Method, device, equipment and medium for generating guide lines in intersections

Abstract

The present application discloses a method for generating guide lines within an intersection, which belongs to the technical field of guide line calculation within an intersection. The method comprises: extending the current intersection stop line of each road section at the intersection to obtain an extended stop line, and obtaining the road relative relationship between each road section at the intersection and other road sections at the intersection based on the intersection of the extended stop lines; obtaining the lane guide arrows of each road section at the intersection and the center line of the entrance and exit lanes of each road section at the intersection based on the forward direction of each road section at the intersection and the road markings of each road section at the intersection; generating guide lines within the intersection based on the road relative relationship, lane guide arrows, and entrance and exit lane center lines of each road section at the intersection. The present application automatically generates guide lines within the intersection, avoiding the tedious process of manually drawing guide lines within the intersection, improving work efficiency, and saving labor costs.

Description

Technical Field

[0001] The present invention relates to the technical field of calculating guide lines within intersections, and in particular to a method, device, equipment and storage medium for generating guide lines within intersections. Background Art

[0002] The calculation of guide lines within intersections plays a vital role in the field of refined map data production, and is mainly used for navigation and travel prompts.

[0003] In the existing technology, the calculation process of the guide line in the intersection is to establish an association relationship between the road markings, stop lines and guide arrows attached to the intersection, and calculate the entrance road markings and exit road markings of the attached intersection accordingly. Based on the endpoint candidate sets of the entrance road markings and exit road markings, the guide line in the intersection is automatically attached to the endpoints and related attributes are set.

[0004] Typically, when creating guide lines within intersections in refined map data, the calculated guide lines within the intersection are manually drawn into the map, which is a tedious and difficult process. Summary of the Invention

[0005] The present invention provides a method, device and storage medium for generating guide lines in an intersection, which automatically generates guide lines in an intersection, avoids the tedious process of manually drawing guide lines in an intersection, improves work efficiency and saves labor costs.

[0006] In order to solve the above problems, a technical solution adopted by the present invention is to provide a method for generating a guide line in an intersection, which comprises:

[0007] Extending the current stop line of each road section at the intersection to obtain an extended stop line, and obtaining the road relative relationship between each road section at the intersection and other road sections at the intersection based on the intersection of the extended stop lines;

[0008] According to the forward direction of each road section at the intersection and the road markings of each road section at the intersection, the lane guide arrows of each road section at the intersection and the center lines of the entrance and exit lanes of each road section at the intersection are obtained;

[0009] According to the relative relationship of each road section at the intersection, lane guide arrows, and the center lines of the lanes entering and exiting the intersection, the guide lines within the intersection are generated.

[0010] Another technical solution adopted by the present invention is to provide a device for generating guide lines in an intersection, which includes:

[0011] A module for extending the current stop line of each road section at the intersection to obtain an extended stop line, and obtaining the relative relationship between each road section at the intersection and other road sections at the intersection based on the intersection of the extended stop lines;

[0012] A module for obtaining lane guide arrows for each road section at the intersection and center lines of entrance and exit lanes for each road section at the intersection based on the forward direction of each road section at the intersection and the road markings of each road section at the intersection;

[0013] A module used to generate guide lines within an intersection based on the relative road relationships of each road section at the intersection, lane guidance arrows, and the center lines of the entrance and exit lanes.

[0014] In another technical solution of the present application, a device for generating guide lines within an intersection is provided, which includes a processor and a memory, wherein the memory stores computer instructions, wherein the processor operates the computer instructions to execute the method for generating guide lines within an intersection in the solution.

[0015] In another technical solution of the present invention, a computer-readable storage medium is provided, which stores computer instructions, wherein the computer instructions are operated to execute the method for generating guide lines within an intersection in the solution.

