Method, device and equipment for generating map lane lines

Abstract

The present application relates to a method, device and equipment for generating lane lines on a map. The method includes: generating a first starting point, a first midpoint and a first tail point in a map and connecting them in sequence to form a line to obtain a first lane line; wherein, the first lane line includes a first front lane line composed of the first starting point and the first midpoint, and a first rear lane line composed of the first midpoint and the first tail point; based on the first front lane line, the first rear lane line and a preset spacing value, generating a second starting point, a second midpoint and a second tail point corresponding to the first starting point, the first midpoint and the first tail point respectively; based on the second starting point, the second midpoint and the second tail point, generating a second lane line belonging to the same road as the first lane line. The solution provided by the present application can quickly generate lane lines, improve the efficiency of lane line generation, and improve the efficiency of drawing high-precision maps.

Description

Technical Field

[0001] The present application relates to the field of navigation technology, and in particular to a method, device and equipment for generating map lane lines. Background Art

[0002] With the development of technologies like artificial intelligence and autonomous driving, building smart transportation has become a research hotspot. High-precision maps are an essential component of this data. Creating HD maps requires generating lane lines, a key component of HD maps. Lane lines provide data support for navigation in applications like autonomous driving.

[0003] However, the related technology has low efficiency in generating lane lines on roads in the map, which reduces the efficiency of drawing high-precision maps. Summary of the Invention

[0004] In order to solve or partially solve the problems existing in the related technology, the present application provides a method, device and equipment for generating map lane lines, which can quickly generate lane lines, improve the efficiency of lane line generation, and improve the efficiency of drawing high-precision maps.

[0005] A first aspect of the present application provides a method for generating map lane lines, comprising:

[0006] Generating a first starting point, a first midpoint, and a first ending point in the map and sequentially connecting them into a line to obtain a first lane line; wherein the first lane line includes a first front lane line formed by the first starting point and the first midpoint, and a first rear lane line formed by the first midpoint and the first ending point;

[0007] Generate a second starting point, a second midpoint, and a second ending point corresponding to the first starting point, the first midpoint, and the first ending point, respectively, according to the first front lane line, the first rear lane line, and a preset spacing value;

[0008] A second lane line belonging to the same road as the first lane line is generated according to the second first point, the second middle point, and the second end point.

[0009] In one embodiment, generating, based on the first front lane line, the first rear lane line, and a preset spacing value, a second starting point, a second midpoint, and a second ending point corresponding to the first starting point, the first midpoint, and the first ending point, respectively, includes:

[0010] Generating a second first point corresponding to the first first point according to the first front lane line and the preset spacing value;

[0011] Generating a second tail point corresponding to the first tail point according to the first rear lane line and the preset spacing value;

[0012] A second midpoint corresponding to the first midpoint is generated according to the first front lane line and the preset spacing value.

[0013] In one embodiment, generating a second first point corresponding to the first first point based on the first preceding lane line and the preset spacing value includes:

[0014] The second first point is generated by rotating the first front lane line 90 degrees clockwise with the first first point as the center and scaling it to the length of the preset spacing value, determining the position of the second first point corresponding to the first first point.

[0015] In one embodiment, generating a second tail point corresponding to the first tail point based on the first rear lane line and the preset spacing value includes:

[0016] The second tail point is generated by rotating the first rear lane line 90 degrees counterclockwise with the first tail point as the center and scaling it to the length of the preset spacing value, determining the position of the second tail point corresponding to the first tail point.

[0017] In one embodiment, generating a second midpoint corresponding to the first midpoint based on the first front lane line and the preset spacing value includes:

[0018] The second midpoint is generated by rotating the first front lane line counterclockwise by a target angle with the first midpoint as the center and scaling the length to the preset spacing value divided by the sine of the target angle. The second midpoint corresponding to the first midpoint is determined; the target angle is half of the angle between the first front lane line and the first rear lane line.

[0019] In one embodiment, the map is a high-precision map.

[0020] A second aspect of the present application provides a device for generating map lane lines, comprising:

[0021] a production module, configured to generate a first starting point, a first midpoint, and a first ending point in a map and sequentially connect them into a line to produce a first lane line; wherein the first lane line includes a first front lane line formed by the first starting point and the first midpoint, and a first rear lane line formed by the first midpoint and the first ending point;

[0022] a determination module configured to generate, based on the first front lane line, the first rear lane line, and a preset spacing value, a second first point, a second middle point, and a second end point corresponding to the first first point, the first middle point, and the first end point, respectively;

[0023] A generating module is used to generate a second lane line belonging to the same road as the first lane line according to the second first point, the second middle point and the second end point.

