A method, apparatus and electronic device for generating lane dividing lines

Abstract

The present disclosure provides a method, apparatus, and electronic device for generating lane dividing lines, relating to the field of artificial intelligence, and particularly to the field of intelligent transportation. The specific implementation solution is as follows: Obtain the center line of the turning lane corresponding to the target U-turn section; perform a scaling process on the center line of the turning lane according to the center line of the turning lane and the road width corresponding to the target U-turn section to obtain the initial lane dividing line corresponding to the target U-turn section; perform preprocessing on the initial lane dividing line to obtain the turning lane dividing line corresponding to the target U-turn section.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, particularly to the field of intelligent transportation, and particularly to a method, apparatus, and electronic device for generating lane demarcation lines. Background Art

[0002] With the rapid development of autonomous driving, the demand for lane-level data in navigation is increasing. The traditional method of manually drawing lane-level data by operators can no longer meet the growing demand for navigation mileage. The topological data that needs to be drawn for lane-level data mainly includes lane centerlines and lane demarcation lines. However, in actual U-turn scenarios, there are a large number of situations where only lane centerlines are present but no lane demarcation lines.

[0003] With the development of high-precision navigation, the missing lane demarcation lines need to be supplemented completely to ensure the integrity of road network topological data. The existing method of purely manually making lane demarcation lines not only requires professional skills training for professionals, but also has high operation difficulty, low efficiency, and high quality risk for professionals, and cannot quickly respond to changes in the real world. Summary of the Invention

[0004] The present disclosure provides a method, apparatus, and electronic device for generating lane demarcation lines.

[0005] According to one aspect of the present disclosure, a method for generating a lane demarcation line is provided, including: obtaining a U-turn lane centerline corresponding to a target U-turn section; performing a scaling process on the U-turn lane centerline according to the U-turn lane centerline and the section width corresponding to the target U-turn section to obtain an initial lane demarcation line corresponding to the target U-turn section; and performing preprocessing on the initial lane demarcation line to obtain a U-turn lane demarcation line corresponding to the target U-turn section.

[0006] As can be seen from the above, in the present disclosure, the U-turn lane demarcation line is generated based on the U-turn lane centerline, and this process does not require manual participation, thus avoiding the problems of low drawing efficiency and poor drawing quality existing in the prior art when manually drawing U-turn lane demarcation lines. Moreover, the solution provided by the present disclosure does not require extracting the demarcation line information in road pictures or point clouds to generate lane demarcation lines, thus avoiding the problem that the method of generating lane demarcation lines through the demarcation line information in road pictures or point clouds in the prior art cannot be applied to scenarios with partial demarcation lines. Further, after obtaining the initial lane demarcation line, preprocessing is also performed on the initial lane demarcation line so that the preprocessed initial lane demarcation line can be applied to the navigation map without manual adjustment, which not only improves the generation efficiency of the U-turn lane demarcation line but also improves the generation quality of the U-turn lane demarcation line.

[0007] Thus, it can be seen that the solution provided by the present disclosure achieves the purpose of generating the lane demarcation line at the U-turn opening, realizes the effect of improving the generation efficiency of the lane demarcation line at the U-turn opening, and further avoids the problem of low generation efficiency existing in the manual drawing of the lane demarcation line at the U-turn opening in the prior art.

[0008] According to another aspect of the present disclosure, there is also provided a device for generating a lane demarcation line, including: an acquisition module for acquiring the center line of the lane at the U-turn opening corresponding to the target U-turn section; a scaling processing module for scaling the center line of the lane at the U-turn opening according to the center line of the lane at the U-turn opening and the width of the section corresponding to the target U-turn section to obtain an initial lane demarcation line corresponding to the target U-turn section; and a preprocessing module for preprocessing the initial lane demarcation line to obtain a lane demarcation line at the U-turn opening corresponding to the target U-turn section.

[0009] According to another aspect of the present disclosure, there is also provided an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the above-mentioned method for generating a lane demarcation line.

[0010] According to another aspect of the present disclosure, there is also provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method for generating a lane demarcation line according to the above.

[0011] According to another aspect of the present disclosure, there is also provided a computer program product, including a computer program which, when executed by a processor, implements the method for generating a lane demarcation line according to the above.

[0012] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings are used to better understand the solution and do not constitute a limitation to the present disclosure. Among them:

[0014] Figure 1 is a flowchart of the method for generating a lane demarcation line according to the first embodiment of the present disclosure;

[0015] Figure 2 is a schematic diagram of the road network topology of the U-turn scenario according to the first embodiment of the present disclosure;

[0016] Figure 3 is a schematic diagram of the outer lane demarcation line at the U-turn opening according to the first embodiment of the present disclosure;

[0017] Figure 4 It is a flowchart of generating lane dividing lines according to the second embodiment of the present disclosure;

[0018] Figure 5 It is a schematic diagram of an electronic navigation map according to the second embodiment of the present disclosure;

[0019] Figure 6 It is a schematic diagram of width adjustment according to the second embodiment of the present disclosure;

[0020] Figure 7 It is a schematic diagram of a first lane dividing line according to the second embodiment of the present disclosure;

[0021] Figure 8 It is a schematic diagram of a second lane dividing line according to the second embodiment of the present disclosure;

[0022] Figure 9 It is a schematic diagram of a broken line according to the second embodiment of the present disclosure;

[0023] Figure 10 It is a schematic diagram of a broken line according to the second embodiment of the present disclosure;

[0024] Figure 11 It is a schematic diagram of a fold angle according to the second embodiment of the present disclosure;

[0025] Figure 12 It is a schematic diagram of a fold angle according to the second embodiment of the present disclosure;

[0026] Figure 13 It is a schematic diagram of a lane dividing line at a U-turn opening according to the second embodiment of the present disclosure;

[0027] Figure 14 It is a schematic diagram of a device for generating lane dividing lines according to the third embodiment of the present disclosure;

[0028] Figure 15 It is a block diagram of an electronic device for implementing the method for generating lane dividing lines according to the embodiments of the present disclosure. Specific Embodiments

[0029] The following describes exemplary embodiments of the present disclosure with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0030] It should be noted that in the technical solutions of the present disclosure, the acquisition, storage, and application of user personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0031] In addition, it should be noted that in the present disclosure, the terminal device can be the execution subject of the method provided in the present disclosure.