[0016] The beneficial effects achieved by the technical solution of the present invention are: automatically generating guide lines within intersections, avoiding the tedious process of manually drawing guide lines within intersections, improving work efficiency, and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of a method for generating a guide line within an intersection provided in Example 1 of the present application;

[0018] Figure 2 This is a flow chart of a method for generating a guide line within an intersection provided in Example 2 of the present application;

[0019] Figure 3 A schematic diagram of a specific example of calculating the road relative relationship of each road segment at an intersection for this application;

[0020] Figure 4 A schematic diagram of a specific example of calculating the entrance and exit road markings for each road section at an intersection for this application;

[0021] Figure 5 A schematic diagram of a specific example of providing vertical line segments for the entrance and exit road markings of each road section at an intersection according to the present application;

[0022] Figure 6A schematic diagram of a specific example of calculating lane guide arrows for each road segment at an intersection for this application;

[0023] Figure 7 A schematic diagram of a specific example of calculating the centerline of an entrance and exit lane for this application;

[0024] Figure 8 A schematic diagram of a specific example of the centerline of the entrance and exit lanes of each road section at the intersection of this application;

[0025] Figure 9 A schematic diagram of a specific example of guide lines within an intersection is generated for this application;

[0026] Figure 10 This is a structural diagram of a guide line generating device within an intersection provided in Example 3 of the present application. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0028] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0029] The proposed method for generating intersection guide lines is applicable to intersections such as cross-shaped intersections, T-shaped intersections, Y-shaped intersections, and X-shaped intersections, as well as variations of these four types, such as staggered intersections. However, calculating intersection guide lines for roundabouts, multi-lane intersections, and more complex intersections still has certain limitations, requiring manual secondary editing and correction of the calculated intersection guide lines.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a method for generating guide lines within an intersection provided in Example 1 of the present application.

[0032] In this specific implementation, the method for generating a guide line in an intersection mainly includes:

[0033] Process S101: Extending the current stop line of each road section at an intersection to obtain an extended stop line, and obtaining a road relative relationship between each road section at the intersection and other road sections at the intersection based on the intersection of the extended stop lines;

[0034] This process is used to further calculate the intersection guide line based on the relative relationship of the roads at the intersection.

[0035] Step S102: obtaining lane guide arrows for each road section at the intersection and center lines of inbound and outbound lanes for each road section at the intersection based on the forward direction of each road section at the intersection and the road markings of each road section at the intersection;

[0036] This process is used to further calculate the intersection guide line based on the lane guide arrows of each road section at the intersection and the center lines of the lanes entering and exiting the intersection.

[0037] Step S103: Generate intersection guide lines based on the road relationship of each road section at the intersection, lane guide arrows, and the center lines of the entrance and exit lanes;

[0038] Among them, this process generates guide lines within the intersection, avoiding the tedious process of manually drawing guide lines within the intersection, improving work efficiency and saving labor costs.

[0039] Example 2

[0040] Figure 2 This is a flowchart of a method for generating guide lines within an intersection provided in Example 2 of the present application.

[0041] In combination with practical applications, in this specific implementation 2, the method for generating guide lines within an intersection mainly includes:

[0042] Optionally, in process S101, the process of extending the current stop line of each road section at the intersection to obtain an extended stop line includes extending both ends of the current stop line of each road section at the intersection by a first predetermined length to obtain an extended stop line. Figure 2 The shown sections are Section 1, Section 2, Section 3, and Section 4. This process is to further obtain the road relationship between each section at the intersection and the sections at other intersections based on the extended stop line.

[0043] Specifically, refer to Figure 3The schematic diagram of calculating the road relative relationship of each road section at the intersection provided by this application can set the first predetermined length to 100m, Figure 3 At each section of the intersection (section 1, section 2, section 3, section 4), the ends of the current intersection stop lines A, B, C, and D corresponding to each section are extended by 100m to obtain their respective extended stop lines A', B', C', and D'.

