Method, device and electronic device for generating intersection guide lines for high-precision maps

Abstract

The present application relates to a method, device and electronic device for generating intersection guide lines for high-precision maps. The method includes: obtaining map data, the map data including: the center line of the first lane, the center line of the second lane, the first extension line and the second extension line located at the intersection; obtaining a first rotation angle by intersecting the first extension line with the second extension line; obtaining a first connecting line matching the center line of the first lane based on the first rotation angle and based on the Euler spiral; obtaining a second connecting line matching the first connecting line and the center line of the second lane based on the first connecting line; connecting the first lane center line, the first connecting line, the second connecting line and the center line of the second lane to generate an intersection guide line. The solution provided by the present application can match the connecting line connecting the center lines of the two lanes based on the Euler spiral, so that the curvature change of the generated intersection guide line is more linear.

Description

Technical Field

[0001] The present application relates to the field of map technology, and in particular to a method, device and electronic device for connecting center lines of intersections for high-precision maps. Background Art

[0002] In recent years, high-precision maps have been used more and more widely, for example in navigation, autonomous driving, etc. Compared with ordinary maps, high-precision maps provide map information with higher accuracy and richer content.

[0003] In the related technology, when applying high-precision maps, guide lines generated by Bezier curves are often used to guide vehicles when passing through intersections. However, the generation of the above guide lines depends on the selection of control points, resulting in the curvature of the generated curve not changing linearly enough, which affects the riding experience of the vehicle when driving. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related art, the present application provides a method, device and electronic device for generating intersection guide lines for high-precision maps, which can make the curvature change of the guide line when turning at the intersection more linear, thereby improving the riding experience of the vehicle when turning.

[0005] The first aspect of the present application provides a method for generating intersection guide lines for a high-precision map, comprising:

[0006] Acquire map data, the map data including: a first lane centerline, a second lane centerline, a first extension of the first lane centerline, and a second extension of the second lane centerline located at the intersection;

[0007] Obtaining a first rotation angle by intersecting the first extension line with the second extension line;

[0008] According to the first rotation angle and based on the Euler spiral, a first connecting line matching the center line of the first lane is obtained; wherein the curvature of the first connecting line increases linearly from zero;

[0009] Acquire a second connection line matching the first connection line and the center line of the second lane according to the first connection line, wherein the curvature of the second connection line decreases linearly to zero;

[0010] The first lane center line, the first connecting line, the second connecting line, and the second lane center line are connected to generate an intersection guide line.

[0011] In one embodiment, the distance from the centerline of the first lane to the intersection point is smaller than the distance from the centerline of the second lane to the intersection point.

[0012] In one embodiment, acquiring a first connecting line matching the first lane centerline according to the first rotation angle and based on the Euler spiral includes:

[0013] According to the first rotation angle and based on the Fresnel integral, obtaining a first spiral of a corresponding interval in the Euler spiral;

[0014] The first spiral is processed according to a preset processing method to generate a first connecting line matching the first lane center line.

[0015] In one embodiment, the processing of the first spiral according to a preset processing method to generate a first connecting line matching the first lane centerline includes:

[0016] Acquire a second rotation angle matching the first spiral with the first lane centerline;

[0017] The first spiral is geometrically transformed according to the second rotation angle to generate a first connecting line, so that when the first connecting line is connected end to end with the first lane center line, the end point of the first connecting line is located on the angle bisector between the first extension line and the second extension line.

[0018] In one embodiment, the first spiral is subjected to one or a combination of rotation, scaling, and translation.

[0019] In one embodiment, drawing a second connecting line matching the first lane centerline and the second lane centerline according to the first connecting line includes:

[0020] generating a second spiral according to an inverse function of the first spiral;

[0021] The second spiral is processed according to a preset processing method to generate a second connecting line that matches the first connecting line and the second lane center line.

[0022] In one embodiment, drawing a second connecting line matching the first lane centerline and the second lane centerline according to the first connecting line includes:

[0023] A second connecting line is generated according to an inverse function of the first connecting line.