[0032] Example 1

[0033] According to one aspect of the present disclosure, a method for generating lane dividing lines is provided. As Figure 1 shown, the method includes the following steps:

[0034] Step S102, obtain the turning lane center line corresponding to the target U-turn section.

[0035] In step S102, the target U-turn section is a section in the U-turn scenario, where the target U-turn section is a U-turn section lacking a U-turn lane dividing line. As in Figure 2 the road network topology schematic diagram of the U-turn scenario shown, the relationship between the U-turn lane center line, the lane dividing line, and the lane center line is shown.

[0036] Optionally, the terminal device can obtain road network data through the Internet, analyze the road network data, identify at least one U-turn section in the road sections corresponding to the road network data, and identify the target U-turn section lacking a U-turn lane dividing line from the U-turn sections, and then obtain the U-turn lane center line corresponding to the target U-turn section.

[0037] Among them, in the process of identifying the target U-turn section from at least one U-turn section, the terminal device can identify the lane center line of each U-turn section, and then identify whether there is a U-turn lane dividing line in the U-turn section according to the lane center line. It should be noted that usually after the road width corresponding to the section is determined, the distance between the U-turn lane dividing line and the lane center line is within a preset range. Therefore, it can be detected whether there is a lack of a U-turn lane dividing line in the U-turn section by detecting whether a lane dividing line can be detected within the preset range from the lane center line.

[0038] It should be noted that after the road width corresponding to the target U-turn section is determined, the U-turn lane dividing line can be determined based on the U-turn lane center line, and this process does not require manual participation or manual drawing of the U-turn lane dividing line, thus improving the generation efficiency of the U-turn lane dividing line.

[0039] Step S104, perform a scaling process on the U-turn lane center line according to the U-turn lane center line and the road section width corresponding to the target U-turn section to obtain the initial lane dividing line corresponding to the target U-turn section.

[0040] In step S104, as Figure 2As shown in the figure, the road width corresponding to the target U-turn section includes the entry width and the exit width. Among them, the entry width is the width for a vehicle to enter the target U-turn section, and the exit width is the width for a vehicle to exit the target U-turn section. The entry width and the exit width can be the same or different. For example, when the lane widths of the entry lane and the exit lane are the same, the entry width and the exit width are the same; otherwise, the entry width and the exit width are different.

[0041] Optionally, the terminal device can calculate the connection distance between the starting point and the ending point of the center line of the U-turn lane to obtain the first distance. Then, calculate the sum of the first distance, the entry width, and the exit width to obtain the second distance, and calculate the difference between the first distance and the sum of the entry width and the exit width to obtain the third distance.

[0042] Then, the terminal device calculates the ratio of the second distance to the first distance to obtain the first ratio. As can be seen from the above, the first ratio must be greater than 1. Therefore, the terminal device can perform an amplification process on the center line of the U-turn lane based on the first ratio to obtain Figure 3 the outer U-turn lane demarcation line in. Similarly, the terminal device calculates the ratio of the third distance to the first distance to obtain the second ratio, and the second ratio must be less than 1. Therefore, the terminal device can perform a reduction process on the center line of the U-turn lane based on the second ratio to obtain Figure 3 the inner U-turn lane demarcation line in.

[0043] It should be noted that in the present disclosure, the U-turn lane demarcation line includes an outer U-turn lane demarcation line and an inner U-turn lane demarcation line. In the present disclosure, taking the generation of the outer U-turn lane demarcation line as an example for illustration, the generation method of the inner U-turn lane demarcation line is the same as that of the outer U-turn lane demarcation line, and will not be elaborated here.

[0044] In addition, it should also be noted that through step S104, the terminal device only needs to perform a scaling process on the center line of the U-turn lane to obtain the initial lane demarcation line (the initial U-turn lane demarcation line), avoiding the problems of high cost and low production efficiency of lane demarcation lines existing in the existing pure manual operation method, and also avoiding the problem that the existing method of generating lane demarcation lines by extracting the demarcation line information in road pictures or point clouds cannot be applied to scenarios with partial demarcation lines. Furthermore, the solution provided by the present disclosure not only improves the generation efficiency of road demarcation lines but also ensures the generation quality of road demarcation lines.

[0045] Step S106, preprocess the initial lane demarcation line to obtain the U-turn lane demarcation line corresponding to the target U-turn section.

[0046] In step S106, the preprocessing of the initial lane demarcation line may include, but is not limited to, width adjustment processing, sorting and concatenating processing, wavy line removal processing, large corner smoothing processing, shape point thinning processing, etc. of the initial lane demarcation line.

[0047] It should be noted that the initial lane demarcation line obtained by scaling the center line of the U-turn lane may not meet the actual requirements. For example, the width of the initial lane demarcation line does not meet the requirements, and there are wavy lines, corners, etc. in the initial lane demarcation line. Therefore, it is necessary to preprocess the initial lane demarcation line so that the preprocessed lane demarcation line can avoid the above defects to meet the actual requirements, thereby improving the drawing quality of the navigation map.

[0048] Based on the solution defined in the above steps S102 to S106, it can be known that by using the method of generating the U-turn lane demarcation line based on the center line of the U-turn lane, after obtaining the center line of the U-turn lane corresponding to the target U-turn section, the center line of the U-turn lane is scaled according to the center line of the U-turn lane and the road width corresponding to the target U-turn section to obtain the initial lane demarcation line corresponding to the target U-turn section, and the initial lane demarcation line is preprocessed to obtain the U-turn lane demarcation line corresponding to the target U-turn section.