[0024] In one embodiment, the determination module includes a first submodule, a second submodule, and a third submodule;

[0025] The first submodule is configured to generate a second first point corresponding to the first first point according to the first front lane line and the preset spacing value;

[0026] The second submodule is configured to generate a second tail point corresponding to the first tail point according to the first rear lane line and the preset spacing value;

[0027] The third submodule is configured to generate a second midpoint corresponding to the first midpoint based on the first front lane line and the preset spacing value.

[0028] A third aspect of the present application provides an electronic device, including:

[0029] processor; and

[0030] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method described above.

[0031] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method described above.

[0032] The technical solution provided by this application may have the following beneficial effects:

[0033] The method provided in this application generates a first lane line by generating a first starting point, a first midpoint, and a first ending point in a map and sequentially connecting them into a line. The first lane line includes a first front lane line formed by the first starting point and the first midpoint, and a first rear lane line formed by the first midpoint and the first ending point. Based on the first front lane line, the first rear lane line, and a preset spacing value, a second starting point, a second midpoint, and a second rear point are generated, corresponding to the first starting point, the first midpoint, and the first rear point, respectively. Based on the second starting point, the second midpoint, and the second rear point, a second lane line belonging to the same road as the first lane line is generated. In this way, lane lines can be generated quickly, the efficiency of lane line generation is improved, and the efficiency of high-precision map drawing is improved.

[0034] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0036] Figure 1 is a flow chart of a method for generating map lane lines according to an embodiment of the present application;

[0037] Figure 2 This is another flowchart of a method for generating map lane lines according to an embodiment of the present application;

[0038] Figure 3 is a schematic diagram of the first lane line in the method for generating map lane lines shown in an embodiment of the present application;

[0039] Figure 4 Schematic diagram of the first lane line and the second lane line in the method for generating map lane lines shown in an embodiment of the present application;

[0040] Figure 5 Schematic diagram of the structure of a map lane line generation device shown in an embodiment of the present application;

[0041] Figure 6 is another structural schematic diagram of a device for generating map lane lines shown in an embodiment of the present application;

[0042] Figure 7 It is a structural diagram of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following describes embodiments of the present application in more detail with reference to the accompanying drawings. Although the accompanying drawings illustrate embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0044] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0045] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] The related technology has low efficiency in generating lane lines on roads in maps, which reduces the efficiency of drawing high-precision maps.

[0047] In response to the above problems, an embodiment of the present application provides a method for generating map lane lines, which can quickly generate lane lines, improve the efficiency of lane line generation, and improve the efficiency of drawing high-precision maps.

[0048] The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0049] Figure 1 This is a flow chart of a method for generating map lane lines shown in an embodiment of the present application.

[0050] See also Figure 1 , the method comprising:

[0051] Step S101: Generate a first starting point, a first midpoint, and a first ending point in a map and connect them in sequence to form a line to obtain a first lane line; wherein the first lane line includes a first front lane line formed by the first starting point and the first midpoint, and a first rear lane line formed by the first midpoint and the first ending point.

[0052] The positions of the first starting point, the first midpoint and the first ending point may be determined according to the requirements of the first lane line to be produced, thereby generating the first starting point, the first midpoint and the first ending point in the map.

[0053] The map may be a high-precision map, and the obtained first lane line may be a lane line in the high-precision map.

[0054] Step S102: Generate a second first point, a second middle point, and a second end point corresponding to the first first point, the first middle point, and the first end point, respectively, according to the first front lane line, the first rear lane line, and the preset spacing value.

[0055] The second first point, the second middle point and the second last point are all located on one side of the first lane line, that is, the second first point, the second middle point and the second last point are all located on the left or right side of the forward direction of the first lane line.

[0056] In this step, in one embodiment, a second first point corresponding to the first first point can be generated based on the first front lane line and a preset spacing value; wherein the length of the line connecting the second first point and the first first point can be the preset spacing value, and the line connecting the second first point and the first first point is perpendicular to the first front lane line with the first first point as the foot of the perpendicular.

[0057] A second tail point is generated corresponding to the first tail point based on the first rear lane line and a preset spacing value; wherein the length of a line connecting the second tail point and the first tail point can be the preset spacing value, and the line connecting the second tail point and the first tail point is perpendicular to the first rear lane line with the first tail point as a foot.

[0058] Based on the first front lane line and the preset spacing value, a second midpoint corresponding to the first midpoint is generated; wherein the length of the line connecting the second midpoint and the first midpoint can be the preset spacing value divided by the sine value of the target angle, and the line connecting the second midpoint and the first midpoint is the angle bisector of the angle between the first front lane line and the first rear lane line; the sine value of the target angle is the sine value of half the angle between the first front lane line and the first rear lane line.