[0044] Optionally, in step S101, the process of obtaining the road relative relationship between each road segment at the intersection and each other road segment at the intersection based on the intersection of the extended stop lines includes: if any two extended stop lines intersect, then, based on the relative positional relationship between the extended direction intersection point of the extended stop lines and the extended stop lines, obtaining at least one of the left-turn relative road segment, the right-turn relative road segment, and the straight-ahead relative road segment for each road segment at the intersection from the other road segments at the intersection. This process facilitates further calculation of the intersection guide lines based on the road relative relationships at the intersection.

[0045] Specifically, refer to Figure 3 The schematic diagram of calculating the road relative relationship of each road section at the intersection provided in this application can obtain the intersection points of the extended stop lines A', B', C', and D' as shown in Table 1.

[0046] Table 1:

[0047]

[0048] The direction of the stop line is from right to left in the direction of the road. If any two extended stop lines intersect, the relative position relationship of the road can be deduced based on the relative position relationship between the extended direction intersection point of the extended stop line and the extended stop line, as shown in Table 2.

[0049] Table 2:

[0050]

[0051] Optionally, in process S102, the above process of obtaining the lane guide arrows of each road section at the intersection and the center lines of the lanes at the entrance and exit of each road section at the intersection according to the forward direction of each road section at the intersection and the road markings of each road section at the intersection includes: obtaining the entrance and exit road markings of each road section at the intersection from the road markings of each road section at the intersection according to the forward direction of each road section at the intersection; Perpendicular segments are drawn for the entrance and exit road markings of each road section. Based on the distance from the intersection of the perpendicular segment with each entrance road marking or each exit road marking to one endpoint of the corresponding perpendicular segment, the entrance and exit road markings of each road section at the intersection are sorted to obtain an entrance and exit road marking sequence group for each road section at the intersection. Lane guide arrows are then derived for each road section at the intersection based on the entrance and exit road marking sequence group. This process facilitates the calculation of intersection guide lines based on the lane guide arrows for each road section at the intersection.

[0052] Specifically, the aforementioned entrance and exit road markings include an entrance road marking and an exit road marking. The aforementioned process of obtaining the entrance and exit road markings of each road section at the intersection from the road markings of each road section at the intersection based on the forward direction of each road section at the intersection includes extending the road markings of each road section at the intersection by a second predetermined length in the forward or reverse direction of the forward direction of each road section at the intersection to obtain an extended road marking line, such that the extended road marking line intersects with the nearest extended stop line; determining the extended road marking line obtained by the forward extension as the entrance road marking, and / or determining the extended road marking line obtained by the reverse extension as the exit road marking.

[0053] The process of extending the road marking of each road section at the intersection by a second predetermined length in the forward or reverse direction of the forward direction of each road section at the intersection to obtain an extended road marking line, and making the extended road marking line intersect with the nearest extended stop line includes: referring to Figure 4 The present application provides a schematic diagram of a specific example of calculating the entrance and exit road markings of each road section at an intersection. The second predetermined length can be set to 10m, so that the road markings of each road section at the intersection in the figure are extended by 10m in the forward or reverse direction of the forward direction of each road section at the intersection to obtain an extension line of the road marking, so that the extension line of the road marking intersects with the nearest extended stop line. The above process of determining the extension line of the road marking obtained by forward extension as the entrance road marking, and / or determining the extension line of the road marking obtained by reverse extension as the exit road marking includes referring to Figure 4The present application provides a schematic diagram of a specific example of calculating the entrance and exit road markings of each road section at an intersection. The extended line of the road marking obtained by forward extension is determined as the entrance road marking, and the extended line of the road marking obtained by reverse extension is determined as the exit road marking. The entrance and exit road markings of each road section at the intersection can be obtained as shown in Table 3.

