Method, apparatus and electronic device for generating exit guiding lines at highway intersections

Abstract

The present invention provides a method, device and electronic device for generating a guiding line for exiting a highway intersection. The method includes: when the distance between the vehicle and the target exit intersection reaches a distance threshold, based on a preset high-precision map, calculating the heading angle corresponding to each map point in the target side shape point information in the same direction as the navigation direction and the lane width of the target lane from the current position of the vehicle to the shape point information of the target lane where the target exit intersection is located; offsetting the corresponding map points according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target side shape point information; performing curve fitting according to the offset point information to generate a guiding line for exiting a highway intersection. The guiding line for exiting a highway intersection generated by the present invention can adapt to different bending degrees of the highway exit intersection under different working conditions, thereby realizing the stable exit of the vehicle at the highway intersection, improving the vehicle exit success rate, and enhancing the user's vehicle use experience.

Description

Technical Field

[0001] The present invention relates to the technical field of driving assistance, and particularly to a method, apparatus, and electronic device for generating a guiding line for exiting a highway intersection. Background Art

[0002] Navigation intelligent driving assistance systems or automated lane keeping assist systems need to be able to achieve automatic merging into and exiting from highway intersections.

[0003] Currently, the merging into and exiting from highway intersections usually relies on high-precision maps. However, since the curvature of the ramp under the exit intersection varies under different working conditions, when performing the exiting operation of a highway intersection based on a high-precision map, the stability of the exit may be affected due to the different curvatures of the exit intersection, resulting in a low success rate of exiting and affecting the vehicle use experience. Summary of the Invention

[0004] Embodiments of the present invention provide a method, apparatus, and electronic device for generating a guiding line for exiting a highway intersection to solve the problem of the low success rate of the current exiting operation of highway intersections.

[0005] In a first aspect, an embodiment of the present invention provides a method for generating a guiding line for exiting a highway intersection, including:

[0006] When the distance between the vehicle and the target exit intersection reaches a distance threshold, based on a preset high-precision map, calculate the heading angle corresponding to each map point in the target side shape point information in the same navigation direction and the lane width of the target lane from the current position of the vehicle to the shape point information of the target lane where the target exit intersection is located;

[0007] Offset the corresponding map points according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target side shape point information;

[0008] Perform curve fitting according to the offset point information to generate a guiding line for exiting a highway intersection.

[0009] In a possible implementation, the calculating the heading angle corresponding to each map point in the target side shape point information in the same navigation direction based on the preset high-precision map from the current position of the vehicle to the shape point information of the target lane where the target exit intersection is located includes:

[0010] According to Calculate the heading angle corresponding to each map point in the target side shape point information in the same navigation direction;

[0011] where, heading i is the heading angle corresponding to the i-th map point in the target side shape point information in the same navigation direction, x iis the abscissa information of the i-th map point in the target side shape point information, y i is the ordinate information of the i-th map point in the target side shape point information, x i-1 is the abscissa information of the (i - 1)-th map point in the target side shape point information, y i-1 is the ordinate information of the (i - 1)-th map point in the target side shape point information.

[0012] In a possible implementation, based on the shape point information of the target lane from the current position of the vehicle to the target exit intersection in a preset high-precision map, calculating the lane width of the target lane includes:

[0013] Based on the left-side shape point information and the right-side shape point information in the shape point information, respectively fitting the corresponding side lane lines of the target lane to obtain the left-lane line fitting expression and the right-lane line fitting expression of the target lane;

[0014] Calculating the lane width of the target lane according to the left-lane line fitting expression and the right-lane line fitting expression.

[0015] In a possible implementation, based on the left-side shape point information and the right-side shape point information in the shape point information, respectively fitting the corresponding side lane lines of the target lane to obtain the left-lane line fitting expression and the right-lane line fitting expression of the target lane, includes:

[0016] Based on the first left-side shape point information within the first preset distance range forward from the starting point of the target exit intersection in the left-side shape point information, fitting the left-lane line of the target lane to obtain the first left-lane line fitting expression of the target lane;

[0017] Based on the first right-side shape point information within the first preset distance range forward from the starting point of the target exit intersection in the right-side shape point information, fitting the right-lane line of the target lane to obtain the first right-lane line fitting expression of the target lane;

[0018] Calculating the first standard deviation of the corresponding points between the first left-side shape point information and the first left-lane line fitting expression, and the second standard deviation of the corresponding points between the first right-side shape point information and the first right-lane line fitting expression;

[0019] Judging whether both the first standard deviation and the second standard deviation are less than the standard deviation threshold;

[0020] If both the first standard deviation and the second standard deviation are less than the standard deviation threshold, the first left lane line fitting expression and the first right lane line fitting expression are respectively determined as the left lane line fitting expression and the right lane line fitting expression of the target lane;

[0021] If the first standard deviation and / or the second standard deviation is not less than the standard deviation threshold, the first preset distance is reduced to a second preset distance, and the first left lane line fitting expression and / or the first right lane line fitting expression of the target lane are obtained again until both the first standard deviation and the second standard deviation are less than the standard deviation threshold or the first preset distance is reduced to the minimum preset distance.

