A method and system for generating the effective range of lane groups in high-precision maps

Abstract

This invention provides a method and system for generating the effective range of lane groups in a high-precision map. The generation method includes: loading high-precision map road data, lane data, and lane edge data; collecting lane data for each lane group on the road; obtaining endpoint data for each lane group based on the lane data and lane edge data; calculating attribute points of each lane group on the associated road based on the endpoint data; and calculating the effective range of the lane group on the associated road based on the attribute points and shape points of each lane group on the associated road. This invention improves the efficiency of path planning calculation by calculating the effective range of each lane group on the road and ensuring the continuity of the effective ranges of adjacent lane groups, thereby quickly obtaining information on the lane groups preceding and following the current lane group.

Description

Technical Field

[0001] This invention relates to the field of high-precision map data processing, and more specifically, to a method and system for generating the effective range of lane groups in a high-precision electronic map. Background Technology

[0002] High-precision maps are a crucial support for the development of autonomous vehicles, playing a vital role in vehicle positioning and path planning. However, currently, after autonomous vehicles determine their lane location through positioning, they cannot quickly obtain the approximate range of their lane relative to the road and the subsequent lane groups, thus hindering their ability to select the correct path. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing a method and system for generating the effective range of lane groups in high-precision maps.

[0004] According to a first aspect of the present invention, a method for generating the effective range of lane groups in a high-precision map is provided, comprising:

[0005] Load high-precision map road data, lane data, and lane edge data, as well as collect lane data for each lane group on the road;

[0006] Based on the lane data and lane edge data of each lane group, obtain the endpoint data of each lane group;

[0007] Based on the endpoint data of each lane group, calculate the attribute points of each lane group on the associated road;

[0008] The effective range of a lane group on the associated road is calculated based on the attribute points of each lane group on the associated road and the shape points of the associated road.

[0009] Based on the above technical solution, the present invention can also be improved as follows.

[0010] Optionally, the high-precision map road data includes shape points on each road, and the lane data includes the sequence number of each lane and the road and lane group associated with each lane;

[0011] The lane data for each lane group on the collected road includes:

[0012] Based on the lane number and the associated road and lane group, lane data for each lane group on the road is collected.

[0013] Optionally, obtaining the endpoint data of each lane group based on the lane data and lane edge data of each lane group includes:

[0014] Based on the lane data and lane edge data of each lane group, the coordinates of the four corner points of each lane group are obtained, forming the endpoint set of each lane group.

[0015] Optionally, based on the lane data and lane edge data of each lane group, the coordinates of the four corner points of each lane group are obtained to form the endpoint set of each lane group, including:

[0016] Take the rightmost lane (lane1) of the lane group. If the right side of lane1 is associated with a lane edge line, obtain the shape of that lane edge line and use it as the rightmost shape line of the lane group. Otherwise, use lane1 as the rightmost shape line of the lane group.

[0017] Take the leftmost lane 2 of the lane group. If the left side of lane 2 is associated with a lane edge line, then obtain the shape of that lane edge line and use it as the leftmost shape line of the lane group. Otherwise, use lane 2 as the leftmost shape line.

[0018] Take the first point P0 and the last point P1 of the rightmost shape line of the lane group, and the last point P2 and the first point P3 of the leftmost lane line to form the four endpoint sets {P0, P1, P2, P3} of the lane group.

[0019] Optionally, the step of calculating the attribute points of each lane group on the associated road based on the endpoint data of each lane group includes:

[0020] Based on the lane group information of each road, all lane groups are sorted according to the direction of travel to form a lane group set;

[0021] Traverse each lane group in the set of lane groups, and generate the first and last attribute points of each lane group on the associated road based on the four endpoint sets and road data of each lane group.

[0022] Optionally, the step of generating the first and last attribute points of each lane group on the associated road based on the four endpoint sets of each lane group includes:

[0023] If the lane group is the first lane group on the road, then the first point of the road is used as the first attribute point of the lane group; otherwise, the last attribute point of the previous lane group is used as the first attribute point of the lane group. If the last attribute point of the previous lane group fails to be generated, then the intersection of the straight line formed by the first point P0 of the rightmost shape line of the lane group and the first point P3 of the leftmost shape line of the lane group and the road is used to generate the first attribute point of the lane group. If the intersection point fails to be generated, then the mapping point from the first point P3 of the leftmost shape line of the lane group to the road is used as the first attribute point of the lane group.