[0054] Table 3:

[0055]

[0056] The above-mentioned entrance and exit road marking sequence group includes an entrance road marking sequence group and an exit road marking sequence group. The above-mentioned process of making perpendicular line segments for the entrance and exit road markings of each road section at the intersection, and sorting the entrance and exit road markings of each road section at the intersection according to the distance from the intersection of the perpendicular line segment and each entrance road marking or each exit road marking to an end point of the corresponding perpendicular line segment to obtain the entrance and exit road marking sequence group of each road section at the intersection includes referring to Figure 5 The present application provides a schematic diagram of a specific example of marking vertical segments for the entrance and exit road markings of each road section at an intersection. The entrance road marking edge lines and the exit road marking edge lines of the entrance and exit road markings of each road section at the intersection are manually marked. The marked entrance road marking edge lines and the exit road marking edge lines of each road section are shown in Table 4.

[0057] Table 4:

[0058]

[0059] For each road section, perpendicular line segments are drawn from the right side to the left side of the road in the forward direction for the road marking edges of the entrance intersection and the exit intersection respectively, and both ends of each perpendicular line segment are extended by 60 m. The drawing direction of the perpendicular line segment is such that the starting point is on the right side of the road in the forward direction and the ending point is on the left side of the road in the forward direction. The perpendicular line segment intersects the road marking of the entrance intersection and the road marking of the exit intersection of each road section at the intersection to form intersection points. According to the distance from the intersection point of the perpendicular line segment and each entrance intersection road marking or each exit intersection road marking to one end point of the corresponding perpendicular line segment, the road markings of the entrance intersection and the road markings of the exit intersection of each road section at the intersection are sorted respectively to obtain the sequence group of the road markings of the entrance intersection and the sequence group of the road markings of the exit intersection of each road section at the intersection. For example, the intersection points of the road marking of the entrance intersection of Road No. 1 and the perpendicular line segment SE include A1, A2, A3, A4. The distances from A1, A2, A3, A4 to one end point S of the perpendicular line segment SE are sorted to obtain SA1 < SA2 < SA3 < SA4. According to the above distance sorting relationship, the road markings of the entrance intersection corresponding to the intersection points are sorted to obtain the sequence group of the road markings of the entrance intersection of Road No. 1. Refer to Figure 5 FIG. is a schematic diagram of a specific example of drawing perpendicular line segments for the road markings of the entrance and exit intersections of each road section at the intersection. The sequence groups of the road markings of the entrance and exit intersections of each road section at the intersection are shown in Table 5.

[0060] Table 5:

[0061]

[0062]

[0063] Optionally, in process S102, the process of obtaining the lane guiding arrows of each road section at the intersection according to the sequence groups of the road markings of the entrance and exit intersections of each road section at the intersection includes connecting the starting points and ending points of two adjacent entrance intersection road markings or two adjacent exit intersection road markings in the sequence group of the entrance intersection road markings and / or the sequence group of the exit intersection road markings to construct a rectangle; and determining the lane guiding arrows that intersect the rectangle and are within the rectangle as the lane guiding arrows of the lanes corresponding to two adjacent entrance intersection road markings or two adjacent exit intersection road markings in each road section at the intersection. This process facilitates further calculating the guiding lines within the intersection according to the lane guiding arrows of each road section at the intersection.

[0064] Specifically, refer to Figure 6The present application provides a schematic diagram of a specific example of calculating the lane guide arrows for each road section at an intersection. For example, in the exit road marking sequence group of section 1, two exit road markings OUT11 and OUT12 with adjacent serial numbers are connected with the starting and ending points of OUT11 and OUT12 to construct a rectangle. The rectangle constructed by connecting the starting and ending points of OUT11 and OUT12 corresponding to section 1 is spatially geometrically intersected with all lane guide arrows C to obtain the lane guide arrows that intersect and are within the rectangle. The lane guide arrows that intersect and are within the rectangle are determined as the lane guide arrows for the lanes corresponding to OUT11 and OUT12 corresponding to section 1. Similarly, we can get Figure 6 The lane guide arrows for the lanes corresponding to the two adjacent entrance road markings or two exit road markings in each road section at the central intersection are shown in Table 6.