[0049] It is easy to note that in the present disclosure, the U-turn lane demarcation line is generated based on the center line of the U-turn lane, and this process does not require manual participation, thus avoiding the problems of low drawing efficiency and poor drawing quality existing in the manual drawing of the U-turn lane demarcation line in the prior art. Moreover, the solution provided in the present disclosure does not need to extract the demarcation line information in the road picture or point cloud to generate the lane demarcation line, thus avoiding the problem that the method of generating the lane demarcation line through the demarcation line information in the road picture or point cloud in the prior art cannot be applied to the scenario with partial demarcation lines. Further, after obtaining the initial lane demarcation line, the initial lane demarcation line is also preprocessed so that the preprocessed initial lane demarcation line can be applied to the navigation map without manual adjustment, which not only improves the generation efficiency of the U-turn lane demarcation line, but also improves the generation quality of the U-turn lane demarcation line.

[0050] It can be seen that the solution provided in the present disclosure achieves the purpose of generating the U-turn lane demarcation line, realizes the effect of improving the generation efficiency of the U-turn lane demarcation line, and further avoids the problem of low generation efficiency existing in the manual drawing of the U-turn lane demarcation line in the prior art.

[0051] Example 2

[0052] According to an aspect of the present disclosure, there is also provided a method for generating a lane demarcation line, wherein, Figure 4A flowchart showing the process of generating lane demarcations is presented. As can be seen from Figure 4 before generating the lane demarcations, the terminal device first extracts the road segment data corresponding to the U-turn section from the road network data.

[0053] Specifically, the terminal device obtains the road network data, determines the lane types corresponding to multiple lane groups based on the lane centerlines of the multiple lane groups, and then determines at least one U-turn lane group from the multiple lane groups according to the lane types. Among them, the road network data consists of lane group data corresponding to multiple lane groups.

[0054] Optionally, the terminal device obtains the road network data corresponding to the electronic navigation map. Among them, in the Figure 5 shown electronic navigation map, the U-turn section is in units of lane groups. Each lane corresponds to a lane centerline, and the lane demarcations are on both sides of the lane centerline. The terminal device determines the lane type by identifying the type of the lane centerline of each lane group in units of lane groups.

[0055] It should be noted that the lane centerlines corresponding to lane groups of different lane types are different. For example, the lane centerlines corresponding to lane groups such as ordinary lanes, acceleration / deceleration lanes, bus-only lanes, U-turn lanes, main and auxiliary road lanes, etc. are different. Therefore, the terminal device can determine whether the current lane group is a U-turn lane group by identifying the lane centerline.

[0056] In addition, it should also be noted that by identifying the lane centerline, the U-turn lane group can be quickly determined. Compared with manually identifying the U-turn lane group from the road network data, the solution provided by the present disclosure improves the recognition efficiency of the lane group type. Compared with the existing image recognition of the lane group type, the solution provided by the present disclosure avoids the problem of increasing system internal consumption caused by running complex image recognition algorithms, reduces the consumption of system memory, and improves the recognition accuracy of the lane group type.

[0057] Furthermore, after identifying the U-turn lane group from the road network data, the terminal device needs to identify the target U-turn section with defects from at least one U-turn lane group, that is, the U-turn section where the U-turn lane demarcation is missing.

[0058] Specifically, the terminal device detects whether there is a lane demarcation corresponding to the U-turn lane centerline in at least one U-turn lane group, obtains the detection result, and determines the target U-turn section from at least one U-turn lane group according to the detection result. Among them, the target U-turn section is the road section corresponding to the U-turn lane group where there is no lane demarcation corresponding to the U-turn lane centerline.

[0059] It should be noted that in practical applications, the lane centerline information in the road network data not only includes the lane type corresponding to the lane centerline, but also records the relevant information of the lane demarcation lines on both sides of the lane centerline. Therefore, the terminal device can determine whether there is an associated lane demarcation line for the lane centerline by analyzing the lane centerline information, and further the terminal device can determine whether the turning lane group corresponding to the lane centerline is a target turning lane group lacking lane demarcation lines.

[0060] Furthermore, after determining the target turning lane group, the terminal device also extracts the lane group information corresponding to the target turning lane group, which includes but is not limited to the entry width, exit width, and the position information of the connection point, etc., for the subsequent preprocessing of the initial lane demarcation line.

[0061] In addition, it should also be noted that it can be determined whether the turning lane group lacks a turning lane demarcation line through the turning lane centerline. This process does not require manual processing, and can quickly and accurately identify the target turning section with missing lane lines from multiple turning lane groups, improving the detection efficiency and accuracy of the target turning section, and further improving the generation efficiency of the turning lane demarcation line.

[0062] In an alternative embodiment, Figure 4 As can be seen, after extracting the section data corresponding to the turning section from the road network data, the terminal device performs sampling and scaling processing on the turning lane centerline to obtain the initial lane demarcation line.

[0063] Specifically, the terminal device determines the entry width and exit width corresponding to the target turning section according to the section width, and calculates the connection distance between the start point and the end point of the turning lane centerline to obtain the first distance. Then, the terminal device determines the second distance and the third distance corresponding to the target turning section according to the entry width, exit width, and the first distance, calculates the ratio of the second distance to the first distance to obtain the magnification factor, and magnifies the turning lane centerline based on the magnification factor to obtain the outer turning lane demarcation line corresponding to the initial lane demarcation line. At the same time, the terminal device calculates the ratio of the third distance to the first distance to obtain the reduction factor, and reduces the turning lane centerline based on the reduction factor to obtain the inner turning lane demarcation line corresponding to the initial lane demarcation line.

[0064] It should be noted that in this embodiment, the section width includes the entry width and the exit width, such as Figure 2As shown, the entry width is the width of the section where the target vehicle enters the target U-turn opening, and the exit width is the width of the section where the target vehicle exits the target U-turn opening. The above-mentioned first distance can be the distance between the hitch points corresponding to the entry lane and the hitch points between the exit lanes; the second distance is the connecting line distance between the starting point and the ending point of the outer lane demarcation line corresponding to the target U-turn section, and the third distance is the connecting line distance between the starting point and the ending point of the inner lane demarcation line corresponding to the target U-turn section.