[0024] The second aspect of the present application provides a device for generating intersection guide lines for a high-precision map, comprising:

[0025] A data module, used to obtain map data, the map data including: a first lane centerline, a second lane centerline, a first extension line of the first lane centerline, and a second extension line of the second lane centerline located at the intersection;

[0026] A first calculation module, configured to obtain a first rotation angle by intersecting the first extension line with the second extension line according to the map data obtained by the data module;

[0027] A second calculation module is used to obtain a first connection line matching the first lane center line according to the first rotation angle obtained by the first calculation module and based on the Euler spiral; wherein the curvature of the first connection line increases linearly from zero;

[0028] A third calculation module is used to obtain a second connection line matching the first connection line and the center line of the second lane according to the first connection line obtained by the second calculation module, wherein the curvature of the second connection line decreases linearly to zero;

[0029] A generation module is used to connect the first lane center line, the first connecting line, the second connecting line, and the second lane center line to generate an intersection guide line.

[0030] A third aspect of the present application provides an electronic device, including:

[0031] Processor; and

[0032] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0033] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0034] The technical solution provided by this application may have the following beneficial effects:

[0035] The technical solution of the present application matches the connecting line connecting the center lines of the two lanes according to the center lines of the two lanes and based on the Euler spiral, so that the curvature change of the generated intersection guide line is more linear, thereby improving the riding experience of the vehicle when turning.

[0036] Furthermore, the technical solution of the present application is provided with a preset spiral trajectory. In the process of matching the connecting lines, the corresponding spiral in the preset spiral trajectory is matched according to the rotation angle, so that the connecting line generation process is faster and more efficient; after the first connecting line is generated, the matching second connecting line can be directly obtained through the inverse function of the first connecting line, which can simplify the connecting line generation process and improve efficiency.

[0037] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0039] Figure 1 It is a flow chart of a method for generating intersection guide lines for high-precision maps shown in an embodiment of the present application;

[0040] Figure 2 is another flow chart of a method for generating intersection guide lines for high-precision maps shown in an embodiment of the present application;

[0041] Figure 3 It is a schematic diagram of an Euler spiral made based on Fresnel integral in a method for generating intersection guide lines for high-precision maps shown in an embodiment of the present application;

[0042] Figure 4 This is a schematic diagram of an application of a method for generating intersection guide lines for a high-precision map shown in an embodiment of the present application;

[0043] Figure 5 It is a structural schematic diagram of a device for generating intersection guide lines for high-precision maps shown in an embodiment of the present application;

[0044] Figure 6 Another structural schematic diagram of the device for generating intersection guide lines for high-precision maps shown in the embodiment of the present application

[0045] Figure 7 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0047] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0048] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0049] In related technologies, high-precision maps often use Bezier curves to generate guide lines. The above guide lines rely on the selection of control points during the generation process, resulting in the curvature of the generated curve not being linear enough, affecting the riding experience of the vehicle during driving.

[0050] In response to the above problems, an embodiment of the present application provides a method for generating intersection guide lines for high-precision maps, which can make the curvature change of the guide line when a vehicle turns at an intersection more linear, thereby improving the riding experience of the vehicle when turning.

[0051] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0052] Figure 1 It is a flow chart of a method for generating intersection guide lines for high-precision maps shown in an embodiment of the present application.

[0053] See also Figure 1 , the method for generating intersection guide lines for high-precision maps includes:

[0054] S11, obtaining map data.

[0055] When the vehicle drives to an intersection, map data is obtained according to a map device or an APP. Among them, the intersection guide lines generated by the method of the present application include left turn guide lines, right turn guide lines, and U-turn guide lines.

[0056] In some embodiments, the map data includes at least: a first lane centerline, a second lane centerline, a first extension of the first lane centerline, and a second extension of the second lane centerline at the intersection. It should be understood that the first extension and the second extension both extend in a direction toward the first lane centerline and the second lane centerline.

[0057] In some embodiments, the map data may also include other information such as lane boundaries, road fences, roadside obstacles, etc. The above other information may be used to be displayed simultaneously with the intersection guide lines, thereby making the vehicle guidance process clearer and more specific.

[0058] S12, obtaining a first rotation angle by intersecting the first extension line with the second extension line.

[0059] The center line of the first lane and the center line of the second lane correspond to the centers of the lanes respectively, and the angle formed by the intersection of the first extension line and the second extension line is the rotation angle between the center line of the first lane and the center line of the second lane.

[0060] In some embodiments, the distance from the centerline of the first lane to the intersection point is less than the distance from the centerline of the second lane to the intersection point. The centerline with the smaller distance to the intersection point is used as the centerline of the first lane, so that the acquired first connecting line can be directly connected to the corresponding lane centerline, which is convenient for drawing subsequent guide lines.