[0065] Table 6:

[0066]

[0067]

[0068] Optionally, in process S102, the process of obtaining lane guide arrows for each road section at the intersection and the entrance and exit lane centerlines of each road section at the intersection based on the forward direction of each road section at the intersection and the road markings of each road section at the intersection also includes obtaining the entrance and exit lane centerlines of the lanes corresponding to the two adjacent entrance and exit road markings of each road section at the intersection based on the nodes and the point sequence of the nodes on the two adjacent entrance and exit road markings of each road section at the intersection. The entrance and exit lane centerlines include the entrance lane centerline and the exit lane centerline. This process facilitates the calculation of the intersection guide line based on the entrance and exit lane centerlines of each road section at the intersection.

[0069] Specifically, refer to Figure 7The present application provides a schematic diagram of a specific example of calculating the centerline of an entrance and exit lane. Nodes N1, N2, N3, and N4 of OUT11 corresponding to section 1 are arranged on OUT11 in point order. Nodes N1', N2', N3', and N4' of OUT12 adjacent to OUT11 are arranged on OUT12 in point order. The closest distance points of all nodes of OUT11 to the adjacent marking line OUT12 are calculated in sequence, i.e., (N1, N2, N3, N4) -> (N1', N2', N3', N4'). Calculate the center points of the lines connecting the two points (N1, N1'), (N2, N2'), (N3, N3'), and (N4, N4') respectively. The center points are (C1, C2, C3, and C4) in sequence. Connect C1, C2, C3, and C4 into lines according to the sequence numbers, which is the lane center line of OUT11 and OUT12. Since OUT11 and OUT12 are the exit road markings of section 1, the lane center line calculated above is the exit lane center line of OUT11 and OUT12. Similarly, we can get Figure 8 The center lines of the lanes corresponding to the two adjacent entrance road markings or two exit road markings in each road section at the central intersection are as shown in Table 7.

[0070] Table 7:

[0071]

[0072] Optionally, in step S103, the process of generating intersection guide lines based on the road relationships, lane guide arrows, and entrance and exit lane centerlines of each road section at the intersection includes connecting the entrance lane centerline of the intersection with the exit lane centerline of at least one of the left-turn relative road section, the right-turn relative road section, and the straight-ahead relative road section of the corresponding intersection section based on the corresponding lane guide arrows to generate the intersection guide lines. This process of generating intersection guide lines avoids the tedious process of manually drawing intersection guide lines, improves work efficiency, and saves labor costs.

[0073] Specifically, the process of connecting the center line of the entrance lane at the intersection with the center line of the exit lane of at least one of the left-turn relative road section, the right-turn relative road section and the straight-ahead relative road section of the corresponding intersection according to the corresponding lane guide arrow to obtain the inner guide line of the intersection includes: referring to Figure 8The present application provides a schematic diagram of a specific example of the center lines of the entrance and exit lanes of each section at the intersection. For example, the center line of the entrance lane corresponding to section 1 and the center line of the exit lane corresponding to section 4 for left turns and section 2 for right turns are calculated using a Bezier curve algorithm to simulate the intersection guide line. The center line of the entrance lane corresponding to section 1 and the center line of the exit lane corresponding to section 3 for straight-ahead driving are connected in a straight line to obtain the intersection guide line. In this way, the intersection guide lines of all possible driving directions of the vehicle at the intersection are calculated. Finally, the existing lane guide arrows are used to eliminate the impossible driving directions. The final intersection guide lines are as follows: Figure 9 shown.

[0074] The method for generating guide lines within intersections provided in Example 2 of the present application can be applied to the production of refined maps. Through the application of the method for generating guide lines within intersections of the present application, the production process of guide lines within intersections in refined map data is improved, and guide lines within intersections are automatically generated, thereby improving work efficiency and saving labor costs.

[0075] Example 3

[0076] Figure 10 This is a structural schematic diagram of a specific embodiment of a guide line generation device for an intersection provided by this application.

[0077] exist Figure 10 In the structural diagram shown, the device for generating guide lines within an intersection of the present application includes module 1001 , module 1002 and module 1003 .