[0065] In addition, it should be noted that the above-mentioned outer lane demarcation line is the outer demarcation line corresponding to the entry lane and the exit lane, as Figure 3 shown; similarly, the above-mentioned inner lane demarcation line is the inner demarcation line corresponding to the entry lane and the exit lane.

[0066] Optionally, the terminal device can sample at fixed intervals on the center line of the U-turn lane, so as to obtain the position information corresponding to each sampling point. By analyzing the position information of each sampling point, the starting point and the ending point of the center line of the U-turn lane can be determined. Furthermore, based on the position information of the starting point and the ending point of the center line of the U-turn lane, the terminal device can calculate the connecting line distance between the starting point and the ending point of the center line of the U-turn lane, that is, the first distance.

[0067] Then, the terminal device obtains the entry width of the entry lane and the exit width of the exit lane, and can calculate the second distance L2 according to the following formula:

[0068] L2 = L1 + W i + W o

[0069] In the above formula, L1 represents the first distance, W i represents the entry width, and W o represents the exit width.

[0070] The terminal device can calculate the third distance L3 according to the following formula:

[0071] L3 = L1 - W i - W o

[0072] Furthermore, the terminal device can calculate the magnification factor S1 through the following formula:

[0073]

[0074] Similarly, the terminal device can calculate the reduction factor S2 through the following formula:

[0075]

[0076] Furthermore, the terminal device magnifies the center line of the U-turn lane by S1 to obtainFigure 3 For the outer U-turn lane demarcation line in Figure 3 , the terminal device can obtain it by shrinking the U-turn lane center line by S2.

[0077] As can be seen from the above, the terminal device only needs to perform a scaling process on the U-turn lane center line to obtain the initial lane demarcation line (the initial U-turn lane demarcation line), avoiding the problems of high production cost and low production efficiency of the lane demarcation line in the existing pure manual operation method, and also avoiding the problem that the existing method of generating the lane demarcation line by extracting the demarcation line information from road pictures or point clouds cannot be applied to the scenario with partial demarcation lines. Furthermore, the solution provided by the present disclosure not only improves the generation efficiency of the road demarcation line, but also ensures the generation quality of the road demarcation line.

[0078] It should be noted that the business and actual real-world scenarios require that the distance between the lane demarcation line and the lane center line should uniformly transition from the entry width to the exit width, while the width of the initial lane demarcation line obtained by sampling and scaling cannot meet the requirements. Especially when the bending degree of the U-turn lane center line is greater, it is more difficult to meet the requirements. In addition, the initial lane demarcation line may also have defects such as wavy lines and corners. Therefore, it is necessary to preprocess the initial lane demarcation line so that the preprocessed initial lane demarcation line can meet the requirements of the actual real-world scenario, thereby improving the drawing quality of the navigation map.

[0079] Specifically, the terminal device first adjusts the width of the initial lane demarcation line to obtain the first lane demarcation line, then sorts and concatenates the shape points forming the first lane demarcation line to obtain the second lane demarcation line, and smooths the second lane demarcation line to obtain the third lane demarcation line. Finally, thinning processing is performed on the shape points forming the third lane demarcation line to obtain the U-turn lane demarcation line.

[0080] In an alternative embodiment, as Figure 4 shown, the terminal device first adjusts the width of the initial lane demarcation line. Specifically, after obtaining a plurality of shape points by acquiring the shape points forming the initial lane demarcation line, the terminal device determines the perpendicular lines of the plurality of shape points perpendicular to the U-turn lane center line, and in the perpendicular direction corresponding to the perpendicular lines, adjusts the distance between the plurality of shape points and the U-turn lane center line according to the entry width and the exit width corresponding to the target U-turn section to obtain the first lane demarcation line, where the entry width is the width of the target vehicle entering the target U-turn section, and the exit width is the width of the target vehicle exiting the target U-turn section.

[0081] Optionally, taking the lane demarcation line of the outer U-turn lane as an example, the terminal device samples the lane line of the outer U-turn lane at a fixed distance to obtain the shape points that make up the initial lane demarcation line. Then, perpendicular lines to the center line of the U-turn lane are drawn from these shape points in sequence. As shown in Figure 6 the schematic diagram of width adjustment shown, shape points a1 and b1 are the shape points on the lane demarcation line of the outer U-turn lane. Before width adjustment, shape point a1 is on the left of shape point b1. Then, the terminal device adjusts these two shape points according to the entry width and the exit width. For example, if the entry width is 3m and the exit width is 4m, the terminal device can set the adjustment ratio corresponding to each shape point according to the arc length and / or radian of the center line of the U-turn lane, and adjust the distance from each shape point to the center line of the U-turn lane according to the adjustment ratio. For example, in Figure 6 , the adjusted shape points corresponding to shape points a1 and b1 are a and b respectively.

[0082] It should be noted that since the actual center line of the U-turn lane is not smooth, the perpendicular lines after the projection of the shape points will cross and be misaligned. Therefore, the order of the shape points of the adjusted initial lane demarcation line will change in the traffic direction. For example, in Figure 6 , before adjustment, shape point a1 is on the left of shape point b1, while after width adjustment, from the traffic direction of the vehicle, shape point a is on the right of shape point b.

[0083] In addition, it should also be noted that by adjusting the width of the initial lane demarcation line, the width of the lane demarcation line of the U-turn lane can be made within a reasonable range, thus avoiding manual correction and improving the generation efficiency and quality of the lane demarcation line of the U-turn lane.

[0084] Furthermore, as shown in Figure 4 , after the width of the initial lane demarcation line is adjusted, the obtained first lane demarcation line will generate broken lines. As shown in the schematic diagram of the first lane demarcation line in Figure 7 , there is a misalignment of shape points in the local part of the lane line after width adjustment, resulting in the generation of broken lines. To avoid the generation of broken lines and make the lane demarcation line of the U-turn lane smoother, the terminal device needs to perform sorting and concatenation processing on the first lane demarcation line to remove the broken lines in the lane demarcation line.

