Intersection lane line generation method and device, computer readable storage medium, terminal

Abstract

A method and apparatus for generating lane lines at an intersection, a computer-readable storage medium, and a terminal are disclosed. The method includes: determining the directional angle between an exit lane and an entry lane; determining the left and right endpoints of the exit lane and the left and right endpoints of the entry lane; determining a curve generation function based on the angle range to which the directional angle values ​​belong; using the left and right endpoints of the exit lane as the starting endpoints of the curve and the left and right endpoints of the entry lane as the ending endpoints of the curve, and generating a curve using the curve generation function to obtain the lane lines at the intersection; wherein, the larger the angle value in the angle range, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function. This solution can quickly and automatically generate accurate and high-quality lane lines at intersections.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of high-precision map navigation and data processing technology, and in particular to a method and apparatus for generating lane lines at intersections, a computer-readable storage medium, and a terminal. Background Technology

[0002] In intelligent driving systems, high-precision maps are closely linked to core technologies such as autonomous driving perception, decision-making, and positioning. Intelligent driving vehicles compare information collected by their own sensors with high-precision map data to obtain comprehensive information needed for positioning and planning, helping the vehicle make more accurate decisions. In intersection scenarios, vehicles may go straight, turn, or make U-turns. When there are many lanes to enter and exit, it means that a large number of complex lane lines need to be drawn on the collected laser point cloud map. To fully ensure the safety of autonomous driving, high requirements are placed on the drawing of lane lines in road topology information, especially in intersection areas with complex traffic environments and high risks.

[0003] Currently, due to the lack of unified standards for high-precision map production methods within the autonomous driving industry, most complex intersection scenarios still require map editors to manually edit and draw lane lines based on pre-constructed laser point cloud maps. This manual lane line drawing is costly, inefficient, and lacks accuracy and quality assurance, failing to meet the growing demands for map editing efficiency and quality in the field of intelligent driving. Summary of the Invention

[0004] The technical problem solved by the embodiments of the present invention is that the manual cost of drawing lane lines is high, the efficiency is low and the accuracy is insufficient in the prior art. Especially for intersection scenarios with a large number of lanes and a variety of types, it is difficult to quickly and automatically generate accurate and high-quality intersection lane lines.

[0005] To address the aforementioned technical problems, this invention provides a method for generating lane lines at an intersection, comprising the following steps: determining the directional angle between an exit lane and an entry lane, and determining the left and right endpoints of the exit lane and the left and right endpoints of the entry lane; determining a curve generation function based on the angle range to which the directional angle values ​​belong; using the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entry as the ending endpoints of the curve, and generating a curve using the curve generation function to obtain the lane lines at the intersection; wherein, the larger the angle value in the angle range, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function.

[0006] Optionally, before determining the curve generating function based on the angle value interval to which the included angle value belongs, the method further includes: dividing the angle values ​​into intervals according to their numerical values ​​to obtain a first angle value interval, a second angle value interval, and a third angle value interval; wherein the angle values ​​in the first angle value interval are all smaller than the angle values ​​in the second angle value interval, and the angle values ​​in the second angle value interval are all smaller than the angle values ​​in the third angle value interval; wherein the first angle value interval, the second angle value interval, and the third angle value interval do not overlap with each other.

[0007] Optionally, the first angle value range, the second angle value range, and the third angle value range together cover all angle values ​​between 0 degrees and 180 degrees.

[0008] Optionally, the first angle value range is greater than or equal to 0 degrees and less than 30 degrees; the second angle value range is greater than or equal to 30 degrees and less than 150 degrees; and the third angle value range is greater than or equal to 150 degrees and less than or equal to 180 degrees.

[0009] Optionally, the angle range to which the directional angle value belongs is the first angle range, and the determined curve generation function is a straight line drawing function; taking the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, and using the curve generation function to generate the curve to obtain the intersection lane line includes: taking the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, and using the straight line drawing function to connect the left endpoint of the exit and the left endpoint of the entrance to obtain the left outer edge line of the intersection lane line, and connecting the right endpoint of the exit and the right endpoint of the entrance to obtain the right outer edge line of the intersection lane line.

[0010] Optionally, the angle range to which the included angle value belongs is the second angle range, and the determined curve generation function is the first curve generation function; the left and right endpoints of the exit are taken as the starting endpoints of the curve, and the left and right endpoints of the entrance are taken as the ending endpoints of the curve, and the curve is generated using the curve generation function to obtain the intersection lane line, including: determining the first intersection point between the extended left outer edge line of the exit lane and the extended left outer edge line of the entering lane, and determining the second intersection point between the extended right outer edge line of the exit lane and the extended right outer edge line of the entering lane; the left and right endpoints of the exit are taken as the starting endpoints of the curve, and the left and right endpoints of the entrance are taken as the ending endpoints of the curve, and the first curve generation function is used to generate the left outer edge line of the intersection lane line based on the first intersection point, the left endpoint of the exit, and the left endpoint of the entrance, and to generate the right outer edge line of the intersection lane line based on the second intersection point, the right endpoint of the exit, and the right endpoint of the entrance.

[0011] Optionally, the first curve generating function is selected from any of the following: a third-order Bézier curve function or a B-spline basis function.

[0012] Optionally, the first curve generation function is a third-order Bézier curve function; generating the left outer edge of the intersection lane line based on the first intersection point, the left endpoint of the exit, and the left endpoint of the entrance using the first curve generation function includes: determining a first control point on the line connecting the left endpoint of the exit and the first intersection point according to a first preset ratio, and determining a second control point on the line connecting the left endpoint of the entrance and the first intersection point according to a second preset ratio; generating the left outer edge of the intersection lane line based on the left endpoint of the exit, the first control point, the left endpoint of the entrance, and the second control point using a third-order Bézier curve function; wherein, the first preset ratio is used to indicate the quotient of the first straight-line distance between the left endpoint of the exit and the first control point divided by the second straight-line distance between the first control point and the first intersection point, and the second preset ratio is used to indicate the quotient of the third straight-line distance between the left endpoint of the entrance and the second control point divided by the fourth straight-line distance between the second control point and the first intersection point.