[0061] S13: Acquire a first connecting line matching the center line of the first lane according to the first rotation angle and based on the Euler spiral.

[0062] The curvature of the first connecting line obtained based on the Euler spiral increases linearly from zero.

[0063] S14, obtaining a second connection line matching the first connection line and the center line of the second lane according to the first connection line.

[0064] The second connecting line is used to connect the first connecting line and the second lane center line respectively, wherein the curvature of the second connecting line decreases linearly to zero.

[0065] S15, connecting the lane center line, the first connecting line, the second connecting line, and the second lane center line to generate an intersection guide line.

[0066] The curvatures of the first connecting line and the second connecting line increase linearly from zero and then decrease linearly to zero, so that the overall curvature change of the intersection guide line can be more linear.

[0067] The intersection guide line generation method for high-precision maps of the present application matches the connecting line connecting the center lines of the two lanes according to the center lines of the two lanes and based on the Euler spiral, so that the curvature change of the generated intersection guide line is more linear, thereby improving the riding experience when the vehicle turns.

[0068] Figure 2 It is another flow chart of the method for generating intersection guide lines for high-precision maps shown in an embodiment of the present application.

[0069] See also Figure 2 , the method for generating intersection guide lines for high-precision maps includes:

[0070] S21, obtaining map data.

[0071] The map data includes: a first lane centerline, a second lane centerline, a first extension line of the first lane centerline, and a second extension line of the second lane centerline located at the intersection.

[0072] S22, obtaining a first rotation angle by intersecting the first extension line with the second extension line.

[0073] S23, obtaining a first spiral of a corresponding interval in the Euler spiral through the first rotation angle and based on the Fresnel integral.

[0074] Figure 3 It is a schematic diagram of an Euler spiral produced based on Fresnel integrals in a method for generating intersection guide lines for high-precision maps shown in an embodiment of the present application.

[0075] The Euler spiral is based on the Fresnel integral, such as Figure 3 As shown, Figure 3 is the Euler spiral made by Fresnel integral, where Figure 3 The O point of the Euler spiral is the starting point of the curve, and the curvature of the starting point is 0. Starting from the O point, the curvature of the Euler spiral gradually increases, and the curvature increases linearly with the arc length, and Figure 3 The spirals corresponding to π / 4, π / 2, π, 2π, and 3π are also indicated. According to the angle value of the first rotation angle, the Euler spiral of the corresponding interval is calculated. For example, if the angle value of the first rotation angle is θ, the first spiral corresponding to the angle of θ / 2 is calculated. As an example, if the angle value of the first rotation angle is π, the first spiral corresponding to the angle of π / 2 is calculated, such as Figure 3 The Euler spirals corresponding to the π / 2 angle interval are shown in . The curvature of the starting point of the first spiral is zero.

[0076] As an example, the coordinates of the Euler spiral can be calculated according to the Fresnel integral formula, which is as follows:

[0077]

[0078] The function value of C(k) is the x-coordinate of the spiral, and the function value of S(k) is the y-coordinate of the spiral, where k is the input curvature and the curvature at the point (C(k), S(k)) is 2k.

[0079] Through the above integral formula, the angle spanned by each arc differential can be calculated, and then the angle spanned by a certain spiral segment can be calculated or a spiral can be generated based on the angle.

[0080] S24: Process the first spiral according to a preset processing method to generate a first connecting line that matches the center line of the first lane.

[0081] The first spiral is obtained and transformed according to a preset processing method to generate a first connecting line matching the center line of the first lane, wherein the first connecting line is a spiral connected to the center line of the first lane and having a linearly changing curvature.

[0082] In some embodiments, processing the first spiral according to a preset processing method to generate a first connecting line matching the center line of the first lane includes the following steps:

[0083] (1) Obtain a second rotation angle that matches the first spiral with the center line of the first lane.

[0084] The second rotation angle is the rotation angle of the first spiral to match the center line of the first lane. After the first spiral rotates the second rotation angle, the curvature of the first spiral begins to increase linearly along the direction parallel to the center line of the first lane. For example, the curvature of the first spiral begins to increase linearly along the X-axis direction, and the angle between the straight line connecting the first spiral and the X-axis is the rotation angle.

[0085] (2) geometrically transforming the first spiral according to the second rotation angle to generate a first connecting line, so that when the first connecting line is connected end to end with the center line of the first lane, the end point of the first connecting line is located on the angle bisector between the first extension line and the second extension line.