[0078] Figure 10 Module 1001 is shown, which is used to extend the current stop line of each road section at the intersection to obtain an extended stop line, and then, based on the intersection of the extended stop lines, to determine the road relationship between each road section at the intersection and other road sections at the intersection. This module is used to further calculate the intersection guide line based on the road relationship at the intersection.

[0079] Optionally, the module for extending the current stop line of each road section at the intersection to obtain an extended stop line, and determining the road relationship between each road section at the intersection and other road sections at the intersection based on the intersection of the extended stop lines, further includes extending both ends of the current stop line of each road section at the intersection by a first predetermined length to obtain an extended stop line. This process facilitates determining the road relationship between each road section at the intersection and other road sections at the intersection based on the extended stop lines.

[0080] Optionally, the module for extending the current stop line of each road section at the intersection to obtain an extended stop line, and determining the road relative relationship between each road section at the intersection and other road sections at the intersection based on the intersection of the extended stop lines, further includes determining, if any two extended stop lines intersect, at least one of a left-turn relative section, a right-turn relative section, and a straight-ahead relative section for each road section at the intersection based on the relative positional relationship between the extended intersection points of the extended stop lines and the extended stop lines. This process facilitates the calculation of guide lines within the intersection based on the road relative relationships at the intersection.

[0081] Figure 10 Module 1002 is shown, which is used to obtain lane guide arrows for each road section at the intersection and the center lines of the entrance and exit lanes for each road section at the intersection based on the forward direction of each road section at the intersection and the road markings at each road section at the intersection. This module facilitates the calculation of the intersection guide line based on the lane guide arrows for each road section at the intersection and the center lines of the entrance and exit lanes.

[0082] Optionally, the above-mentioned module for obtaining lane guide arrows for each road section at the intersection and the center lines of entrance and exit lanes of each road section at the intersection based on the forward direction of each road section at the intersection and the road markings of each road section at the intersection, includes the following working contents: obtaining the entrance and exit road markings of each road section at the intersection from the road markings of each road section at the intersection based on the forward direction of each road section at the intersection; making perpendicular segments for the entrance and exit road markings of each road section at the intersection, and sorting the entrance and exit road markings of each road section at the intersection based on the distance from the intersection of the perpendicular segment and each entrance road marking or each exit road marking to an end point of the corresponding perpendicular segment to obtain an entrance and exit road marking sequence group for each road section at the intersection; and obtaining lane guide arrows for each road section at the intersection based on the entrance and exit road marking sequence group for each road section at the intersection. This process facilitates further calculation of the intersection guidance line based on the lane guidance arrows of each road segment at the intersection.

[0083] Optionally, the above-mentioned process of obtaining the entrance and exit road markings of each road section at the intersection from the road markings of each road section at the intersection based on the forward direction of each road section at the intersection includes extending the road markings of each road section at the intersection by a second predetermined length in the forward or reverse direction of the forward direction of each road section at the intersection to obtain a road marking extension line, so that the road marking extension line intersects with the nearest extended stop line; determining the road marking extension line obtained by forward extension as the entrance road marking of the intersection, and / or determining the road marking extension line obtained by reverse extension as the exit road marking.

[0084] Optionally, the process of obtaining lane guide arrows for each road section at the intersection based on the sequence group of entrance and exit road markings for each road section at the intersection includes connecting the starting and ending points of two adjacent entry road markings or two exit road markings in the sequence group of entrance road markings and / or the sequence group of exit road markings to construct a rectangle; and determining the lane guide arrows that intersect with and are within the rectangle as the lane guide arrows for the lanes corresponding to the two adjacent entry road markings or two exit road markings in each road section at the intersection. This process facilitates further calculation of the intersection guide lines based on the lane guide arrows for each road section at the intersection.