[0024] If the lane group is the last lane group on the road, then the end point of the road is used as the end attribute point of the lane group; otherwise, the intersection point of the straight line formed by the end point P1 of the rightmost shape line of the lane group and the end point P2 of the leftmost shape line of the lane group and the road is used as the end attribute point. If the intersection point generation fails, then the mapping point from the end point P2 of the leftmost shape line of the lane group to the road is used as the end attribute point of the lane group.

[0025] Record the first and last attribute points associated with each lane group, as well as the road associated with each attribute point and the coordinates of each attribute point.

[0026] Optionally, the step of calculating the effective range of a lane group on the associated road based on the attribute points of each lane group on the associated road and the shape points of the associated road includes:

[0027] Based on the attribute points of each lane group on the associated roads, aggregate the set of attribute points for each road;

[0028] Iterate through each attribute point in the set of attribute points in turn, and check whether each attribute point coincides with a shape point on the road. If they coincide, record the index of the corresponding shape point on the road and delete the attribute point. If each attribute point does not coincide with any shape point on the road, retain the information of the attribute point and record the index and relative coordinate offset of the shape point on the road that is closest to the attribute point.

[0029] A combined index of shape points and attribute points is used to represent the scope index of each lane group on the road.

[0030] According to a second aspect of the present invention, a high-precision map lane group effective range generation system is provided, comprising:

[0031] The loading module is used to load high-precision map road data, lane data, and lane edge data, as well as collect lane data for each lane group on the road;

[0032] The acquisition module is used to acquire the endpoint data of each lane group based on the lane data and lane edge data of each lane group;

[0033] The first calculation module is used to calculate the attribute points of each lane group on the associated road based on the endpoint data of each lane group;

[0034] The second calculation module is used to calculate the range of influence of each lane group on the associated road based on the attribute points of each lane group on the associated road and the shape points of the associated road.

[0035] According to a third aspect of the present invention, an electronic device is provided, including a memory and a processor, wherein the processor is configured to execute a computer management program stored in the memory to implement a method for generating the effective range of lane groups in a high-precision map.

[0036] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer management class program is stored, wherein when executed by a processor, the computer management class program implements the steps of a method for generating the effective range of lane groups in a high-precision map.

[0037] This invention provides a method and system for generating the effective range of lane groups in a high-precision map. By calculating the effective range of each lane group on the road and ensuring the continuity of the effective range of adjacent lane groups, the system can quickly obtain information on the lane groups preceding and following the current lane group, thereby improving the efficiency of path planning calculation. Attached Figure Description

[0038] Figure 1 A flowchart of a method for generating the effective range of lane groups in a high-precision map provided by the present invention;

[0039] Figure 2 A schematic diagram of the road and its included lane groups;

[0040] Figure 3 A schematic diagram showing the calculation of attribute points for each lane group;

[0041] Figure 4 This is a schematic diagram showing the positional relationship between attribute points and shape points on the road;

[0042] Figure 5 A flowchart of the method for generating the effective range of lane groups in high-precision maps;

[0043] Figure 6 This is a schematic diagram of the structure of a high-precision map lane group effective range generation system provided by the present invention;

[0044] Figure 7 A schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0045] Figure 8 This is a schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In addition, the technical features of the various embodiments or individual embodiments provided by the present invention can be arbitrarily combined with each other to form feasible technical solutions. Such combinations are not constrained by the order of steps and / or structural composition patterns, but must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0047] This invention addresses the shortcomings of existing technologies by providing a high-precision map lane group effective range generation method. This method enables autonomous vehicles to quickly obtain the position of their current lane on the road. Since the effective range of each lane group on the road is continuous, the next lane group can be quickly obtained by utilizing the continuity of the effective range and the effective range of the current lane group on the road, thereby improving the efficiency of lane-level path planning.

[0048] Figure 1 A flowchart of a method for generating the effective range of lane groups in a high-precision map provided by the present invention is shown below. Figure 1 As shown, the method includes:

[0049] S1 loads high-precision map road data, lane data, and lane edge data, as well as aggregates lane data for each lane group on the road.