[0086] In some embodiments, the geometric transformation processing includes but is not limited to rotating, scaling, translating, or a combination of two or more of the above processing on the first spiral.

[0087] The first spiral is processed by geometric transformations such as rotation, scaling, and translation to generate a first connecting line. When the first connecting line is connected to the center line of the first lane, the end point of the first connecting line is located on the angle bisector between the first extension line and the second extension line.

[0088] The first spiral is geometrically changed according to the above preset processing method to generate a first connecting line matching the center line of the first lane, wherein the starting point of the first connecting line is connected to the center line of the first lane, and the ending point of the first connecting line is located on the angle bisector between the first extension line and the second extension line. In this way, the first connecting line corresponds to half the turning angle of the vehicle, that is, corresponds to half the first rotation angle.

[0089] S25, generating a second spiral according to the inverse function of the first spiral.

[0090] A second spiral symmetrical to the first spiral is generated according to an inverse function of the first spiral.

[0091] S26: Process the second spiral according to a preset processing method to generate a second connecting line that matches the first connecting line and the center line of the second lane.

[0092] The preset processing method for the second spiral can refer to the preset processing method for the first spiral, and the preset processing process for the second spiral is not repeated here. After the preset processing, the second spiral generates a second connecting line corresponding to the other half angle of the vehicle turn. The second spiral is processed by the preset processing method to obtain the second connecting line. When the starting point of the second connecting line is connected to the end point of the first connecting line, the end point of the second connecting line is located on the second extension line.

[0093] In some embodiments, the second connection line may be generated according to the inverse function of the first connection line, which more effectively saves the drawing steps of the second connection line and improves the generation efficiency of the second connection line.

[0094] S27, connecting the center line of the first lane, the first connecting line, the second connecting line, and the center line of the second lane to generate an intersection guide line.

[0095] The second connecting line is connected to the center line of the second lane by a straight line. The intersection guide line is formed by connecting the center line of the first lane, the first connecting line, the second connecting line, and the center line of the second lane, wherein the curvature of the intersection guide line corresponding to the first connecting line and the second connecting line portion linearly increases from zero, and then decreases to zero in a linear component.

[0096] Figure 4 It is an application schematic diagram of the method for generating intersection guide lines for high-precision maps shown in an embodiment of the present application.

[0097] See also Figure 4 In order to facilitate the understanding of the intersection guide line generation method for high-precision maps of the present application, the following takes a vehicle turning left as an example to explain how to generate an intersection guide line AD between the center line AB of the first lane and the center line CD of the second lane according to the method of the present application.

[0098] (1) Obtain a first rotation angle between the center line AB of the first lane and the center line CD of the second lane and make an extension line AF of AB;

[0099] Extend DC and hand AF to O;

[0100] Find point E on the extension line of DC so that OE = OB;

[0101] Then the first rotation angle θ between AB and CD is ∠FOE.

[0102] (2) Obtain the first connection line

[0103] According to the angle value of the first rotation angle θ, the Euler spiral of the corresponding interval is calculated, such as Figure 4 The first spiral l1 corresponding to the angle θ / 2 in the Euler spiral shown;

[0104] Draw a perpendicular line from point O to BE, with M as its foot;

[0105] Calculate the second rotation angle β between the x-axis and AB, and rotate l1 by the second rotation angle β;

[0106] Translate l1 and make the starting point of l1 coincide with point B;

[0107] The extension line of the line connecting the first and last points of l1 intersects OM at point T, then ∠OBT = α, where ∠OBM = θ / 2, then ∠TBM = θ / 2-α;

[0108] According to OM⊥BE and the tangent relationship, the length of MT is obtained, the coordinates of point O, point M and point T are obtained, and the length of TB is obtained; TB is the length of l1 after scaling, and the scaling factor k1 of l1 is obtained according to the length of TB;

[0109] After scaling l1 by k1 times, we get the first connecting line B⌒T.

[0110] (3) Obtain the second connection line

[0111] The inverse function of the first spiral l1 gives the second spiral l2;

[0112] Referring to the processing method of the first spiral l1, l2 is processed similarly to obtain the second connecting line T⌒E;

[0113] (4) Obtaining intersection guidance lines

[0114] Connect the first lane center line AB, the first connecting line B⌒T, the second connecting line T⌒E, and the second lane center line CD to obtain the intersection guide line AD.