[0013] Optionally, both the first preset ratio and the second preset ratio are selected from 0.5 to 0.6.

[0014] Optionally, the angle range to which the included angle value belongs is the third angle range, and the determined curve generation function is the second curve generation function; the left and right endpoints of the exit are taken as the starting endpoints of the curve, and the left and right endpoints of the entrance are taken as the ending endpoints of the curve, and the curve is generated using the curve generation function to obtain the intersection lane line, which includes: taking the left endpoint of the exit as the first starting endpoint of the curve, taking the left endpoint of the entrance as the first ending endpoint of the curve, taking the midpoint of the line segment between the left endpoint of the exit and the left endpoint of the entrance as the first center of the circle, and taking the left endpoint of the exit or the left endpoint of the entrance and the center of the circle as the first starting endpoint of the curve. The straight-line distance between the two points is used as the first radius, and a second curve generation function is used to generate a first arc based on the inbound direction and / or outbound direction to obtain the left outer edge of the intersection lane line; and the right endpoint of the exit is used as the second starting endpoint of the curve, the right endpoint of the entrance is used as the second ending endpoint of the curve, the midpoint of the line segment between the right endpoint of the exit and the right endpoint of the entrance is used as the second center, the straight-line distance between the right endpoint of the exit or the right endpoint of the entrance and the center is used as the second radius, and a second arc is generated based on the inbound direction and / or outbound direction using the second curve generation function to obtain the right outer edge of the intersection lane line.

[0015] Optionally, the second curve generation function is selected from any of the following: a fifth-order Bézier curve function, or the arc generation function Turf.lineArc from the Geospatial Analysis Library.

[0016] Optionally, before using a second curve generation function to generate a first arc based on the entering direction and / or exit direction to obtain the left outer edge of the intersection lane lines, the method further includes: determining a first angle value between the due north direction and the left outer edge of the exit lane, and determining a second angle value between the due north direction and the line connecting the entrance start point of the exit lane and the entrance start point of the entering lane; determining the entering direction and / or exit direction based on the absolute value of the difference between the first angle value and the second angle value.

[0017] Optionally, determining the entering direction and / or exit direction based on the absolute value of the difference between the first included angle value and the second included angle value includes: if the absolute value of the difference between the first included angle value and the second included angle value belongs to a fourth angle value interval, then the entering direction and / or exit direction is determined to be clockwise; if the absolute value of the difference between the first included angle value and the second included angle value belongs to a fifth angle value interval, then the entering direction and / or exit direction is determined to be counterclockwise; wherein, the angle values ​​within the fourth angle value interval are all less than the angle values ​​within the fifth angle value interval; wherein, the fourth angle value interval and the fifth angle value interval do not overlap, and the fourth angle value interval and the fifth angle value interval together cover all angle values ​​between 0 degrees and 360 degrees.

[0018] Optionally, the fourth angle value range is greater than or equal to 0 degrees and less than 180 degrees; the fifth angle value range is greater than or equal to 180 degrees and less than or equal to 360 degrees.

[0019] This invention also provides an intersection lane line generation device, comprising: an intersection lane angle and endpoint determination module, used to determine the directional angle between an exit lane and an entry lane, and to determine the exit left endpoint and exit right endpoint of the exit lane, and the entrance left endpoint and entrance right endpoint of the entry lane; a curve function determination module, used to determine a curve generation function based on the angle value interval to which the directional angle value belongs; and an intersection lane line generation module, used to take the exit left endpoint and exit right endpoint as the starting endpoints of the curve, and the entrance left endpoint and entrance right endpoint as the ending endpoints of the curve, and use the curve generation function to generate a curve to obtain the intersection lane line; wherein, the larger the angle value of the angle value interval, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function.

[0020] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when run by a processor, executes the steps of the above-described intersection lane line generation method.

[0021] This invention also provides a terminal, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor runs the computer program, it executes the steps of the above-described intersection lane line generation method.

[0022] Compared with the prior art, the technical solution of the embodiments of the present invention has the following beneficial effects:

[0023] In this embodiment of the invention, the directional angle between the exit lane and the entry lane is determined, as are the left and right endpoints of the exit lane and the left and right endpoints of the entry lane. A curve generation function is determined based on the angle range to which the directional angle values ​​belong. The left and right endpoints of the exit lane are used as the starting endpoints of the curve, and the left and right endpoints of the entry lane are used as the ending endpoints of the curve. The curve is then generated using the curve generation function to obtain the intersection lane lines. The larger the angle value in the angle range, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function. Compared to the traditional method of relying on manual drawing of intersection lane lines, which is costly, inefficient, and lacks accuracy and quality assurance, this embodiment of the invention, by determining the directional angle values ​​between the exit lane and the entry lane in the intersection area, uses different types of curve generation functions to generate intersection lane lines adapted to different intersection scenarios (with different curvatures). For intersection scenarios with a large number of lanes and complex types, accurate and high-quality intersection lane lines can be generated quickly and automatically to ensure the safety of autonomous driving.

[0024] Furthermore, the angle range to which the directional angle value belongs is the first angle range, and the determined curve generation function is a straight line drawing function. The left and right endpoints of the exit are taken as the starting endpoints of the curve, and the left and right endpoints of the entrance are taken as the ending endpoints of the curve. Using the straight line drawing function, the left endpoint of the exit and the left endpoint of the entrance are connected to obtain the left outer edge of the intersection lane line, and the right endpoint of the exit and the right endpoint of the entrance are connected to obtain the right outer edge of the intersection lane line. In this embodiment of the invention, when the directional angle between the exit lane and the entering lane is within the first angle range, it means that the directional angle between the exit lane and the entering lane is relatively small (close to a straight trajectory or a lane-changing trajectory between adjacent lanes). At this time, using a straight line to draw the curve can generate accurate straight lane lines that conform to scenarios such as straight driving or slight turning at intersections.