[0022] In a possible implementation, calculating the first standard deviation of the first left shape point information and the corresponding points in the first left lane line fitting expression includes:

[0023] According to Calculate the first standard deviation of the first left shape point information and the corresponding points in the first left lane line fitting expression;

[0024] Calculating the second standard deviation of the first right shape point information and the corresponding points in the first right lane line fitting expression includes:

[0025] According to Calculate the second standard deviation of the first right shape point information and the corresponding points in the first right lane line fitting expression;

[0026] Where, s l is the first standard deviation, map_line_left1 i is the fitted ordinate corresponding to the i-th map point in the first left lane line fitting expression, y i is the ordinate information of the i-th map point in the first left shape point information / the first right shape point information, n is the total number of map points in the first left shape point information, s r is the second standard deviation, map_line_right1 i is the fitted ordinate corresponding to the i-th map point in the first right lane line fitting expression.

[0027] In a possible implementation, the left lane line fitting expression is:

[0028] map_line_left = lc 0 + lc 1 x + lc 2 x 2 + lc 3 x3 ;

[0029] The fitting expression of the right lane line is:

[0030] map_line_right = rc 0 + rc 1 x + rc 2 x 2 + rc 3 x 3 ;

[0031] Calculating the lane width of the target lane according to the fitting expression of the left lane line and the fitting expression of the right lane line includes:

[0032] Calculating the lane width of the target lane according to lane_width = lc 0 - rc 0 , where lane_width is the lane width;

[0033] where map_line_left is the fitting ordinate of the left lane line of the target lane, lc 0 is the constant term coefficient of the fitting expression of the left lane line, lc 1 is the first-order term coefficient of the fitting expression of the left lane line, lc 2 is the second-order term coefficient of the fitting expression of the left lane line, lc 3 is the third-order term coefficient of the fitting expression of the left lane line, x is the fitting abscissa of the left lane line / right lane line of the target lane, map_line_right is the fitting ordinate of the right lane line of the target lane, rc 0 is the constant term coefficient of the fitting expression of the right lane line, rc 1 is the first-order term coefficient of the fitting expression of the right lane line, rc 2 is the second-order term coefficient of the fitting expression of the right lane line, rc 3 is the third-order term coefficient of the fitting expression of the right lane line, and lane_width is the lane width.

[0034] In a possible implementation manner, offsetting each map point according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target profile point information includes:

[0035] According to offset each map point to obtain the offset point information corresponding to each map point in the target profile point information;

[0036] where deviation_y iIt is the vertical coordinate information of the offset point corresponding to the i-th map point in the target side shape point information, deviation_x i It is the horizontal coordinate information of the offset point corresponding to the i-th map point in the target side shape point information, y i It is the vertical coordinate information of the i-th map point in the target side shape point information, x i It is the horizontal coordinate information of the i-th map point in the target side shape point information, lane_width is the lane width, and headingi is the heading angle corresponding to the i-th map point in the target side shape point information.

[0037] In a second aspect, an embodiment of the present invention provides a device for generating an exit guiding line at a highway intersection, including:

[0038] A first processing module, configured to, when the distance between the vehicle and the target exit intersection reaches a distance threshold, calculate the heading angle corresponding to each map point in the target side shape point information in the same navigation direction and the lane width of the target lane based on a preset high-precision map from the current position of the vehicle to the shape point information of the target lane where the target exit intersection is located;

[0039] A second processing module, configured to offset the corresponding map points according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target side shape point information;

[0040] An exit guiding line generation module, configured to perform curve fitting according to the offset point information to generate an exit guiding line at a highway intersection.

[0041] In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the steps of the method according to the first aspect or any possible implementation manner of the first aspect above.

[0042] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the steps of the method according to the first aspect or any possible implementation manner of the first aspect above.

[0043] An embodiment of the present invention provides a method, apparatus, and electronic device for generating a guiding line for merging out at a highway intersection. When the distance between a vehicle and a target merging-out intersection reaches a distance threshold, first, based on a preset high-precision map, the shape point information from the current position of the vehicle to the shape points of the target lane where the target merging-out intersection is located is used to calculate the heading angle corresponding to each map point in the target-side shape point information in the same navigation direction and the lane width of the target lane. Then, according to the lane width and the heading angle corresponding to each map point, the corresponding map points are offset to obtain the offset point information corresponding to each map point in the target-side shape point information. Then, curve fitting is performed according to the offset point information to generate a guiding line for merging out at a highway intersection. Since the embodiment of the present invention does not simply rely on a high-precision map for the merging-out operation at a highway intersection, but based on the expression of the shape point information of the highway intersection in the high-precision map and the navigation direction of the vehicle, the shape point information of the template lane of the highway intersection provided by the high-precision map is offset, and curve fitting is performed based on the offset point information to generate a guiding line for merging out at a highway intersection, so that the generated guiding line for merging out at a highway intersection can adapt to different bending degrees of the highway merging-out intersection under different working conditions, thereby realizing the stable merging out of the vehicle at the highway intersection, improving the vehicle merging-out success rate, and enhancing the user's vehicle use experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 is a flowchart for implementing the method for generating a guiding line for merging out at a highway intersection provided by an embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of the shape points of a target lane provided by an embodiment of the present invention;