[0115] Through the above process, the intersection guide line AD between the center line AB of the first lane and the center line CD of the second lane is generated, where the curvature of the center line AB of the first lane and the center line CD of the second lane is zero, the curvature of the first connecting line B⌒T increases linearly from zero, and the curvature of the second connecting line T⌒E decreases linearly to zero. The intersection guide line AD is used to guide the vehicle to turn more stably and smoothly, improving the riding experience.

[0116] For the vehicle to turn in other directions or angles, it is necessary to actually match the first spiral of the corresponding rotation angle, so that the method of the present application can adapt to the intersection guide line generation requirements for vehicle turning at different angles or directions.

[0117] For example, when a vehicle turns around, the angle at which the vehicle needs to turn is 180 degrees, that is, the angle value of the first rotation angle θ is taken as 180 degrees, and the first spiral l1 is obtained according to the angle θ / 2. Then, the first spiral l1 is subjected to relevant geometric transformation processing to obtain the first connecting line, and then the second connecting line is obtained according to the inverse function of the first spiral l1. The first lane center line, the first connecting line, the second connecting line, and the second lane center line are connected in sequence to obtain the intersection guide line.

[0118] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a device for generating intersection guide lines for high-precision maps, an electronic device and corresponding embodiments.

[0119] Figure 5 It is a structural schematic diagram of a device for generating intersection guide lines for high-precision maps shown in an embodiment of the present application.

[0120] See also Figure 5 The device for generating intersection guide lines for high-precision maps includes: a data module 310, a first calculation module 320, a second calculation module 330, a third calculation module 340 and a generation module 350.

[0121] The data module 310 is used to obtain map data, wherein the map data includes: a first lane centerline, a second lane centerline, a first extension line of the first lane centerline, and a second extension line of the second lane centerline at the intersection.

[0122] The first calculation module 320 is used to obtain a first rotation angle by intersecting the first extension line with the second extension line according to the map data obtained by the data module 310, wherein the distance from the first extension line to the intersection point is smaller than the distance from the second extension line to the intersection point.

[0123] The second calculation module 330 is used to obtain a first connection line matching the first lane center line based on the first rotation angle obtained by the first calculation module 320 and the Euler spiral, wherein the curvature of the first connection line increases linearly from zero.

[0124] The third calculation module 340 is used to obtain a second connection line matching the first connection line and the second lane center line according to the first connection line obtained by the second calculation module 330, wherein the curvature of the second connection line decreases linearly to zero.

[0125] The generating module 350 is used to connect the first lane center line, the first connecting line, the second connecting line, and the second lane center line to generate an intersection guide line.

[0126] It can be seen from this embodiment that the intersection guide line generation device for high-precision maps of the present application utilizes two lane center lines in the map data and matches the connecting line connecting the two lane center lines based on the Euler spiral to make the curvature change of the generated intersection guide line more linear, thereby improving the riding experience when the vehicle turns.

[0127] Figure 6 It is another structural schematic diagram of the intersection guide line generation device for high-precision maps shown in an embodiment of the present application.

[0128] See also Figure 6 The intersection guide line generating device for high-precision map includes: a data module 410, a first calculation module 420, a second calculation module 430, a third calculation module 440 and a generating module 450. Among them, the second calculation module 430 includes: a first spiral calculation module 431 and a first connecting line generating module 432, and the third calculation module 440 includes: a second spiral calculation module 441 and a second connecting line generating module 442.

[0129] The functions of the data module 410 , the first calculation module 420 , the second calculation module 430 , the third calculation module 440 and the generation module 450 may be as described above and will not be repeated here.

[0130] The first spiral calculation module 431 is used to obtain the first spiral of the corresponding interval in the Euler spiral based on the Fresnel integral according to the first rotation angle obtained by the first calculation module 420. According to the angle value of the first rotation angle, the Euler spiral of the corresponding interval is calculated. For example, if the angle value of the first rotation angle is θ, the first spiral corresponding to the angle of θ / 2 is calculated.

[0131] The first connecting line generating module 432 is used to process the first spiral obtained by the first spiral calculating module 431 according to a preset processing method to generate a first connecting line matching the center line of the first lane.

[0132] In some embodiments, the third calculation module 440 includes a second spiral calculation module 441 and a second connection line generation module 442 .