[0025] Furthermore, the first curve generation function is a third-order Bézier curve function. Generating the left outer edge of the intersection lane line based on the first intersection point, the left endpoint of the exit, and the left endpoint of the entrance using the first curve generation function includes: determining a first control point on the line connecting the left endpoint of the exit and the first intersection point according to a first preset ratio, and determining a second control point on the line connecting the left endpoint of the entrance and the first intersection point according to a second preset ratio; and generating the left outer edge of the intersection lane line based on the left endpoint of the exit, the first control point, the left endpoint of the entrance, and the second control point using a third-order Bézier curve function. In this embodiment of the invention, because Bézier curves have globality and excellent smoothness, selecting a third-order Bézier curve function to generate the intersection lane line by combining the angle between the exit lane and the entering lane in the intersection scenario (between the straight-ahead trajectory and the U-turn trajectory) helps improve the accuracy and quality of the generated intersection lane line.

[0026] Furthermore, the angle range to which the directional angle value belongs is the third angle range, and the determined curve generation function is the second curve generation function. The left endpoint of the exit is taken as the first starting endpoint of the curve, the left endpoint of the entrance is taken as the first ending endpoint of the curve, the midpoint of the line segment between the left endpoint of the exit and the left endpoint of the entrance is taken as the first center, and the straight-line distance between the left endpoint of the exit or the left endpoint of the entrance and the center is taken as the first radius. Using the second curve generation function, a first arc is generated based on the entering direction and / or exit direction to obtain the left outer edge of the intersection lane line. In this embodiment of the invention, when the directional angle between the exit lane and the entering lane is within the third angle range, it means that the directional angle between the exit lane and the entering lane is relatively large (close to a U-turn trajectory). At this time, using an arc-type curve drawing method can generate an accurate arc-shaped lane line that conforms to the scenario of a sharp turn or U-turn at the intersection.

[0027] Furthermore, before using the second curve generation function to generate a first arc based on the entering direction and / or exit direction to obtain the left outer edge of the intersection lane lines, the method further includes: determining a first angle value between the due north direction and the left outer edge of the exit lane, and determining a second angle value between the due north direction and the line connecting the entrance start point of the exit lane and the entrance start point of the entering lane; determining the entering direction and / or exit direction based on the absolute value of the difference between the first angle value and the second angle value. In this embodiment of the invention, when generating the arc-shaped intersection lane lines, the method first determines whether to draw the arc-shaped lane lines in a clockwise or counterclockwise direction based on the magnitude of the absolute value of the difference between the first angle value and the second angle value, thereby avoiding the generation of lane lines with incorrect directions and improving the accuracy of the intersection lane lines. Attached Figure Description

[0028] Figure 1 This is a flowchart of a method for generating lane lines at an intersection according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of a straight intersection lane line in an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the first type of curved intersection lane lines in an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the second type of curved intersection lane lines in an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the third type of curved intersection lane markings in this embodiment of the invention;

[0033] Figure 6 This is a schematic diagram of the structure of an intersection lane line generation device according to an embodiment of the present invention. Detailed Implementation

[0034] As mentioned earlier, in order to fully ensure the safety of autonomous driving, high requirements are placed on the mapping of road topology information, especially lane lines in intersection areas with complex traffic environments and high risks.

[0035] In the current technology, since there is no unified standard for high-precision map production methods in the autonomous driving industry, most complex intersection scenarios still require map editors to manually edit and draw lane lines based on the pre-built laser point cloud map. Relying on manual lane line drawing is costly, inefficient, and cannot guarantee accuracy and quality, which cannot meet the growing demand for map editing efficiency and quality in the field of intelligent driving.

[0036] In this embodiment of the invention, the directional angle between the exit lane and the entry lane is determined, as are the left and right endpoints of the exit lane and the left and right endpoints of the entry lane. A curve generation function is determined based on the angle range to which the directional angle values ​​belong. The left and right endpoints of the exit lane are used as the starting endpoints of the curve, and the left and right endpoints of the entry lane are used as the ending endpoints of the curve. The curve is then generated using the curve generation function to obtain the intersection lane lines. The larger the angle value in the angle range, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function. Compared to the traditional method of relying on manual drawing of intersection lane lines, which is costly, inefficient, and lacks accuracy and quality assurance, this embodiment of the invention, by determining the directional angle values ​​between the exit lane and the entry lane in the intersection area, uses different types of curve generation functions to generate intersection lane lines adapted to different intersection scenarios (with different curvatures). For intersection scenarios with a large number of lanes and complex types, accurate and high-quality intersection lane lines can be generated quickly and automatically to ensure the safety of autonomous driving.

[0037] To make the above-mentioned objectives, features and beneficial effects of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] Reference Figure 1 , Figure 1 This is a flowchart of a method for generating lane lines at an intersection according to an embodiment of the present invention. The method may include steps S11 to S13:

[0039] Step S11: Determine the directional angle between the exit lane and the entry lane, and determine the left and right exit endpoints of the exit lane and the left and right entry endpoints of the entry lane;

[0040] Step S12: Determine the curve generation function based on the angle range to which the included angle value belongs;

[0041] Step S13: Take the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, and use the curve generation function to generate the curve to obtain the lane lines at the intersection.

[0042] The larger the angle value in the angle value range, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function.

[0043] In the specific implementation of step S11, the entering lane and exit lane can be lanes located in the intersection area and having their own driving directions in the pre-constructed laser point cloud map. These can be specified manually or automatically determined based on preset judgment conditions. The driving direction of each lane can be pre-determined based on the topological relationship of the actual road environment. Furthermore, for each entering or exit lane, the positions / coordinates of its left and right exit endpoints, and its left and right entrance endpoints can be determined by obtaining the coordinates of the corresponding points in the laser point cloud map data.

[0044] The directional angle between the exit lane and the entry lane can specifically refer to the angle between the left outer edge of the exit lane and the left outer edge of the entry lane, or it can refer to the angle between the right outer edge of the exit lane and the right outer edge of the entry lane.

[0045] In the specific implementation of step S12, a mapping table between angle value intervals and curve generation functions can be preset. Each angle value interval in the mapping table can correspond to one or more curve generation functions with the same or similar functions. Specifically, each angle value interval can correspond one-to-one with a straight line generation function, a conventional curve generation function, and a circular arc generation function. In a specific implementation, after determining the directional angle value between the exit lane and the entry lane, the curve generation function corresponding to that directional angle value can be determined by looking up the mapping table.