[0050] The high-precision map road data includes shape points on each road, and the lane data includes the sequence number of each lane and the roads and lane groups associated with each lane. The collection of lane data for each lane group on the road includes: collecting lane data for each lane group on the road based on the sequence number of each lane and the roads and lane groups associated with each lane.

[0051] Understandably, loading high-precision map road data requires using the road's shape points to calculate the attribute point coordinates of the lane group. Similarly, loading lane and lane edge data requires using the lanes and lane edges to obtain the coordinates of the four endpoints of the lane group.

[0052] Based on the road ID and lane group number associated with each lane, all lanes within each lane group are aggregated. Then, the lanes within each lane group are sorted from right to left according to their lane numbers. Figure 2In the middle, the lane group has two lanes in total, and the set of lanes after being sorted from right to left is {lane 1, lane 2}.

[0053] S2, based on the lane data and lane edge data of each lane group, obtains the endpoint data of each lane group.

[0054] Understandably, the system loads road data, lane data for each road, and lane edge data. Each lane group includes the rightmost and leftmost lanes, along with their corresponding lane edges. When retrieving the endpoint data of a lane group, the system takes the rightmost lane (lane1) of the lane group. If lane1 has a lane edge associated with its right side, the shape of that lane edge is retrieved and used as the rightmost shape line of the lane group; otherwise, lane1 is used as the rightmost shape line of the lane group.

[0055] Take the leftmost lane 'lane2' in the lane group. If the left side of lane 2 is associated with a lane edge line, obtain the shape of that lane edge line and use it as the leftmost shape line of the lane group. Otherwise, use lane 2 as the leftmost shape line.

[0056] Take the first point P0 and the last point P1 of the rightmost shape line of the lane group, and the last point P2 and the first point P3 of the leftmost lane line to form the four endpoint sets {P0, P1, P2, P3} of the lane group.

[0057] exist Figure 2 In the lane group, the rightmost lane is lane 1. Since lane 1 is not connected to a lane edge line on its right side, we take the first point of lane 1 as endpoint P0 and the last point as endpoint P1. The leftmost lane is lane 2. Lane 2 is connected to a lane edge line on its left side. We take the last point of this lane edge line as endpoint P2 and the first point as endpoint P3.

[0058] S3, calculate the attribute points of each lane group on the associated road based on the endpoint data of each lane group.

[0059] Understandably, step S2 above obtains the endpoint data of each lane group, and calculates the attribute points of the lane group on the associated road based on the endpoint data of the lane group.

[0060] Specifically, based on the lane group information of each road, all lane groups are sorted according to the direction of travel to form a lane group set; each lane group in the lane group set is traversed, and based on the four endpoint sets of each lane group and the road data, the first attribute point and the last attribute point of each lane group on the associated road are generated.

[0061] The specific method for generating the first and last attribute points of a lane group on the associated road is as follows:

[0062] If the lane group is the first lane group on the road, then the first point of the road is used as the first attribute point of the lane group; otherwise, the last attribute point of the previous lane group is used as the first attribute point of the lane group. If the generation of the last attribute point of the previous lane group fails, then the intersection of the straight line formed by the first point P0 of the rightmost shape line of the lane group and the first point P3 of the leftmost shape line of the lane group and the road is used to generate the first attribute point of the lane group. If the intersection point generation fails, then the mapping point from the first point P3 of the leftmost shape line of the lane group to the road is used as the first attribute point of the lane group.

[0063] If the lane group is the last lane group on the road, then the end point of the road is used as the end attribute point of the lane group; otherwise, the intersection point of the straight line formed by the end point P1 of the rightmost shape line of the lane group and the end point P2 of the leftmost shape line of the lane group and the road is used as the end attribute point. If the intersection point generation fails, then the mapping point from the end point P2 of the leftmost shape line of the lane group to the road is used as the end attribute point of the lane group.

[0064] Record the first and last attribute points associated with each lane group, as well as the road associated with each attribute point and the coordinates of each attribute point.