[0085] Specifically, the terminal device traverses the shape points that make up the first lane demarcation line, determines the next shape point and the previous shape point that are closest to the current shape point, and determines the included angle formed by the current shape point, the previous shape point, and the next shape point. When the included angle is within the preset range, the current shape point is removed from the shape points that make up the first lane demarcation line to obtain the second lane demarcation line.

[0086] Optionally, the terminal device reorders the shape points of the initial lane demarcation line after width adjustment, traverses each shape point in sequence, and finds the next shape point closest to the current shape point. At the same time, it checks the angle formed by the line segment between the current shape point, the previous shape point, and the next shape point. If the angle is within a preset range (for example, 120° - 240°), it is determined that there is a corner in the first lane demarcation line. At this time, the terminal device discards the current shape point and continues to find the next shape point closest to the current shape point; otherwise, the terminal device confirms that there is no corner and the current shape point is retained.

[0087] It should be noted that, in Figure 8 the schematic diagram of the second lane demarcation line shown, since the lane demarcation line after sorting and concatenation processing removes the broken line segments, the lane demarcation line after sorting and concatenation processing is smoother.

[0088] In addition, it should also be noted that due to the smoothness problem of the center line of the U-turn lane itself, for example, there are originally wavy lines or relatively large corners in the center line of the U-turn lane, resulting in the center line of the U-turn lane not being smooth enough. And the U-turn lane demarcation line obtained after the above steps may also have such problems. Therefore, it is necessary to perform curve smoothing processing on the above-mentioned second lane demarcation line.

[0089] Optionally, common curve smoothing algorithms can be used for smoothing processing, such as B-spline, Bezier curve, etc. Since the center line of the U-turn lane itself is relatively smooth, the second lane demarcation line generated through the above steps is also relatively smooth, and occasionally there may be local small wavy lines and large corners.

[0090] For this reason, as Figure 4 shown, in the present disclosure, the terminal device can perform broken line removal and corner smoothing processing on the second lane demarcation line. Specifically, the terminal device first removes the broken lines in the second lane demarcation line to obtain the processed second lane demarcation line, and then inserts at least one shape point into the processed second lane demarcation line to obtain the third lane demarcation line.

[0091] It should be noted that in the present disclosure, the terminal device smooths the second lane demarcation line through the above two methods. On the basis of ensuring the smoothing quality, compared with the existing B-spline and Bezier curve, the solution provided by the present disclosure also improves the operation efficiency.

[0092] In an alternative embodiment, during the process of removing the broken lines in the second lane boundary, the terminal device traverses the shape points that make up the second lane boundary, determines the first shape point and the second shape point that are closest to the first current shape point, and when the first current shape point is located on the preset side direction of the preset connection line, removes the current shape point from the shape points that make up the second lane boundary to obtain the processed second lane boundary, where the first current shape point is any one of the shape points that make up the second lane boundary, the first shape point is the previous shape point of the first current shape point, the second shape point is the next shape point of the first current shape point, and the preset connection line is the connection line obtained by connecting the first shape point and the second shape point.

[0093] It should be noted that since the lane boundary of the U-turn lane in the real world is in the shape of an inwardly shrinking arc, for three consecutive shape points A, B, and C from the starting point to the ending point, B must be on one side of the line segment formed by AC. For example, in the scenario of driving on the left side in China, in Figure 9 the shown broken line schematic diagram, B must be on the right side of the line segment formed by AC, D must be on the right side of the line segment formed by CE, and E must be on the right side of the line segment formed by DF. If the directions of AB and BC are opposite to the direction of the inwardly shrinking arc, a broken line is formed. As in Figure 10 the shown broken line schematic diagram, D is on the left side of the line segment formed by CE, thus forming a broken line. At this time, the terminal device sequentially removes the shape points that are not on the right side, so that the broken line can be significantly removed and the lane boundary becomes smoother.

[0094] In an alternative embodiment, during the process of smoothing the corner of the lane boundary, the terminal device traverses the shape points that make up the processed second lane boundary, determines the third shape point and the fourth shape point that are closest to the second current shape point, and determines the included angle formed by the second current shape point, the third shape point, and the fourth shape point. Then, when the included angle is less than the preset angle, at least one shape point is inserted between the third shape point and the fourth shape point, and the second current shape point is removed to obtain the third lane boundary. Where the second current shape point is any one of the shape points that make up the processed second lane boundary, the third shape point is the previous shape point of the second current shape point, and the fourth shape point is the next shape point of the second current shape point.

[0095] Optionally, in Figure 11 the shown corner schematic diagram, B is the second current shape point, A is the third shape point, and C is the fourth shape point. The included angle formed by the three shape points is less than the preset angle, resulting in the lane boundary not being smooth enough and a corner appearing. At this time, the terminal device can insert one or more shape points into the broken line segment formed by the three shape points A, B, and C to smooth the lane boundary. As in Figure 12In the illustrated fold angle schematic diagram, shape point E is inserted on line segment BC, shape point D is inserted on line segment AB, shape points D and E are connected, and at the same time, shape point B is removed. From Figure 12 it can be seen that after inserting the shape points, the third lane demarcation line is smoother than the processed second lane demarcation line.

[0096] Furthermore, as Figure 4 shown, after smoothing the lane demarcation line, the terminal device also thins the shape points that make up the third lane demarcation line to obtain the U-turn lane demarcation line. Specifically, the terminal device traverses the shape points that make up the third lane demarcation line, calculates the distance between adjacent shape points, and merges the shape points with a distance less than the preset distance to obtain the U-turn lane demarcation line.

[0097] It should be noted that for shape points in the lane demarcation line that are very close, such as shape points with a distance less than 0.1 m, merging them can reduce the storage of the coordinate sequence and the memory consumption of the system while retaining the curve shape characteristics.

[0098] In addition, it should also be noted that in practical applications, there may be a problem of lane demarcation line covering for two overly close U-turn openings. As Figure 4 shown, to avoid the covering of the lane demarcation line, a covering analysis needs to be performed.

[0099] Specifically, the terminal device detects whether there is an intersection between the U-turn lane demarcation line and the preset lane demarcation line. When it detects an intersection between the U-turn lane demarcation line and the preset lane demarcation line, it generates a prompt message and receives the updated information returned based on the prompt message, and then updates the U-turn lane demarcation line according to the updated information.