[0059] Step S103: Generate a second lane line that belongs to the same road as the first lane line based on the second first point, the second middle point, and the second last point.

[0060] In this step, the second first point, the second middle point, and the second last point may be sequentially connected to form a line to generate a second lane line that belongs to the same road as the first lane line.

[0061] It can be seen from this embodiment that the method provided in the embodiment of the present application can quickly generate lane lines, improve the efficiency of lane line generation, and improve the efficiency of drawing high-precision maps.

[0062] Figure 2 This is another flowchart of the method for generating map lane lines in an embodiment of the present application. Figure 2 relatively Figure 1 The scheme of the present application is described in more detail.

[0063] See also Figure 2 , the method comprising:

[0064] Step S201: Generate a first starting point, a first midpoint, and a first ending point in the map and connect them in sequence to form a line to obtain a first lane line; wherein the first lane line includes a first front lane line formed by the first starting point and the first midpoint, and a first rear lane line formed by the first midpoint and the first ending point.

[0065] For this step, please refer to the description of step S101.

[0066] For further information, see Figure 3,exist Figure 3 In the illustrated embodiment, point S generated in the map is the first starting point, point 0 is the first midpoint, and point E is the first ending point. Figure 3 The line segment SO in is the first front lane line formed by the first starting point S and the first midpoint O, and the line segment OE is the first rear lane line formed by the first midpoint O and the first end point E. Figure 3 The broken line SOE in is the first lane line obtained in this step.

[0067] It should be noted that lane lines in a map have directions and are broken lines formed by sequentially connecting multiple unit straight line segments end to end. In this embodiment of the present application, the first front lane line and the first rear lane line are two unit straight line segments connected end to end to form the first lane line.

[0068] The first lane line SOE starts at the first starting point S and ends at the first ending point E. The first front lane line SO can be represented on the map as a vector, with the direction of the first front lane line SO being from the first starting point S to the first midpoint O. Similarly, the first rear lane line OE can also be represented on the map as a vector, with the direction of the first rear lane line OE being from the first midpoint O to the first ending point E.

[0069] Step S202: Generate a second first point corresponding to the first first point according to the first front lane line and a preset spacing value.

[0070] In one embodiment, the second starting point can be generated by rotating the first front lane line 90 degrees clockwise around the first starting point and scaling it to a predetermined spacing value. In other words, the length of the line connecting the second starting point and the first starting point is the predetermined spacing value, and the line connecting the second starting point and the first starting point is perpendicular to the first front lane line with the first starting point as the foot of the perpendicular.

[0071] See Figure 4 In this embodiment, since the first front lane line SO generated in the map is represented as a vector, the first front lane line SO can be normalized, that is, the first front lane line SO can be treated as a line segment without direction. By rotating the first front lane line SO 90 degrees clockwise with the first starting point S as the center, and then scaling the first front lane line SO to the length of the preset spacing value d. In this way, one endpoint of the scaled first front lane line SO is the first starting point S, and the other endpoint is the second starting point S'. In this way, the second starting point S' corresponding to the first starting point S can be generated. It can be found that the length of the line segment SS' is the preset spacing value d, and the line segment SS' is perpendicular to the first front lane line SO with the first starting point S as the foot.

[0072] The preset spacing value may range from 2 meters to 5 meters, and the preset spacing value may be a conventional width of a lane, such as 2.5 meters, 3 meters, and the like.

[0073] Step S203: Generate a second tail point corresponding to the first tail point according to the first rear lane line and a preset spacing value.

[0074] In one embodiment, the second tail point can be generated by rotating the first rear lane line 90 degrees counterclockwise with the first tail point as the center and scaling it to a predetermined spacing value. In other words, the length of the line connecting the second tail point and the first tail point is the predetermined spacing value, and the line connecting the second tail point and the first tail point is perpendicular to the first rear lane line with the first tail point as the foot.

[0075] See Figure 4 In this embodiment, since the first rear lane line OE generated in the map is represented as a vector, the first rear lane line OE can be normalized, that is, the first rear lane line OE can be treated as a line segment without direction. By rotating the first rear lane line OE 90 degrees counterclockwise with the first end point E as the center, and then scaling the first rear lane line OE to the length of the preset spacing value d. In this way, one endpoint of the scaled first rear lane line OE is the first end point E, and the other endpoint is the second end point E'. In this way, the second end point E' corresponding to the first end point E can be generated. It can be found that the length of the line segment EE' is the preset spacing value d, and the line segment EE' is perpendicular to the first rear lane line OE with the first end point E as the foot.