[0065] exist Figure 3 In this scenario, the road has three lane groups. Lane group 1 is the first section of the road, and its first attribute point (pt0) is the first point of the road. Its last attribute point (pt1) is the intersection of the straight line formed by the two endpoints (P1 and P2) of lane group 1 and the road. Lane group 2's first attribute point is the last attribute point of lane group 1, and its last attribute point is the intersection of the straight line formed by the two endpoints of lane group 2 and the road. Lane group 3's first attribute point is the last attribute point of lane group 2, and since it is the last section of the road, its last attribute point (pt3) is used.

[0066] S4. Calculate the range of influence of each lane group on the associated road based on the attribute points of each lane group on the associated road and the shape points of the associated road.

[0067] Understandably, the process involves collecting a set of attribute points for each road, iterating through the set of attribute points for each road, and for each attribute point, calculating whether it coincides with a shape point on the road. If so, the index of the corresponding shape point is recorded, and the attribute point is deleted. If the attribute point does not coincide with any shape point on the road, the attribute point information is retained, and the index of the nearest shape point and its relative coordinate offset are recorded.

[0068] The combined index of shape points and attribute points is used to represent the scope index of lane groups on the road. By obtaining the coordinates of the corresponding road shape points or attribute points through the scope index, the scope of lane groups on the road can be determined.

[0069] exist Figure 4 In the diagram, the set of shape points for road 1 is {Q1, Q2, ..., Q7}. Step 4 generates four attribute points on road 1 for its three associated lane groups: A1, A2, A3, and A4. Attribute point A1 coincides with shape point Q1, and attribute point A4 coincides with shape point Q7. Attribute points A2 and A3 do not coincide with any of the road's shape points; therefore, only attribute points A2 and A3 are retained. The combined sequence of road shape points and attribute points is {Q1, Q2, A2, Q3, Q4, Q5, A3, Q6, Q7}. The index of A2 in the combined sequence is 2, and the index of A3 is 6. Therefore, the effective range index of the first lane group on the road is 0–2, the second lane group's effective range index is 2–6, and the third lane group's effective range index is 6–8. Based on the effective range index of the lane group, the coordinates of the corresponding road shape point or attribute point can be obtained to determine the specific effective range of the lane group on the road.

[0070] See Figure 5 The flowchart below shows a method for generating the effective range of lane groups in a high-precision map according to the present invention. First, high-precision map road data, lane data and lane edge data are loaded, lane data of each lane group are collected, and the lane groups are sorted.

[0071] Based on the multiple lanes and lane edge data contained in the lane group, the four endpoints of the lane group are calculated, and the beginning and end attribute points of the lane group on the associated road are calculated. Based on the beginning and end attribute points of the lane group on the associated road and the shape points of the road, the range of influence of the lane group on the associated road is calculated.

[0072] See Figure 6 A high-precision map lane group coverage generation system is provided, including...

[0073] The loading module 601 is used to load high-precision map road data, lane data and lane edge data, as well as collect lane data for each lane group on the road;

[0074] The acquisition module 602 is used to acquire the endpoint data of each lane group based on the lane data and lane edge data of each lane group;

[0075] The first calculation module 603 is used to calculate the attribute points of each lane group on the associated road based on the endpoint data of each lane group;

[0076] The second calculation module 604 is used to calculate the range of influence of each lane group on the associated road based on the attribute points of each lane group on the associated road and the shape points of the associated road.

[0077] It is understood that the high-precision map lane group effective range generation system provided by the present invention corresponds to the high-precision map lane group effective range generation method provided in the foregoing embodiments. The relevant technical features of the high-precision map lane group effective range generation system can be referred to the relevant technical features of the high-precision map lane group effective range generation method, and will not be repeated here.

[0078] Please see Figure 7 , Figure 7 This is a schematic diagram illustrating an embodiment of the electronic device provided in this invention. For example... Figure 7 As shown, this embodiment of the invention provides an electronic device 700, including a memory 710, a processor 720, and a computer program 711 stored in the memory 710 and executable on the processor 720. When the processor 720 executes the computer program 711, it performs the following steps: loading high-precision map road data, lane data, and lane edge data, and collecting lane data for each lane group on the road; obtaining endpoint data for each lane group based on the lane data and lane edge data of each lane group; calculating attribute points of each lane group on the associated road based on the endpoint data of each lane group; and calculating the effective range of the lane group on the associated road based on the attribute points of each lane group on the associated road and the shape points of the associated road.