[0085] Optionally, the module for obtaining lane guide arrows and the centerline of the entrance and exit lanes of each road section at the intersection from the road markings of each road section at the intersection based on the forward direction of each road section at the intersection also includes obtaining the entrance and exit lane centerlines of the lanes corresponding to the two adjacent entrance and exit lane markings of each road section at the intersection based on the nodes and node sequences on the two adjacent entrance and exit lane markings of each road section at the intersection. This process facilitates the calculation of the intersection guide lines based on the entrance and exit lane centerlines of each road section at the intersection.

[0086] Figure 10 Module 1003 is shown as a module for generating intersection guide lines based on the relative road relationships, lane guide arrows, and the center lines of the entrance and exit lanes at each intersection. This module generates intersection guide lines to avoid the tedious process of manually drawing intersection guide lines, improving work efficiency and saving labor costs.

[0087] Optionally, the module for generating intersection guide lines based on the relative road relationships, lane guide arrows, and entrance and exit lane centerlines of each road section at the intersection also includes connecting the intersection entrance lane centerline with the exit lane centerline of at least one of the corresponding intersection sections: the left-turn relative road section, the right-turn relative road section, and the straight-ahead relative road section, based on the corresponding lane guide arrows, to generate the intersection guide lines. This process for generating intersection guide lines avoids the tedious process of manually drawing intersection guide lines, improving work efficiency and saving labor costs.

[0088] The device for generating guide lines within intersections of the third embodiment can be applied to the production of refined maps. By applying the device for generating guide lines within intersections of the present invention, the production process of guide lines within intersections in refined map data is improved, so as to avoid the tedious process of manually drawing guide lines within intersections, thereby improving work efficiency and saving labor costs.

[0089] The present application provides a device for generating guide lines within an intersection, which can be used to execute the method for generating guide lines within an intersection described in any of the above embodiments. The implementation principles and technical effects thereof are similar and will not be described in detail here.

[0090] In another embodiment of the present invention, a computer-readable storage medium stores computer instructions, wherein the computer instructions are operable to execute the method for generating guide lines within an intersection described in any embodiment. The storage medium may be implemented directly in hardware, in a software module executed by a processor, or in a combination of the two.

[0091] The software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from and write information to the storage medium.

[0092] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. In the alternative, the storage medium may be integral to the processor. The processor and storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and storage medium may reside as discrete components in the user terminal.

[0093] In a specific embodiment of the present application, a device for generating guide lines within an intersection includes a processor and a memory, wherein the memory stores computer instructions, wherein the processor operates the computer instructions to execute the method for generating guide lines within an intersection described in any embodiment.

[0094] In the embodiments provided in this application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0095] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0096] The above are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structural transformations made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for generating a guide line in an intersection, characterized in that: include, Extending both ends of the current stop line of each road section at the intersection by a first predetermined length to obtain extended stop lines, and obtaining a road relative relationship between each road section at the intersection and other road sections at the intersection based on the intersection of the extended stop lines; According to the forward direction of each road section at the intersection and the road markings of each road section at the intersection, a lane guide arrow of each road section at the intersection and a center line of the in-and-out lane of each road section at the intersection are obtained, wherein the lane guide arrow of each road section at the intersection according to the forward direction of each road section at the intersection and the road markings of each road section at the intersection comprises: according to the forward direction of each road section at the intersection, obtaining the lane guide arrow of each road section at the intersection from the road markings of each road section at the intersection entrance and exit road markings of a road section; making perpendicular line segments for the entrance and exit road markings of each road section at the intersection, and sorting the entrance and exit road markings of each road section at the intersection according to the distance from the intersection of the perpendicular line segment and each entrance road marking or each exit road marking to an end point of the corresponding perpendicular line segment to obtain an entrance and exit road marking sequence group for each road section at the intersection; obtaining the lane guide arrows for each road section at the intersection according to the entrance and exit road marking sequence group for each road section at the intersection; An intersection guide line is generated according to the road relative relationship of each road section at the intersection, the lane guide arrows, and the center lines of the entrance and exit lanes.