[0100] Optionally, when the terminal device detects an intersection between the U-turn lane demarcation line and the existing lane demarcation line (i.e., the above-mentioned preset lane demarcation line), it generates a prompt message to remind the staff. After receiving the prompt message, the staff manually confirms whether to update the U-turn lane demarcation line. If an update is required, the staff can adjust information such as the arc of the U-turn lane demarcation line through the terminal device to ensure the data quality of the U-turn lane demarcation line.

[0101] It should be noted that after completing the covering analysis of the U-turn lane demarcation line, the Figure 13 final U-turn lane demarcation line as shown can be obtained. From Figure 13 it can be seen that the U-turn lane demarcation line generated by the solution provided in the present disclosure has a smooth shape and can meet the actual requirements.

[0102] As can be seen from the above, the present disclosure provides an efficient method for automatically generating lane dividers at U-turn openings based on lane centerlines. By sampling, scaling, width adjustment, sorting and concatenating, and a series of smoothing processes on the lane centerlines, the efficiency of producing lane dividers in navigation maps can be significantly improved while ensuring data quality.

[0103] In addition, the solution provided by the present disclosure can be applied to the production of lane-level navigation map data. Compared with the pure manual operation mode, its operation efficiency can be significantly improved, greatly enhancing the production efficiency and operation quality.

[0104] Example 3

[0105] According to one aspect of the present disclosure, there is also provided a device for generating lane dividers, as Figure 14 shown. The device includes: an acquisition module 1401, a scaling processing module 1403, and a preprocessing module 1405.

[0106] Among them, the acquisition module 1401 is used to acquire the U-turn lane centerline corresponding to the target U-turn section; the scaling processing module 1403 is used to scale the U-turn lane centerline according to the U-turn lane centerline and the section width corresponding to the target U-turn section to obtain the initial lane divider corresponding to the target U-turn section; the preprocessing module 1405 is used to preprocess the initial lane divider to obtain the U-turn lane divider corresponding to the target U-turn section.

[0107] Optionally, the device for generating lane dividers further includes: a first acquisition module, a first determination module, and a second determination module. Among them, the first acquisition module is used to acquire road network data, where the road network data is composed of lane group data corresponding to multiple lane groups; the first determination module is used to determine the lane types corresponding to multiple lane groups according to the lane centerlines of multiple lane groups; the second determination module is used to determine at least one U-turn lane group from multiple lane groups according to the lane types.

[0108] Optionally, the device for generating lane dividers further includes: a first detection module and a third determination module. Among them, the first detection module is used to detect whether there is a lane divider corresponding to the U-turn lane centerline in at least one U-turn lane group to obtain a detection result; the third determination module is used to determine the target U-turn section from at least one U-turn lane group according to the detection result, where the target U-turn section is the section corresponding to the U-turn lane group in which there is no lane divider corresponding to the U-turn lane centerline.

[0109] Optionally, the scaling processing module includes: a fourth determination module, a first calculation module, a second calculation module, a third calculation module, and a first processing module. Among them, the fourth determination module is configured to determine the entry width and the exit width corresponding to the target U-turn section according to the road section width, where the entry width is the width of the target vehicle entering the target U-turn section, and the exit width is the width of the target vehicle exiting the target U-turn section; the first calculation module is configured to calculate the connection distance between the starting point and the ending point of the center line of the U-turn lane, and obtain a first distance; the second calculation module is configured to determine a second distance and a third distance corresponding to the target U-turn section according to the entry width, the exit width, and the first distance, where the second distance is the connection distance between the starting point and the ending point of the outer lane demarcation line corresponding to the target U-turn section, and the third distance is the connection distance between the starting point and the ending point of the inner lane demarcation line corresponding to the target U-turn section; the third calculation module is configured to calculate the ratio of the second distance to the first distance to obtain a magnification factor, and perform a magnification process on the center line of the U-turn lane based on the magnification factor to obtain the outer U-turn lane demarcation line corresponding to the initial lane demarcation line; the first processing module is configured to calculate the ratio of the third distance to the first distance to obtain a reduction factor, and perform a reduction process on the center line of the U-turn lane based on the reduction factor to obtain the inner U-turn lane demarcation line corresponding to the initial lane demarcation line.

[0110] Optionally, the preprocessing module includes: an adjustment module, a concatenation module, a second processing module, and a third processing module. Among them, the adjustment module is configured to adjust the width of the initial lane demarcation line to obtain a first lane demarcation line; the concatenation module is configured to sort and concatenate the shape points forming the first lane demarcation line to obtain a second lane demarcation line; the second processing module is configured to perform a smoothing process on the second lane demarcation line to obtain a third lane demarcation line; the third processing module is configured to perform a thinning process on the shape points forming the third lane demarcation line to obtain the U-turn lane demarcation line.

[0111] Optionally, the adjustment module includes: a second acquisition module, a fifth determination module, and a first adjustment module. Among them, the second acquisition module is configured to acquire the shape points forming the initial lane demarcation line to obtain a plurality of shape points; the fifth determination module is configured to determine the perpendicular lines of the plurality of shape points perpendicular to the center line of the U-turn lane; the first adjustment module is configured to adjust the distance from the plurality of shape points to the center line of the U-turn lane in the perpendicular direction corresponding to the perpendicular line according to the entry width and the exit width corresponding to the target U-turn section to obtain a first lane demarcation line, where the entry width is the width of the target vehicle entering the target U-turn section, and the exit width is the width of the target vehicle exiting the target U-turn section.

[0112] Optionally, the concatenation module includes: a sixth determination module, a seventh determination module, and a rejection module. Among them, the sixth determination module is used to traverse the shape points that make up the first lane boundary line, and determine the next shape point and the previous shape point that are closest to the current shape point; the seventh determination module is used to determine the included angle formed by the current shape point, the previous shape point, and the next shape point; the rejection module is used to reject the current shape point from the shape points that make up the first lane boundary line when the included angle is within a preset range, so as to obtain the second lane boundary line.

