint, interruption point on the lane line, lane line position, lane line length, and lane line width.

9. The method according to claim 8, wherein adjusting the new lane line data comprises: Calculate a first distance between an endpoint of the lane line along the road direction and an adjacent interruption point, and if the first distance is less than a first preset distance threshold, delete the endpoint; A second distance between different lane line interruption points is calculated, and if the second distance is less than a second preset distance threshold, the different lane line interruption points are merged into the same interruption point.

10. The method according to claim 9, further comprising: Post-processing is performed on the new lane line data, wherein the post-processing includes one or more of the following processing: Compare the new lane line data with the original lane line data generated before the lane line is interrupted to obtain lane line change data; The coordinate system is inversely transformed for the point coordinates of the lane line.

11. A lane line interruption device, comprising: An acquisition module is configured to acquire traffic lines in a current processing area, wherein the traffic lines include: lane lines to be processed and reference lane lines; A calculation module is configured to obtain an input trajectory line, determine a target reference traffic line from the traffic lines according to the input trajectory line, and calculate a road direction of a current processing area according to the target reference traffic line; A generating module is configured to determine a break point, determine the break direction according to the road direction, take the break point as a starting point, and generate a break line based on the break direction, wherein when there is one reference lane line in the same direction as the road direction, the break point is an end point of the reference lane line in the same direction as the road direction along the road direction; when there are two or more reference lane lines in the same direction as the road direction, the break point is an end point of one of the reference lane lines in the road direction, or a middle point of the end points of two or more reference lane lines in the road direction; The lane breaking module is configured to break the lane line to be processed based on the lane breaking line.

12. An electronic device, characterized in that: The method comprises a memory and at least one processor; wherein the memory is used to store one or more computer instructions, wherein 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 to 10.

13. A computer program product comprising a computer program / instructions, wherein: When the computer program / instructions are executed by a processor, the method steps described in any one of claims 1 to 10 are implemented.

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