[0046] Furthermore, before determining the curve generating function based on the angle value interval to which the directional angle value belongs, the method further includes: dividing the angle values ​​into intervals according to their numerical values ​​to obtain a first angle value interval, a second angle value interval, and a third angle value interval; wherein the angle values ​​in the first angle value interval are all smaller than the angle values ​​in the second angle value interval, and the angle values ​​in the second angle value interval are all smaller than the angle values ​​in the third angle value interval; wherein the first angle value interval, the second angle value interval, and the third angle value interval do not overlap with each other.

[0047] The first, second, and third angle value intervals together cover all angle values ​​between 0 and 180 degrees. Specifically, the first, second, and third angle value intervals each cover a portion of the angle range from 0 to 180 degrees without overlapping.

[0048] As a non-limiting embodiment, the first angle value range is greater than or equal to 0 degrees and less than 30 degrees; the second angle value range is greater than or equal to 30 degrees and less than 150 degrees; and the third angle value range is greater than or equal to 150 degrees and less than or equal to 180 degrees.

[0049] In the specific implementation of step S13, the magnitude of the directional angle value can actually correspond to different driving trajectories of vehicles in the intersection area: the smaller the directional angle value between the exit lane and the entering lane, the closer the trajectory of the vehicle from the exit lane to the entering lane is to a straight trajectory or a lane-changing trajectory between adjacent lanes; the larger the directional angle value between the exit lane and the entering lane, the closer the trajectory of the vehicle from the exit lane to the entering lane is to a U-turn or a sharp turn trajectory. Therefore, based on the angle value range to which the directional angle value belongs, different curve generation functions can be determined to draw intersection lane lines adapted to different trajectories.

[0050] It is understood that the larger the angle value within the angle range, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function. Specifically, the curvature can be the average curvature of the left and / or right outer edges of the lane lines at the intersection.

[0051] In this embodiment of the invention, compared to the traditional method of relying on manual drawing of intersection lane lines, which is costly, inefficient, and lacks accuracy and quality assurance, this embodiment of the invention determines the directional angle between the exit lane and the entry lane in the intersection area and uses different types of curve generation functions to generate intersection lane lines adapted to different intersection scenarios (with different curvatures). For intersection scenarios with a large number of lanes and complex types, it can quickly and automatically generate accurate and high-quality intersection lane lines to ensure the safety of autonomous driving.

[0052] Furthermore, the angle range to which the included angle value belongs is the first angle range, and the determined curve generation function is a straight line drawing function; taking the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, and using the curve generation function to generate the curve to obtain the intersection lane line includes: taking the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, and using the straight line drawing function to connect the left endpoint of the exit and the left endpoint of the entrance to obtain the left outer edge line of the intersection lane line, and connecting the right endpoint of the exit and the right endpoint of the entrance to obtain the right outer edge line of the intersection lane line.

[0053] In this embodiment of the invention, when the directional angle between the exit lane and the entry lane is within the first angle range, it means that the directional angle between the exit lane and the entry lane is small (close to the straight trajectory or the lane change trajectory between adjacent lanes). At this time, drawing curves with straight lines can generate accurate straight lane lines that conform to scenarios such as straight driving or slight turning at intersections.

[0054] Reference Figure 2 , Figure 2 This is a schematic diagram of a straight intersection lane line in an embodiment of the present invention.

[0055] Wherein, M1 indicates the left outer edge of the lane line at the straight intersection, M2 indicates the right outer edge of the lane line at the straight intersection, L1 indicates the exit lane, L2 indicates the entering lane, α1 indicates the directional angle between the exit lane L1 and the entering lane L2, A1 and A2 indicate the left and right exit endpoints of the exit lane L1, respectively, and A3 and A4 indicate the left and right entrance endpoints of the entering lane L2, respectively. The angle value range of α1 is [0°, 30°].

[0056] In the specific implementation, A1 and A2 are taken as the starting endpoints of the curve, and A3 and A4 are taken as the ending endpoints of the curve. A straight line drawing function is used to connect A1 and A3 to obtain M1, and connect A2 and A4 to obtain M2.

[0057] Further, the angle range to which the included angle value belongs is the second angle range, and the determined curve generation function is the first curve generation function; taking the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, and using the curve generation function to generate the curve to obtain the intersection lane line includes: determining the first intersection point between the extended left outer edge line of the exit lane and the extended left outer edge line of the entering lane, and determining the second intersection point between the extended right outer edge line of the exit lane and the extended right outer edge line of the entering lane; taking the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, and using the first curve generation function to generate the left outer edge line of the intersection lane line based on the first intersection point, the left endpoint of the exit, and the left endpoint of the entrance, and to generate the right outer edge line of the intersection lane line based on the second intersection point, the right endpoint of the exit, and the right endpoint of the entrance.

[0058] In some non-limiting embodiments, the first curve generating function is selected from any of the following: a third-order Bézier curve function, a B-spline basis function. Other functions capable of accurately generating curves may also be used, and this embodiment of the invention does not impose any limitations on this.

[0059] The Bézier method is a classic concept in computer graphics, a method for designing smooth curves and surfaces. The third-order Bézier curve function is one type of Bézier curve function (there are also first-order Bézier curves, second-order Bézier curves... Nth-order Bézier curves). Its basic idea is: first, use a polyline segment to outline the general shape of the car, and then use a smooth parametric curve to approximate this polyline polygon. This polyline polygon is called the feature polygon, control polygon, or Bézier polygon. The inflection point is called the control vertex, or simply the control point. The curve that approximates the feature polygon is the Bézier curve. The Bézier curve has the following characteristics: (1) Globality: the most important property. The Bézier method cannot locally control the shape of the curve. When the position of any control point is changed, the entire curve is affected. (2) Endpoint property: the curve only passes through the two control points at the two endpoints (start and end). All other points are only approximations and generally do not pass through. (3) The tangent direction at the start and end points is consistent with the first and last sides of the feature polygon. (4) Geometric invariance: The geometric properties of the curve do not change with coordinate transformation. Its shape depends only on the relative positions of the vertices of the control polygon and is independent of the choice of coordinate system. (5) The derivative of a Bézier curve is still a Bézier curve. (6) Variation reduction property: When the characteristic polygon is a planar figure, the number of intersections between any straight line in the plane and the curve is no more than the number of intersections between the straight line and the characteristic polygon. This property reflects that the variability of the Bézier curve is less than that of its characteristic polygon, that is, it is smoother than a polygonal broken line.