[0113] Optionally, the second processing module includes: a removal module and an insertion module. Among them, the removal module is used to remove the broken lines in the second lane boundary line to obtain the processed second lane boundary line; the insertion module is used to insert at least one shape point into the processed second lane boundary line to obtain the third lane boundary line.

[0114] Optionally, the removal module includes: an eighth determination module and a removal module. Among them, the eighth determination module is used to traverse the shape points that make up the second lane boundary line, and determine the first shape point and the second shape point that are closest to the first current shape point, where the first current shape point is any one of the shape points that make up the second lane boundary line, the first shape point is the previous shape point of the first current shape point, and the second shape point is the next shape point of the first current shape point; the removal module is used to remove the current shape point from the shape points that make up the second lane boundary line when the first current shape point is located on the preset side direction of the preset connection line, so as to obtain the processed second lane boundary line, where the preset connection line is the connection line obtained by connecting the first shape point and the second shape point.

[0115] Optionally, the insertion module includes: a ninth determination module, a tenth determination module, and a first insertion module. Among them, the ninth determination module is used to traverse the shape points that make up the processed second lane boundary line, and determine the third shape point and the fourth shape point that are closest to the second current shape point, where the second current shape point is any one of the shape points that make up the processed second lane boundary line, the third shape point is the previous shape point of the second current shape point, and the fourth shape point is the next shape point of the second current shape point; the tenth determination module is used to determine the included angle formed by the second current shape point, the third shape point, and the fourth shape point; the first insertion module is used to insert at least one shape point between the third shape point and the fourth shape point and remove the second current shape point when the included angle is less than the preset angle, so as to obtain the third lane boundary line.

[0116] Optionally, the third processing module includes: a fourth calculation module and a merging module. The fourth calculation module is configured to traverse the shape points that make up the third lane boundary line and calculate the distance between two adjacent shape points. The merging module is configured to merge the shape points with a distance less than a preset distance to obtain a U-turn lane boundary line.

[0117] Optionally, the lane boundary line generating device further includes: a second detection module, a generating module, a receiving module, and an updating module. The second detection module is configured to detect whether there is an intersection between the U-turn lane boundary line and a preset lane boundary line. The generating module is configured to generate a prompt message when it is detected that there is an intersection between the U-turn lane boundary line and the preset lane boundary line. The receiving module is configured to receive update information returned based on the prompt message. The updating module is configured to update the U-turn lane boundary line according to the update information.

[0118] Example 4

[0119] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0120] Figure 15 FIG. shows a schematic block diagram of an exemplary electronic device 1500 that can be used to implement the embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0121] As Figure 15 shown, the device 1500 includes a computing unit 1501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1502 or a computer program loaded from a storage unit 1508 into a random access memory (RAM) 1503. In the RAM 1503, various programs and data required for the operation of the device 1500 can also be stored. The computing unit 1501, the ROM 1502, and the RAM 1503 are connected to each other through a bus 1504. An input / output (I / O) interface 1505 is also connected to the bus 1504.

[0122] Multiple components in device 1500 are connected to I / O interface 1505, including: an input unit 1506, such as a keyboard, a mouse, etc.; an output unit 1507, such as various types of displays, speakers, etc.; a storage unit 1508, such as a disk, an optical disc, etc.; and a communication unit 1509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1509 allows device 1500 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0123] The computing unit 1501 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1501 executes the various methods and processes described above, such as the method for generating lane dividing lines. For example, in some embodiments, the method for generating lane dividing lines can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as the storage unit 1508. In some embodiments, part or all of the computer program can be loaded and / or installed onto device 1500 via the ROM 1502 and / or the communication unit 1509. When the computer program is loaded into the RAM 1503 and executed by the computing unit 1501, one or more steps of the method for generating lane dividing lines described above can be executed. Alternatively, in other embodiments, the computing unit 1501 can be configured to execute the method for generating lane dividing lines by any other suitable means (e.g., by means of firmware).

[0124] Various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general purpose computer, a special purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the program codes cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0126] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0127] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), and the Internet.

[0129] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0130] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps recited in this disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this is not limited herein.

[0131] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A method for generating lane demarcation lines, comprising: Obtain the center line of the U-turn lane corresponding to the target U-turn section; Scale the center line of the U-turn lane according to the center line of the U-turn lane and the road width corresponding to the target U-turn section to obtain the initial lane demarcation line corresponding to the target U-turn section; Preprocess the initial lane demarcation line to obtain the U-turn lane demarcation line corresponding to the target U-turn section; Among them, scaling the center line of the U-turn lane according to the center line of the U-turn lane and the road width corresponding to the target U-turn section to obtain the initial lane demarcation line corresponding to the target U-turn section includes: Determine the entry width and exit width corresponding to the target U-turn section according to the road width, where the entry width is the width for the target vehicle to enter the target U-turn section, and the exit width is the width for the target vehicle to exit the target U-turn section; Calculate the connection distance between the start point and the end point of the center line of the U-turn lane to obtain the first distance; Determine the second distance and the third distance corresponding to the target U-turn section according to the entry width, the exit width, and the first distance, where the second distance is the connection distance between the start point and the end point of the outer lane demarcation line corresponding to the target U-turn section, and the third distance is the connection distance between the start point and the end point of the inner lane demarcation line corresponding to the target U-turn section; Calculate the ratio of the second distance to the first distance to obtain the magnification factor, and magnify the center line of the U-turn lane based on the magnification factor to obtain the outer U-turn lane demarcation line corresponding to the initial lane demarcation line; Calculate the ratio of the third distance to the first distance to obtain the reduction factor, and reduce the center line of the U-turn lane based on the reduction factor to obtain the inner U-turn lane demarcation line corresponding to the initial lane demarcation line.