[0079] Please see Figure 8 , Figure 8 This is a schematic diagram illustrating an embodiment of a computer-readable storage medium provided by the present invention. (See diagram below.) Figure 8 As shown, this embodiment provides a computer-readable storage medium 800, on which a computer program 811 is stored. When the computer program 811 is executed by a processor, it performs the following steps: loading high-precision map road data, lane data, and lane edge data, and collecting lane data for each lane group on the road; obtaining endpoint data for each lane group based on the lane data and lane edge data of each lane group; calculating attribute points of each lane group on the associated road based on the endpoint data of each lane group; and calculating the effective range of the lane group on the associated road based on the attribute points of each lane group on the associated road and the shape points of the associated road.

[0080] This invention provides a method and system for generating the effective range of lane groups in high-precision maps. First, the shape of the outermost lane edges on the left and right sides of the lane group is obtained to acquire the coordinates of the four endpoints. Then, the coordinates of the first and last attribute points of the lane group on the road are calculated using simple relationships between straight lines and line segments. Finally, the positional relationship between attribute points and road shape points is determined using relationships between points and line segments, and between points themselves, thereby obtaining the effective range of the lane group on the road. This method improves the accuracy and efficiency of vehicle positioning and lane-level path planning through simple planar data calculations. The algorithm is simple to implement and easy to understand.

[0081] It should be noted that, in the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0082] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0084] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0086] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0087] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for generating the effective range of lane groups in a high-precision map, characterized in that, include: Load high-precision map road data, lane data, and lane edge data, as well as collect lane data for each lane group on the road; Based on the lane data and lane edge data of each lane group, obtain the endpoint data of each lane group; Based on the endpoint data of each lane group, calculate the attribute points of each lane group on the associated road; Calculate the range of influence of each lane group on the associated roads based on the attribute points of each lane group on the associated roads and the shape points of the associated roads. The step of calculating the attribute points of each lane group on the associated road based on the endpoint data of each lane group includes: Based on the lane group information of each road, all lane groups are sorted according to the direction of travel to form a lane group set; Traverse each lane group in the set of lane groups, and generate the first and last attribute points of each lane group on the associated road based on the four endpoint sets and road data of each lane group. The process of generating the first and last attribute points of each lane group on the associated road based on the four endpoint sets of each lane group includes: If the lane group is the first lane group on the road, then the first point of the road is used as the first attribute point of the lane group; otherwise, the last attribute point of the previous lane group is used as the first attribute point of the lane group. If the last attribute point of the previous lane group fails to be generated, then the intersection of the straight line formed by the first point P0 of the rightmost shape line of the lane group and the first point P3 of the leftmost shape line of the lane group and the road is used to generate the first attribute point of the lane group. If the intersection point fails to be generated, then the mapping point from the first point P3 of the leftmost shape line of the lane group to the road is used as the first attribute point of the lane group. If the lane group is the last lane group on the road, then the end point of the road is used as the end attribute point of the lane group; otherwise, the intersection point of the straight line formed by the end point P1 of the rightmost shape line of the lane group and the end point P2 of the leftmost shape line of the lane group and the road is used as the end attribute point. If the intersection point generation fails, then the mapping point from the end point P2 of the leftmost shape line of the lane group to the road is used as the end attribute point of the lane group. Record the first and last attribute points associated with each lane group, as well as the road associated with each attribute point and the coordinates of each attribute point. The step of calculating the effective range of a lane group on the associated road based on the attribute points of each lane group on the associated road and the shape points of the associated road includes: Based on the attribute points of each lane group on the associated roads, aggregate the set of attribute points for each road; Iterate through each attribute point in the set of attribute points in turn, and check whether each attribute point coincides with a shape point on the road. If they coincide, record the index of the corresponding shape point on the road and delete the attribute point. If each attribute point does not coincide with any shape point on the road, retain the information of the attribute point and record the index and relative coordinate offset of the shape point on the road that is closest to the attribute point. A combined index of shape points and attribute points is used to represent the scope index of each lane group on the road.

2. The method for generating the effective range of a lane group according to claim 1, characterized in that, The high-precision map road data includes shape points on each road, and the lane data includes the sequence number of each lane and the road and lane group associated with each lane. The lane data for each lane group on the collected road includes: Based on the lane number and the associated road and lane group, lane data for each lane group on the road is collected.