[0076] Step S204: Generate a second midpoint corresponding to the first midpoint based on the first front lane line and the preset spacing value.

[0077] In one embodiment, a second midpoint corresponding to the first midpoint can be determined by rotating the first front lane line counterclockwise about the first midpoint by a target angle and scaling the length to a preset spacing value divided by the sine of the target angle. The target angle is half the angle between the first front lane line and the first rear lane line. In other words, the length of the line connecting the second midpoint and the first midpoint is the preset spacing value divided by the sine of the target angle, and the line connecting the second midpoint and the first midpoint is the angle bisector of the angle between the first front lane line and the first rear lane line. The sine of the target angle is the sine of half the angle between the first front lane line and the first rear lane line.

[0078] See Figure 4In this embodiment, the first front lane line SO can be rotated counterclockwise about the first midpoint O by a target angle a, where the target angle a is half of the angle 2a between the first front lane line SO and the first rear lane line OE. The length of the first front lane line SO is then scaled to the preset spacing value d divided by the sine of the target angle a, i.e., the length of the first front lane line SO is: d / sin a. Thus, one endpoint of the scaled first front lane line SO is the first midpoint O, and the other endpoint is the second midpoint O'. In this way, a second midpoint O' corresponding to the first midpoint O can be generated. It can be seen that the length of line segment OO' is the preset spacing value d / sin a, and line segment OO' is the angle bisector of the angle between the first front lane line and the first rear lane line, which is 2a.

[0079] Step S205: Generate a second lane line that belongs to the same road as the first lane line based on the second first point, the second middle point, and the second last point.

[0080] See Figure 4 In this step, the second first point S', the second midpoint O' and the second tail point E' can be connected in sequence to form a line to generate a second lane line S'O'E' that belongs to the same road as the first lane line SOE. It can be found that the first front lane line SO is parallel to the line segment S'O', and the first rear lane line OE is parallel to the line segment O'E'. In this embodiment of the present application, the second lane line S'O'E' can include the second front lane line (i.e., line segment S'O') formed by the second first point S' and the second midpoint O', and the second rear lane line (i.e., line segment O'E') formed by the second midpoint O' and the second tail point E'.

[0081] It should be noted that in the embodiment of the present application, the second lane line and the first lane line belong to the same road, that is, the second lane line and the first lane line are two lane lines on the same road. It can be understood that the present application quickly generates another lane line (i.e., the second lane line) on the road by producing the first lane line on the road, and using the produced first lane line, according to the lane line design regulations for parallel lane lines on the same road. In this way, the remaining lane lines on the road can be generated by repeatedly executing the method provided by the present application, thereby quickly completing the generation and drawing of each lane line on the same road.

[0082] Furthermore, it can be understood that a lane line can be a broken line formed by connecting multiple unit straight line segments end to end in sequence. By connecting multiple first lane lines end to end, a first newly created lane line of longer length can be generated. Then, for each first lane line in the first newly created lane lines, executing the method provided in this application can generate multiple second lane lines accordingly. Within the multiple second lane lines, the second lane lines can be extended or shortened so that two adjacent second lane lines connect, thereby connecting multiple second lane lines end to end in sequence to obtain a second newly created lane line corresponding to the first newly created lane line.

[0083] It can be seen from this embodiment that the method provided in the embodiment of the present application can generate a second lane line belonging to the same road as the first lane line based on the produced first lane line, thereby facilitating the rapid generation of various lane lines on the same road, effectively improving the efficiency of lane line generation, and improving the efficiency of high-precision map drawing.

[0084] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a map lane line generation device, electronic device and corresponding embodiments.

[0085] Figure 5 It is a structural diagram of a map lane line generation device shown in an embodiment of the present application.

[0086] See also Figure 5 A map lane line generation device 50 includes: a production module 510, a determination module 520 and a generation module 530.

[0087] Production module 510 is used to generate a first starting point, a first midpoint, and a first ending point in the map and connect them in sequence to form a line to produce a first lane line; wherein the first lane line includes a first front lane line formed by the first starting point and the first midpoint, and a first rear lane line formed by the first midpoint and the first ending point.

[0088] The determination module 520 is configured to generate a second first point, a second middle point, and a second end point corresponding to the first first point, the first middle point, and the first end point, respectively, based on the first front lane line, the first rear lane line, and the preset spacing value.

[0089] The generating module 530 is configured to generate a second lane line belonging to the same road as the first lane line according to the second first point, the second middle point, and the second end point.