2. The method for generating a guide line in an intersection according to claim 1, wherein: The process of obtaining the road relative relationship between each road section at the intersection and each other road section at the intersection according to the intersection of the extended stop lines includes: If any two of the extended stop lines intersect, then based on the relative position relationship between the intersection point of the extended direction of the extended stop lines and the extended stop lines, at least one of the left-turn relative section, right-turn relative section and straight-ahead relative section of each section at the intersection is obtained from other sections at the intersection.

3. The method for generating a guide line in an intersection according to claim 1, wherein: The process of obtaining the lane guide arrows of each road section at the intersection according to the road marking sequence group of the entrance and exit of each road section at the intersection includes: Connecting the starting points and ending points of two of the entrance road markings or two of the exit road markings with adjacent sequence numbers in the entrance road marking sequence group and / or the exit road marking sequence group to construct a rectangle; The lane guidance arrows intersecting with the rectangle and within the rectangle are determined to be the lane guidance arrows corresponding to the two entrance road markings or the two exit road markings with adjacent serial numbers in each road section at the intersection.

4. The method for generating a guide line in an intersection according to claim 1, wherein: The method further comprises obtaining a lane guide arrow for each road section at the intersection and a center line of an inlet and outlet lane for each road section at the intersection according to the forward direction of each road section at the intersection and the road markings of each road section at the intersection, According to the nodes on the two adjacent entrance and exit road markings of each road section at the intersection and the point sequence of the nodes, the entrance and exit lane center lines of the lanes corresponding to the two adjacent entrance and exit road markings of each road section at the intersection are obtained.

5. The method for generating a guide line in an intersection according to claim 1, wherein: The process of generating the intersection inner guide line according to the road relative relationship of each road section at the intersection, the lane guide arrow, and the center line of the entrance and exit lanes includes: According to the corresponding lane guide arrow, the center line of the entrance lane at the intersection is connected with the center line of the exit lane of at least one of the left-turn relative section, the right-turn relative section and the straight-ahead relative section at the intersection to generate the guide line within the intersection.

6. The method for generating a guide line in an intersection according to claim 1, wherein: The process of extending the two ends of the current stop line of each road section at the intersection by a first predetermined length to obtain an extended stop line includes: The two ends of the current intersection stop line of each road section at the intersection are respectively extended by a first predetermined length to obtain the extended stop line.

7. A device for generating guide lines in an intersection, characterized in that: include, A module for extending both ends of a current stop line of each road section at an intersection by a first predetermined length to obtain extended stop lines, and obtaining a relative relationship between each road section at the intersection and other road sections at the intersection based on the intersection of the extended stop lines; A module for obtaining a lane guide arrow for each road section at the intersection and a center line of an in-and-out lane of each road section at the intersection according to the forward direction of each road section at the intersection and the road markings of each road section at the intersection, wherein the module for obtaining a lane guide arrow for each road section at the intersection according to the forward direction of each road section at the intersection and the road markings of each road section at the intersection comprises: obtaining the lane guide arrow for each road section at the intersection from the road markings of each road section at the intersection according to the forward direction of each road section at the intersection entrance and exit road markings for each road section; drawing perpendicular line segments for the entrance and exit road markings of each road section at the intersection, and sorting the entrance and exit road markings of each road section at the intersection according to the distance from the intersection of the perpendicular line segment with each entrance road marking or each exit road marking to an endpoint of the corresponding perpendicular line segment to obtain an entrance and exit road marking sequence group for each road section at the intersection; and obtaining the lane guide arrows for each road section at the intersection based on the entrance and exit road marking sequence group for each road section at the intersection; A module for generating guide lines within an intersection based on the road relative relationship of each road section at the intersection, the lane guide arrows, and the center lines of the entrance and exit lanes.

8. A device for generating guide lines within an intersection, comprising a processor and a memory, wherein the memory stores computer instructions, wherein: The processor operates the computer instructions to execute the method for generating a guide line in an intersection according to any one of claims 1 to 6.

9. A computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are operated to execute the method for generating a guide line in an intersection according to any one of claims 1 to 6.

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