3. The method for generating the effective range of a lane group according to claim 1, characterized in that, The process of obtaining endpoint data for each lane group based on lane data and lane edge data includes: Based on the lane data and lane edge data of each lane group, the coordinates of the four corner points of each lane group are obtained, forming the endpoint set of each lane group.

4. The method for generating the effective range of a lane group according to claim 3, characterized in that, Based on the lane data and lane edge data of each lane group, the coordinates of the four corner points of each lane group are obtained, forming the endpoint set of each lane group, including: Take the rightmost lane (lane1) of the lane group. If the right side of lane1 is associated with a lane edge line, obtain the shape of that lane edge line and use it as the rightmost shape line of the lane group. Otherwise, use lane1 as the rightmost shape line of the lane group. Take the leftmost lane 2 of the lane group. If the left side of lane 2 is associated with a lane edge line, then obtain the shape of that lane edge line and use it as the leftmost shape line of the lane group. Otherwise, use lane 2 as the leftmost shape line. Take the first point P0 and the last point P1 of the rightmost shape line of the lane group, and the last point P2 and the first point P3 of the leftmost lane line to form the four endpoint sets {P0, P1, P2, P3} of the lane group.

5. A high-precision map lane group effective range generation system, characterized in that, include: The loading module is used to load high-precision map road data, lane data, and lane edge data, as well as collect lane data for each lane group on the road; The acquisition module is used to acquire the endpoint data of each lane group based on the lane data and lane edge data of each lane group; The first calculation module is used to calculate the attribute points of each lane group on the associated road based on the endpoint data of each lane group; The second calculation module is used to calculate the range of influence of each lane group on the associated road based on the attribute points of each lane group on the associated road and the shape points of the associated road. The step of calculating the attribute points of each lane group on the associated road based on the endpoint data of each lane group includes: Based on the lane group information of each road, all lane groups are sorted according to the direction of travel to form a lane group set; Traverse each lane group in the set of lane groups, and generate the first and last attribute points of each lane group on the associated road based on the four endpoint sets and road data of each lane group. The process of generating the first and last attribute points of each lane group on the associated road based on the four endpoint sets of each lane group includes: If the lane group is the first lane group on the road, then the first point of the road is used as the first attribute point of the lane group; otherwise, the last attribute point of the previous lane group is used as the first attribute point of the lane group. If the last attribute point of the previous lane group fails to be generated, then the intersection of the straight line formed by the first point P0 of the rightmost shape line of the lane group and the first point P3 of the leftmost shape line of the lane group and the road is used to generate the first attribute point of the lane group. If the intersection point fails to be generated, then the mapping point from the first point P3 of the leftmost shape line of the lane group to the road is used as the first attribute point of the lane group. If the lane group is the last lane group on the road, then the end point of the road is used as the end attribute point of the lane group; otherwise, the intersection point of the straight line formed by the end point P1 of the rightmost shape line of the lane group and the end point P2 of the leftmost shape line of the lane group and the road is used as the end attribute point. If the intersection point generation fails, then the mapping point from the end point P2 of the leftmost shape line of the lane group to the road is used as the end attribute point of the lane group. Record the first and last attribute points associated with each lane group, as well as the road associated with each attribute point and the coordinates of each attribute point. The step of calculating the effective range of a lane group on the associated road based on the attribute points of each lane group on the associated road and the shape points of the associated road includes: Based on the attribute points of each lane group on the associated roads, aggregate the set of attribute points for each road; Iterate through each attribute point in the set of attribute points in turn, and check whether each attribute point coincides with a shape point on the road. If they coincide, record the index of the corresponding shape point on the road and delete the attribute point. If each attribute point does not coincide with any shape point on the road, retain the information of the attribute point and record the index and relative coordinate offset of the shape point on the road that is closest to the attribute point. A combined index of shape points and attribute points is used to represent the scope index of each lane group on the road.

6. An electronic device, characterized in that, It includes a memory and a processor, wherein the processor is used to execute computer management programs stored in the memory to implement the steps of the high-precision map lane group range generation method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, It stores a computer management program, which, when executed by a processor, implements the steps of the high-precision map lane group range generation method as described in any one of claims 1-4.

Images