[0090] It can be seen from this embodiment that the device 50 provided in the present application can quickly generate lane lines, improve the efficiency of lane line generation, and improve the efficiency of drawing high-precision maps.

[0091] Figure 6This is another structural diagram of the map lane line generation device shown in an embodiment of the present application.

[0092] See also Figure 6 The map lane line generating device 50 of the embodiment of the present application includes: a production module 510, a determination module 520 and a generation module 530.

[0093] The functions of the production module 510, the determination module 520 and the generation module 530 can be found in Figure 5 The description in the embodiments will not be repeated here.

[0094] The determination module 520 may include a first submodule 521 , a second submodule 522 and a third submodule 523 .

[0095] The first submodule 521 is configured to generate a second first point corresponding to the first first point according to the first front lane line and a preset spacing value.

[0096] The second submodule 522 is configured to generate a second tail point corresponding to the first tail point according to the first rear lane line and a preset spacing value.

[0097] The third submodule 523 is configured to generate a second midpoint corresponding to the first midpoint according to the first front lane line and a preset spacing value.

[0098] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0099] Figure 7 It is a structural diagram of an electronic device shown in an embodiment of the present application.

[0100] See also Figure 7 , the electronic device 700 includes a memory 710 and a processor 720.

[0101] The processor 720 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0102] The memory 710 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. ROM may store static data or instructions required by the processor 720 or other modules of the computer. The permanent storage may be a readable and writable storage device. The permanent storage may be a non-volatile storage device that retains stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (e.g., a magnetic or optical disk, flash memory) as the permanent storage device. In other embodiments, the permanent storage device may be a removable storage device (e.g., a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. The system memory may store some or all instructions and data required by the processor during operation. In addition, the memory 710 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and / or optical disks may also be used. In some embodiments, the memory 710 may include a readable and / or writable removable storage device, such as a compact disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0103] The memory 710 stores executable codes. When the executable codes are processed by the processor 720 , the processor 720 may execute part or all of the above-mentioned methods.

[0104] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0105] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0106] The embodiments of the present application have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for generating map lane lines, characterized in that: include: Generating a first starting point, a first midpoint, and a first ending point in the map and sequentially connecting them into a line to obtain a first lane line; wherein the first lane line includes a first front lane line formed by the first starting point and the first midpoint, and a first rear lane line formed by the first midpoint and the first ending point; Generate a second first point corresponding to the first first point based on the first front lane line and a preset spacing value; generate a second last point corresponding to the first last point based on the first rear lane line and a preset spacing value; The second midpoint is generated by rotating the first front lane line counterclockwise by a target angle about the first midpoint and scaling the length to a preset spacing value divided by the sine of the target angle; the second midpoint is determined to correspond to the first midpoint; the target angle is half the angle between the first front lane line and the first rear lane line; A second lane line belonging to the same road as the first lane line is generated according to the second first point, the second middle point, and the second end point.

2. The method according to claim 1, characterized in that Generating a second first point corresponding to the first first point according to the first front lane line and a preset spacing value includes: The second first point is generated by rotating the first front lane line 90 degrees clockwise with the first first point as the center and scaling it to the length of the preset spacing value, determining the position of the second first point corresponding to the first first point.

3. The method according to claim 1, characterized in that Generating a second tail point corresponding to the first tail point according to the first rear lane line and a preset spacing value includes: The second tail point is generated by rotating the first rear lane line 90 degrees counterclockwise with the first tail point as the center and scaling it to the length of the preset spacing value, determining the position of the second tail point corresponding to the first tail point.

4. The method according to claim 1, wherein: The map is a high-precision map.

5. A device for generating map lane lines, characterized in that: include: a production module, configured to generate a first starting point, a first midpoint, and a first ending point in a map and sequentially connect them into a line to produce a first lane line; wherein the first lane line includes a first front lane line formed by the first starting point and the first midpoint, and a first rear lane line formed by the first midpoint and the first ending point; A determination module includes a first submodule, a second submodule, and a third submodule; The first submodule is configured to generate a second first point corresponding to the first first point according to the first front lane line and a preset spacing value; The second submodule is configured to generate a second tail point corresponding to the first tail point according to the first rear lane line and a preset spacing value; The third submodule is configured to generate a second midpoint by rotating the first front lane line counterclockwise by a target angle with the first midpoint as the center and scaling the length to a preset spacing value divided by the sine of the target angle; the second midpoint is determined; the target angle is half the angle between the first front lane line and the first rear lane line; A generating module is used to generate a second lane line belonging to the same road as the first lane line according to the second first point, the second middle point and the second end point.

6. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method according to any one of claims 1 to 4.

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