[0060] B-spline basis functions are also a classic type of curve generating function, very similar to Bézier curve functions. The biggest difference is that B-spline basis functions have local characteristics and can be segmented. The entire curve of a B-spline has a complete expression form and is very smooth within a finite order, which can fully meet human intuitive aesthetics, but the internal quantity is segmented. The characteristics of B-splines include: (1) Locality: the most important difference compared with Bézier curves. The local support of B-spline basis functions determines the locality of B-splines. A point on a k-order curve is related to at most k control points and is not related to other control points. Therefore, moving the i-th control vertex Pi on the curve will at most affect the shape of the part of the curve defined in the interval corresponding to this point, and will not affect the rest of the curve. (2) Variation reduction property: same as Bézier curves. (3) Geometric invariance: same as Bézier curves. (4) Convex hull property: the B-spline curve falls in the convex hull formed by Pi, and its convex hull area is smaller than or equal to the convex hull area of ​​the Bézier curve defined by the same set of control vertices. (5) Unlike Bézier curves, B-spline curves do not necessarily pass through two endpoints.

[0061] Furthermore, the first curve generation function is a third-order Bézier curve function; generating the left outer edge of the intersection lane line based on the first intersection point, the left endpoint of the exit, and the left endpoint of the entrance using the first curve generation function includes: determining a first control point on the line connecting the left endpoint of the exit and the first intersection point according to a first preset ratio, and determining a second control point on the line connecting the left endpoint of the entrance and the first intersection point according to a second preset ratio; generating the left outer edge of the intersection lane line based on the left endpoint of the exit, the first control point, the left endpoint of the entrance, and the second control point using the third-order Bézier curve function; wherein, the first preset ratio is used to indicate the quotient of the first straight-line distance between the left endpoint of the exit and the first control point divided by the second straight-line distance between the first control point and the first intersection point, and the second preset ratio is used to indicate the quotient of the third straight-line distance between the left endpoint of the entrance and the second control point divided by the fourth straight-line distance between the second control point and the first intersection point.

[0062] Furthermore, both the first preset ratio and the second preset ratio are selected from 0.5 to 0.6.

[0063] As a non-limiting embodiment, both the first preset ratio and the second preset ratio are 0.55228475.

[0064] In the specific implementation, a third-order Bézier curve function is used, and the right outer edge of the intersection lane line is generated based on the second intersection point, the right endpoint of the exit, and the right endpoint of the entrance. This method is similar to the above method of using a third-order Bézier curve function and generating the left outer edge of the intersection lane line based on the first intersection point, the left endpoint of the exit, and the left endpoint of the entrance. It will not be repeated here.

[0065] Reference Figure 3 , Figure 3 This is a schematic diagram of the first type of curved intersection lane lines in an embodiment of the present invention.

[0066] Wherein, M3 indicates the left outer edge of the lane line of the first type of curved intersection, M4 indicates the right outer edge of the lane line of the straight intersection, L3 indicates the exit lane, L4 indicates the entry lane, α2 indicates the directional angle between the exit lane L3 and the entry lane L4, B1 and B2 are the left and right exit endpoints of the exit lane L3, X1 indicates the first intersection point between the extended left outer edge of L3 and the extended left outer edge of L4, and B3 and B4 are the left and right entry endpoints of the entry lane L4, respectively. The angle value range of α2 is [30°, 150°].

[0067] In specific implementation, taking the generation of the left outer edge line M3 of the first type of curved intersection lane line as an example:

[0068] First, determine P1 as the first control point between B1 and X1, and determine P2 as the second control point between B3 and X1. The length of line segment B1P1 / the length of line segment P1X1 = 0.55228475, and the length of line segment B3P2 / the length of line segment P2X1 = 0.55228475.

[0069] Then, taking B1 as the starting endpoint of the curve and B3 as the ending endpoint, and using the third-order Bézier curve function, based on the first control point P1 and the second control point P2, M3 can be generated.

[0070] In practice, the detailed steps for generating M4 using a third-order Bézier curve are the same as those described above for generating M3, and will not be repeated here.

[0071] In this embodiment of the invention, when the directional angle between the exit lane and the entry lane is within the second angle range, it means that the vehicle is between a straight-ahead trajectory and a U-turn trajectory, such as making a right-angle turn. In this case, using a third-order Bézier curve can generate curved lane lines that conform to scenarios such as right-angle turns at intersections. Furthermore, due to the globality and excellent smoothness of Bézier curves, it helps to improve the accuracy and quality of the generated intersection lane lines.

[0072] Furthermore, the angle range to which the included angle value belongs is the third angle range, and the determined curve generation function is the second curve generation function; taking the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, and using the curve generation function to generate the curve, to obtain the intersection lane line includes: taking the left endpoint of the exit as the first starting endpoint of the curve, taking the left endpoint of the entrance as the first ending endpoint of the curve, taking the midpoint of the line segment between the left endpoint of the exit and the left endpoint of the entrance as the first center of a circle, and taking the left endpoint of the exit or the left endpoint of the entrance and the center of the circle as the first starting endpoint of the curve. The straight-line distance between the two points is used as the first radius, and a second curve generation function is used to generate a first arc based on the inbound direction and / or outbound direction to obtain the left outer edge of the intersection lane line; and the right endpoint of the exit is used as the second starting endpoint of the curve, the right endpoint of the entrance is used as the second ending endpoint of the curve, the midpoint of the line segment between the right endpoint of the exit and the right endpoint of the entrance is used as the second center, the straight-line distance between the right endpoint of the exit or the right endpoint of the entrance and the center is used as the second radius, and a second arc is generated based on the inbound direction and / or outbound direction using the second curve generation function to obtain the right outer edge of the intersection lane line.