2. The method according to claim 1, the method further comprising: Obtain road network data, where the road network data consists of lane group data corresponding to multiple lane groups; Determine the lane types corresponding to the multiple lane groups according to the center lines of the multiple lane groups; Determine at least one U-turn lane group from the multiple lane groups according to the lane types; 3. The method according to claim 2, the method further comprising: Detect whether there is a lane demarcation line corresponding to the center line of the U-turn lane in the at least one U-turn lane group to obtain a detection result; Determine the target U-turn section from the at least one U-turn lane group according to the detection result, where the target U-turn section is the section corresponding to the U-turn lane group that does not have a lane demarcation line corresponding to the center line of the U-turn lane.

4. The method according to claim 1, preprocessing the initial lane demarcation line to obtain the turning lane demarcation line corresponding to the target turning section, comprising: Adjust the width of the initial lane demarcation line to obtain the first lane demarcation line; Sort and concatenate the shape points forming the first lane demarcation line to obtain the second lane demarcation line; Smooth the second lane demarcation line to obtain the third lane demarcation line; Thin out the shape points forming the third lane demarcation line to obtain the U-turn lane demarcation line.

5. The method according to claim 4, adjusting the width of the initial lane demarcation line to obtain the first lane demarcation line, comprising: Obtain the shape points that make up the initial lane demarcation line to get a plurality of shape points; Determine the perpendicular lines of the plurality of shape points perpendicular to the center line of the U-turn lane; In the perpendicular direction corresponding to the perpendicular line, adjust the distance from the plurality of shape points to the center line of the U-turn lane according to the entry width and exit width corresponding to the target U-turn section, to obtain the first lane demarcation line, where the entry width is the width for the target vehicle to enter the target U-turn section, and the exit width is the width for the target vehicle to exit the target U-turn section.

6. The method according to claim 4, sorting and connecting the shape points forming the first lane demarcation line to obtain the second lane demarcation line, comprising: Traverse the shape points that make up the first lane demarcation line to determine the next shape point and the previous shape point that are closest to the current shape point; Determine the included angle formed by the current shape point, the previous shape point, and the next shape point; When the included angle is within a preset range, remove the current shape point from the shape points that make up the first lane demarcation line to obtain the second lane demarcation line.

7. The method according to claim 4, smoothing the second lane demarcation line to obtain the third lane demarcation line, comprising: Remove the broken lines in the second lane demarcation line to obtain the processed second lane demarcation line; Insert at least one shape point into the processed second lane demarcation line to obtain the third lane demarcation line.

8. The method according to claim 7, removing the broken lines in the second lane boundary line to obtain a processed second lane boundary line, including: Traverse the shape points that make up the second lane demarcation line to determine the first shape point and the second shape point that are closest to the first current shape point, where the first current shape point is any one of the shape points that make up the second lane demarcation line, the first shape point is the previous shape point of the first current shape point, and the second shape point is the next shape point of the first current shape point; When the first current shape point is located on the preset side direction of the preset connection line, remove the current shape point from the shape points that make up the second lane demarcation line to obtain the processed second lane demarcation line, where the preset connection line is the connection line obtained by connecting the first shape point and the second shape point.

9. The method according to claim 7, inserting at least one shape point into the processed second lane boundary line to obtain the third lane boundary line, including: Traverse the shape points that make up the processed second lane demarcation line to determine the third shape point and the fourth shape point that are closest to the second current shape point, where the second current shape point is any one of the shape points that make up the processed second lane demarcation line, the third shape point is the previous shape point of the second current shape point, and the fourth shape point is the next shape point of the second current shape point; Determine the included angle formed by the second current shape point, the third shape point, and the fourth shape point; When the included angle is less than the preset angle, insert at least one shape point between the third shape point and the fourth shape point, and remove the second current shape point to obtain the third lane demarcation line.

10. The method according to claim 4, thinning the shape points constituting the third lane boundary line to obtain the turning lane boundary line, including: Traverse the shape points that make up the third lane demarcation line and calculate the distance between adjacent two shape points; Merge the shape points with a distance less than the preset distance to obtain the U-turn lane demarcation line.

11. The method according to claim 1, the method further includes: Detect whether there is an intersection part between the U-turn lane demarcation line and the preset lane demarcation line; When it is detected that there is the intersection part between the U-turn lane demarcation line and the preset lane demarcation line, generate a prompt message; Receive the updated information returned based on the prompt information; Update the turning lane demarcation line according to the updated information.

12. A device for generating a lane boundary line, including: An acquisition module, configured to acquire the turning lane center line corresponding to the target turning section; A scaling processing module, configured to scale the turning lane center line according to the turning lane center line and the road section width corresponding to the target turning section, so as to obtain the initial lane demarcation line corresponding to the target turning section; A preprocessing module, configured to preprocess the initial lane demarcation line to obtain the turning lane demarcation line corresponding to the target turning section; Wherein, the scaling processing module is further configured to: determine the entry width and the exit width corresponding to the target turning section according to the road section width, where the entry width is the width for a target vehicle to enter the target turning section, and the exit width is the width for the target vehicle to exit the target turning section; calculate the connection distance between the starting point and the ending point of the turning lane center line to obtain a first distance; determine a second distance and a third distance corresponding to the target turning section according to the entry width, the exit width and the first distance, where the second distance is the connection distance between the starting point and the ending point of the outer lane demarcation line corresponding to the target turning section, and the third distance is the connection distance between the starting point and the ending point of the inner lane demarcation line corresponding to the target turning section; calculate the ratio of the second distance to the first distance to obtain a magnification factor, and magnify the turning lane center line based on the magnification factor to obtain the outer turning lane demarcation line corresponding to the initial lane demarcation line; calculate the ratio of the third distance to the first distance to obtain a reduction factor, and reduce the turning lane center line based on the reduction factor to obtain the inner turning lane demarcation line corresponding to the initial lane demarcation line.

13. An electronic device, including: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method for generating a lane demarcation line according to any one of claims 1 to 11.

14. A non-transitory computer-readable storage medium storing computer instructions, wherein, Computer instructions are used to cause a computer to execute the method for generating a lane demarcation line according to any one of claims 1 to 11.

15. A computer program product, including a computer program, the computer program when executed by a processor implements the method for generating a lane boundary line according to any one of claims 1 to 11.

Images