[0133] The second spiral calculation module 441 is used to generate a second spiral according to the inverse function of the first spiral obtained by the first spiral calculation module 431 .

[0134] The second connecting line generating module 442 processes the second spiral generated by the second spiral calculating module 441 according to a preset processing method, so that when the second spiral is connected end to end with the first connecting line generated by the first connecting line generating module 332, the end point of the second spiral is located on the second extension line.

[0135] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0136] Figure 7 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0137] See also Figure 7 , the electronic device 1000 includes a memory 1010 and a processor 1020 .

[0138] The processor 1020 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0139] The memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0140] The memory 1010 stores executable codes, and when the executable codes are processed by the processor 1020 , the processor 1020 can execute part or all of the methods described above.

[0141] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0142] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0143] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for generating intersection guide lines for high-precision maps, characterized in that: include: Acquire map data, the map data including: a first lane centerline, a second lane centerline, a first extension of the first lane centerline, and a second extension of the second lane centerline located at the intersection; Obtaining a first rotation angle by intersecting the first extension line with the second extension line; According to the first rotation angle and based on the Euler spiral, a first connecting line matching the center line of the first lane is obtained; wherein the curvature of the first connecting line increases linearly from zero; wherein, it includes: according to the first rotation angle and based on the Fresnel integral, a first spiral of a corresponding interval in the Euler spiral is obtained; the first spiral is processed according to a preset processing method to generate a first connecting line matching the center line of the first lane; wherein the preset processing method includes: obtaining a second rotation angle matching the first spiral with the center line of the first lane; according to the second rotation angle, the first spiral is geometrically transformed to generate the first connecting line, so that when the first connecting line is connected to the center line of the first lane end to end, the end point of the first connecting line is located on the angle bisector between the first extension line and the second extension line; Acquire a second connection line matching the first connection line and the center line of the second lane according to the first connection line, wherein the curvature of the second connection line decreases linearly to zero; The first lane center line, the first connecting line, the second connecting line, and the second lane center line are connected to generate an intersection guide line.

2. The method according to claim 1, characterized in that: The distance from the center line of the first lane to the intersection point is smaller than the distance from the center line of the second lane to the intersection point.

3. The method according to claim 1, characterized in that The geometric transformation process includes: The first spiral is subjected to one or a combination of two or more of rotation, scaling and translation.

4. The method according to claim 1 or 3, characterized in that: Drawing a second connecting line matching the first lane centerline and the second lane centerline according to the first connecting line includes: generating a second spiral according to an inverse function of the first spiral; The second spiral is processed according to a preset processing method to generate a second connecting line that matches the first connecting line and the second lane center line.

5. The method according to claim 1 or 3, characterized in that: Drawing a second connecting line matching the first lane centerline and the second lane centerline according to the first connecting line includes: A second connecting line is generated according to an inverse function of the first connecting line.

6. A device for generating intersection guide lines for high-precision maps, characterized in that: include: A data module, used to obtain map data, the map data including: a first lane centerline, a second lane centerline, a first extension line of the first lane centerline, and a second extension line of the second lane centerline located at the intersection; A first calculation module, configured to obtain a first rotation angle by intersecting the first extension line with the second extension line according to the map data obtained by the data module; A second calculation module is used to obtain a first connecting line matching the center line of the first lane according to the first rotation angle obtained by the first calculation module and based on the Euler spiral; wherein the curvature of the first connecting line increases linearly from zero; wherein, it includes: obtaining a first spiral of a corresponding interval in the Euler spiral based on the Fresnel integral according to the first rotation angle; processing the first spiral according to a preset processing method to generate a first connecting line matching the center line of the first lane; wherein, the preset processing method includes: obtaining a second rotation angle matching the first spiral with the center line of the first lane; performing a geometric transformation processing on the first spiral according to the second rotation angle to generate a first connecting line, so that when the first connecting line is connected end to end with the center line of the first lane, the end point of the first connecting line is located on the angle bisector between the first extension line and the second extension line; A third calculation module is used to obtain a second connection line matching the first connection line and the center line of the second lane according to the first connection line obtained by the second calculation module, wherein the curvature of the second connection line decreases linearly to zero; A generation module is used to connect the first lane center line, the first connecting line, the second connecting line, and the second lane center line to generate an intersection guide line.

7. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having executable code stored thereon, characterized in that: When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as claimed in any one of claims 1 to 5.

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