[0073] In some non-limiting embodiments, the second curve generation function is selected from any of the following: a fifth-order Bézier curve function, or the arc generation function Turf.lineArc from the geospatial analysis library.

[0074] Furthermore, before using a second curve generation function to generate a first arc based on the entering direction and / or exit direction to obtain the left outer edge of the intersection lane lines, the method further includes: determining a first angle value between the due north direction and the left outer edge of the exit lane, and determining a second angle value between the due north direction and the line connecting the entrance start point of the exit lane and the entrance start point of the entering lane; determining the entering direction and / or exit direction based on the absolute value of the difference between the first angle value and the second angle value.

[0075] It should be noted that, in specific implementation, when the exit lane is located to the right of the entry lane, the starting point of the exit lane is located on the right outer edge of the exit lane and may overlap with the right endpoint of the exit lane's entrance; when the exit lane is located to the left of the entry lane, the starting point of the exit lane is located on the left outer edge of the exit lane and may overlap with the left endpoint of the exit lane's entrance.

[0076] Furthermore, determining the entering direction and / or exit direction based on the absolute value of the difference between the first included angle value and the second included angle value includes: if the absolute value of the difference between the first included angle value and the second included angle value belongs to a fourth angle value range, then the entering direction and / or exit direction is determined to be a clockwise direction; if the absolute value of the difference between the first included angle value and the second included angle value belongs to a fifth angle value range, then the entering direction and / or exit direction is determined to be a counterclockwise direction.

[0077] Among them, the angle values ​​in the fourth angle value interval are all smaller than the angle values ​​in the fifth angle value interval;

[0078] The fourth and fifth angle value intervals do not overlap, and together they cover all angle values ​​from 0 degrees to 360 degrees. Specifically, the fourth and fifth angle value intervals each cover a portion of the angle range from 0 degrees to 360 degrees, provided they do not overlap.

[0079] As a non-limiting embodiment, the fourth angle value range is greater than or equal to 0 degrees and less than 180 degrees; the fifth angle value range is greater than or equal to 180 degrees and less than or equal to 360 degrees.

[0080] It should be noted that, in the specific implementation, in the above scheme for determining the entry / exit direction, the determination of the first included angle value and the second included angle value are both uniformly in a clockwise direction: that is, when determining the first included angle value, it starts from due north and points to the left outer edge of the exit lane; when determining the second included angle value, it starts from due north and points to the line connecting the entrance starting point of the exit lane and the entrance starting point of the entry lane.

[0081] In other words, when determining the first and second included angle values, if both are uniformly counterclockwise—that is, when determining the first included angle value, the line starting from the left outer edge of the exit lane points due north; and when determining the second included angle value, the line connecting the entrance start point of the exit lane and the entrance start point of the entry lane points due north—then determining the entry direction and / or exit direction based on the absolute value of the difference between the first and second included angle values ​​includes: if the absolute value of the difference between the first and second included angle values ​​belongs to the fourth angle value range, then the entry direction and / or exit direction is determined to be counterclockwise; if the absolute value of the difference between the first and second included angle values ​​belongs to the fifth angle value range, then the entry direction and / or exit direction is determined to be clockwise.

[0082] In this embodiment of the invention, when generating arc-shaped lane lines at an intersection, the absolute value of the difference between the first included angle value and the second included angle value can be used to determine whether to draw the arc-shaped lane lines in a clockwise or counterclockwise direction. This can avoid generating lane lines in the wrong direction (for example, an upwardly convex arc may be mistakenly generated as a downwardly concave arc), thereby improving the accuracy of the intersection lane lines.

[0083] Reference Figure 4 , Figure 4 This is a schematic diagram of the second type of curved intersection lane lines in an embodiment of the present invention.

[0084] In this diagram, M5 indicates the left outer edge of the lane markings at the second type of curved intersection; M6 indicates the right outer edge of the lane markings at the second type of curved intersection; L5 indicates the exit lane; L6 indicates the entering lane; α3 indicates the directional angle between the exit lane L5 and the entering lane L6; C1 and C2 indicate the left and right exit endpoints of the exit lane L5, respectively; C3 and C4 indicate the left and right entrance endpoints of the entering lane L6, respectively; N1 indicates the entrance start point of the exit lane L5; N2 indicates the entrance start point of the entering lane L6 (overlapping with the left entrance endpoint C3 of L6); β1 indicates the angle between the due north direction and the left outer edge of L5; and θ1 indicates the angle between the due north direction and the line connecting N1 and N2. The angle value range of α3 is [150°, 180°].

[0085] In practical implementation, taking the generation of the left outer edge line M5 of the second type of curved intersection lane line as an example:

[0086] First, the angle value range of |β1-θ1| is determined to be [0°, 180°), and then the driving direction and / or driving direction is determined to be clockwise.

[0087] Then, C1 is taken as the starting endpoint of the curve, C3 is taken as the ending endpoint of the curve, the midpoint of line segment C1C3 is taken as the center O1, the length value of line segment C1O1 or the length value of line segment C3O1 is taken as the radius, and the arc generation function Turf.lineArc from the geospatial analysis library is used to draw the curve in a clockwise direction to generate the first arc, so as to obtain M5.

[0088] In practice, the detailed steps for generating M6 using Turf.lineArc are the same as those described above for generating M5, and will not be repeated here.

[0089] Reference Figure 5 , Figure 5 This is a schematic diagram of the third type of curved intersection lane markings in this embodiment of the invention;

[0090] Wherein, M7 indicates the left outer edge of the lane line of the third type of curved intersection, M8 indicates the right outer edge of the lane line of the third type of curved intersection, L7 indicates the exit lane, L8 indicates the entering lane, α4 indicates the directional angle between the exit lane L7 and the entering lane L8, D1 and D2 indicate the left and right exit endpoints of the exit lane L7, respectively, D3 and D4 indicate the left and right entrance endpoints of the entering lane L8, respectively, N3 indicates the entrance start point of the exit lane L7, N4 indicates the entrance start point of the entering lane L8 (overlapping with the right entrance endpoint D4 of L8), β2 indicates the angle between the due north direction and the left outer edge of L7, and θ2 indicates the angle between the due north direction and the line connecting N3 and N4. The angle value range of α4 is [150°, 180°].

[0091] In practical implementation, taking the generation of the left outer edge line M7 of the second type of curved intersection lane line as an example:

[0092] First, the angle value range of |β2-θ2| is determined to be [180°, 360°), and then the driving direction and / or driving direction is determined to be counterclockwise.

[0093] Then, D1 is taken as the starting endpoint of the curve, D3 is taken as the ending endpoint of the curve, the midpoint of line segment D1D3 is taken as the center O2, the length value of line segment D1O2 or the length value of line segment D3O2 is taken as the radius, and the arc generation function Turf.lineArc from the geospatial analysis library is used to draw the curve in a counterclockwise direction to generate the second arc, so as to obtain M7.

[0094] In practice, the detailed steps for generating M8 using Turf.lineArc are as described above for generating M8, and will not be repeated here.

[0095] In this embodiment of the invention, when the directional angle between the exit lane and the entry lane is in the third angle range, it means that the directional angle between the exit lane and the entry lane is large (e.g., a U-turn or a sharp turn trajectory). At this time, using an arc-type curve drawing method can generate an accurate arc-shaped lane line that conforms to the scenario of a sharp turn or U-turn at an intersection.

[0096] Reference Figure 6 , Figure 6 This is a schematic diagram of the structure of an intersection lane line generation device according to an embodiment of the present invention. The intersection lane line generation device may include:

[0097] The intersection lane angle and endpoint determination module 61 is used to determine the directional angle between the exit lane and the entry lane, as well as to determine the exit left endpoint and exit right endpoint of the exit lane, and the entrance left endpoint and entrance right endpoint of the entry lane.

[0098] The curve function determination module 62 is used to determine the curve generation function based on the angle value range to which the direction angle value belongs;

[0099] The intersection lane line generation module 63 is used to take the left endpoint and right endpoint of the exit as the starting endpoint of the curve, and the left endpoint and right endpoint of the entrance as the ending endpoint of the curve, and use the curve generation function to generate a curve to obtain the intersection lane line.

[0100] The larger the angle value within the angle range, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function. For the principle, specific implementation, and beneficial effects of this intersection lane line generation device, please refer to the preceding text. Figures 1 to 5 The methods for generating lane lines at intersections and the relevant descriptions of lane lines at various intersections shown are not repeated here.

[0101] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the intersection lane line generation method described above. The computer-readable storage medium may include non-volatile or non-transitory memory, and may also include optical discs, hard disk drives, solid-state drives, etc.

[0102] Specifically, in this embodiment of the invention, the processor can be a central processing unit (CPU), or it can be 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 devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0103] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0104] This invention also provides a terminal, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor runs the computer program, it executes the steps of the intersection lane line generation method described above. The terminal may include, but is not limited to, mobile phones, computers, tablets, and other terminal devices, and may also be servers, cloud platforms, etc.

[0105] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article indicates that the preceding and following related objects have an "or" relationship.

[0106] In the embodiments of this application, "multiple" refers to two or more.

[0107] The descriptions of "first," "second," etc., appearing in the embodiments of this application are for illustrative purposes and to distinguish the objects being described. They have no order and do not indicate any special limitation on the number of devices in the embodiments of this application, nor do they constitute any limitation on the embodiments of this application.

[0108] It should be noted that the sequence number of each step in this embodiment does not represent a limitation on the execution order of each step.

[0109] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A method for generating lane lines at an intersection, characterized in that, include: Determine the directional angle between the exit lane and the entry lane, and determine the left and right exit endpoints of the exit lane and the left and right entry endpoints of the entry lane; The curve generation function is determined based on the angle range to which the included angle value belongs; The left and right endpoints of the exit are taken as the starting endpoints of the curve, and the left and right endpoints of the entrance are taken as the ending endpoints of the curve. The curve is generated using the curve generation function to obtain the lane lines at the intersection. Wherein, the larger the angle value in the angle value range, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function; Before determining the curve generating function based on the angle range to which the included angle value belongs, the method further includes: The angle values ​​are divided into intervals according to their numerical values ​​to obtain the first angle value interval, the second angle value interval, and the third angle value interval; Wherein, the angle values ​​within the first angle value interval are all less than the angle values ​​within the second angle value interval, and the angle values ​​within the second angle value interval are all less than the angle values ​​within the third angle value interval; the first angle value interval, the second angle value interval, and the third angle value interval do not overlap with each other; the angle value interval to which the direction angle value belongs is the first angle value interval, or the angle value interval to which the direction angle value belongs is the second angle value interval, and the determined curve generation function is the first curve generation function; or the angle value interval to which the direction angle value belongs is the third angle value interval, and the determined curve generation function is the second curve generation function. The first curve generating function is selected from any one of the following: a third-order Bézier curve function or a B-spline basis function; The second curve generation function is selected from any of the following: a fifth-order Bézier curve function, or the arc generation function Turf.lineArc from the geospatial analysis library.

2. The method according to claim 1, characterized in that, The first angle value interval, the second angle value interval, and the third angle value interval together cover all angle values ​​between 0 degrees and 180 degrees.

3. The method according to claim 2, characterized in that, The first angle value range is greater than or equal to 0 degrees and less than 30 degrees. The second angle value range is greater than or equal to 30 degrees and less than 150 degrees. The third angle value range is greater than or equal to 150 degrees and less than or equal to 180 degrees.

4. The method according to claim 1, characterized in that, The determined curve generation function is a line drawing function; Using the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, a curve is generated using the curve generation function to obtain the intersection lane markings, which include: The left and right endpoints of the exit are taken as the starting endpoints of the curve, and the left and right endpoints of the entrance are taken as the ending endpoints of the curve. A straight line drawing function is used to connect the left endpoint of the exit and the left endpoint of the entrance to obtain the left outer edge of the intersection lane line, and to connect the right endpoint of the exit and the right endpoint of the entrance to obtain the right outer edge of the intersection lane line.

5. The method according to claim 1, characterized in that, Using the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, a curve is generated using the curve generation function to obtain the intersection lane markings, which include: Determine the first intersection point between the extended left outer edge line of the exit lane and the extended left outer edge line of the entry lane, and determine the second intersection point between the extended right outer edge line of the exit lane and the extended right outer edge line of the entry lane. The left and right endpoints of the exit are taken as the starting endpoints of the curve, and the left and right endpoints of the entrance are taken as the ending endpoints of the curve. A first curve generation function is used to generate the left outer edge of the intersection lane line based on the first intersection point, the left endpoint of the exit, and the left endpoint of the entrance, and to generate the right outer edge of the intersection lane line based on the second intersection point, the right endpoint of the exit, and the right endpoint of the entrance.

6. The method according to claim 5, characterized in that, The first curve generating function is a third-order Bézier curve function; Using a first curve generation function, the left outer edge line of the intersection lane line is generated based on the first intersection point, the left endpoint of the exit, and the left endpoint of the entrance, including: A first control point is determined on the line connecting the left end point of the exit and the first intersection point according to a first preset ratio, and a second control point is determined on the line connecting the left end point of the entrance and the first intersection point according to a second preset ratio. A third-order Bézier curve function is used to generate the left outer edge of the intersection lane lines based on the left endpoint of the exit, the first control point, the left endpoint of the entrance, and the second control point. The first preset ratio is used to indicate the quotient of the first straight-line distance between the left endpoint of the exit and the first control point divided by the second straight-line distance between the first control point and the first intersection point. The second preset ratio is used to indicate the quotient of the third straight-line distance between the left endpoint of the entrance and the second control point divided by the fourth straight-line distance between the second control point and the first intersection point.

7. The method according to claim 6, characterized in that, Both the first preset ratio and the second preset ratio are selected from 0.5 to 0.

6.

8. The method according to claim 1, characterized in that, Using the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, a curve is generated using the curve generation function to obtain the intersection lane markings, which include: The left endpoint of the exit is taken as the first starting endpoint of the curve, the left endpoint of the entrance is taken as the first ending endpoint of the curve, the midpoint of the line segment between the left endpoint of the exit and the left endpoint of the entrance is taken as the first center, the straight-line distance between the left endpoint of the exit or the left endpoint of the entrance and the first center is taken as the first radius, and a second curve generation function is used to generate a first arc based on the direction of entry and / or the direction of exit, so as to obtain the left outer edge line of the lane line at the intersection. as well as, The right endpoint of the exit is taken as the second starting endpoint of the curve, the right endpoint of the entrance is taken as the second ending endpoint of the curve, the midpoint of the line segment between the right endpoint of the exit and the right endpoint of the entrance is taken as the second center, the straight-line distance between the right endpoint of the exit or the right endpoint of the entrance and the second center is taken as the second radius, and a second curve generation function is used to generate a second arc based on the driving direction and / or driving direction to obtain the right outer edge line of the intersection lane line.

9. The method according to claim 8, characterized in that, Before using a second curve generation function to generate a first arc based on the entering direction and / or exit direction to obtain the left outer edge line of the lane lines at the intersection, the method further includes: Determine the first angle between the due north direction and the left outer edge of the exit lane, and determine the second angle between the due north direction and the line connecting the entrance start point of the exit lane and the entrance start point of the entry lane. The driving direction and / or driving direction are determined based on the absolute value of the difference between the first included angle value and the second included angle value.

10. The method according to claim 9, characterized in that, Determining the entering direction and / or exit direction based on the absolute value of the difference between the first included angle value and the second included angle value includes: If the absolute value of the difference between the first included angle value and the second included angle value belongs to the fourth angle value range, then the driving direction and / or driving direction is determined to be clockwise. If the absolute value of the difference between the first included angle value and the second included angle value belongs to the range of the fifth angle value, then the driving direction and / or driving direction is determined to be counterclockwise. Among them, the angle values ​​in the fourth angle value interval are all smaller than the angle values ​​in the fifth angle value interval; Among them, the fourth angle value interval and the fifth angle value interval do not overlap with each other, and the fourth angle value interval and the fifth angle value interval together cover all angle values ​​between 0 degrees and 360 degrees.

11. The method according to claim 10, characterized in that, The fourth angle value range is greater than or equal to 0 degrees and less than 180 degrees. The fifth angle value range is greater than or equal to 180 degrees and less than or equal to 360 degrees.

12. A lane line generation device for intersections, characterized in that, include: The intersection lane angle and endpoint determination module is used to determine the directional angle between the exit lane and the entry lane, as well as the exit left endpoint and exit right endpoint of the exit lane, and the entrance left endpoint and entrance right endpoint of the entry lane. The curve function determination module is used to determine the curve generation function based on the angle value range to which the direction angle value belongs; The intersection lane line generation module is used to take the left and right endpoints of the exit as the starting endpoints of the curve, and the left and right endpoints of the entrance as the ending endpoints of the curve, and use the curve generation function to generate the curve to obtain the intersection lane line. This module is used to divide angle values ​​into intervals according to their numerical values ​​to obtain a first angle value interval, a second angle value interval, and a third angle value interval. Wherein, the larger the angle value in the angle value interval, the greater the curvature of at least a portion of the curve generated by the corresponding curve generation function; all angle values ​​in the first angle value interval are smaller than those in the second angle value interval, and all angle values ​​in the second angle value interval are smaller than those in the third angle value interval; the first angle value interval, the second angle value interval, and the third angle value interval do not overlap with each other; the angle value interval to which the direction angle value belongs is the first angle value interval, or the angle value interval to which the direction angle value belongs is the second angle value interval, and the determined curve generation function is the first curve generation function; or the angle value interval to which the direction angle value belongs is the third angle value interval, and the determined curve generation function is the second curve generation function. The first curve generating function is selected from any one of the following: a third-order Bézier curve function or a B-spline basis function; The second curve generation function is selected from any of the following: a fifth-order Bézier curve function, or the arc generation function Turf.lineArc from the geospatial analysis library.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is run by the processor, it performs the steps of the intersection lane line generation method according to any one of claims 1 to 11.

14. A terminal comprising a memory and a processor, wherein the memory stores a computer program capable of running on the processor, characterized in that, When the processor runs the computer program, it performs the steps of the intersection lane line generation method according to any one of claims 1 to 11.

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