[0047] Figure 3 is a schematic diagram of the guiding lines for merging out at a highway intersection in different scenarios provided by an embodiment of the present invention;

[0048] Figure 4 is a schematic structural diagram of the apparatus for generating a guiding line for merging out at a highway intersection provided by an embodiment of the present invention;

[0049] Figure 5 is a schematic diagram of the electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0051] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will be described through specific embodiments with reference to the accompanying drawings.

[0052] Refer to Figure 1 , which shows the implementation flowchart of the method for generating the exit guiding line at the highway intersection provided by the embodiment of the present invention, and is described in detail as follows:

[0053] In step 101, when the distance between the vehicle and the target exit intersection reaches the distance threshold, based on the preset high-precision map, the heading angle corresponding to each map point in the target side shape point information in the same navigation direction and the lane width of the target lane are calculated from the current position of the vehicle to the shape point information of the target lane where the target exit intersection is located.

[0054] In this embodiment, according to actual needs, the distance threshold can be 50 - 80 m, etc. Furthermore, when the vehicle is close to the target exit intersection, an exit guiding line at the highway intersection is generated to facilitate the vehicle to perform an exit operation at the highway intersection based on the exit guiding line at the highway intersection.

[0055] Among them, before the distance between the vehicle and the target exit intersection reaches the distance threshold, the vehicle can obtain the current position of the vehicle and the distance between the vehicle and the intersection ahead in real time based on the preset high-precision map and high-precision positioning, and obtain the navigation direction of the intersection ahead according to the navigation information. Then, according to the navigation direction, when the distance between the vehicle and the target exit intersection reaches a certain distance distance1, the vehicle changes lanes in advance to the lane closest to the target exit intersection. On this basis, the target lane information to be entered at the target exit intersection ahead can be determined according to the navigation direction and the high-precision map information, and when the distance from the target exit intersection is a certain distance distance2, the shape point information of the high-precision map in the target lane is output, for example Figure 2 as shown. Since currently, high-precision Figure 1Generally, when the vehicle is about 500m away from the target exit intersection (i.e., distance2 is 500m), high-precision map shape point information on the target lane can be output. However, calculating the heading angle earlier at this time will introduce some unnecessary calculations and waste computing resources. Therefore, when the distance between the vehicle and the target exit intersection reaches the distance threshold, based on the preset high-precision map, the shape point information from the vehicle's current position to the target lane where the target exit intersection is located is used to calculate the heading angle corresponding to each map point in the target side shape point information in the same navigation direction and the lane width of the target lane.

[0056] Optionally, calculating the heading angle corresponding to each map point in the target side shape point information in the same navigation direction based on the preset high-precision map from the vehicle's current position to the shape point information of the target lane where the target exit intersection is located may include:

[0057] According to Calculate the heading angle corresponding to each map point in the target side shape point information in the same navigation direction.

[0058] where, heading i is the heading angle corresponding to the i-th map point in the target side shape point information in the same navigation direction, x i is the abscissa information of the i-th map point in the target side shape point information, y i is the ordinate information of the i-th map point in the target side shape point information, x i-1 is the abscissa information of the (i - 1)-th map point in the target side shape point information, y i-1 is the ordinate information of the (i - 1)-th map point in the target side shape point information.

[0059] In this embodiment, the shape point information of the template lane provided by the preset high-precision map is processed according to the navigation direction.

[0060] The specific processing process is as follows:

[0061] First, when the distance between the vehicle and the target exit intersection reaches the distance threshold, obtain the navigation direction of the target exit intersection. If the navigation direction is to the right, only take the shape point information of the right lane line from the vehicle's current position to the target lane where the target exit intersection is located (i.e., determine the shape point information of the right lane line as the target side shape point information); otherwise, only take the shape point information of the left lane line (i.e., determine the shape point information of the left lane line as the target side shape point information).

[0062] Then, after determining the target side shape point information, calculate the heading angle corresponding to each map point in the target side shape point information based on the target side shape point information.

[0063] Specifically, it can be done through Calculate the heading angle corresponding to each map point in the target profile point information, and then update the target profile point information map_points to: map_points = {(x 1 , y 1 , heading 1 ), (x 2 , y 2 , heading 2 )…(x i , y i , heading i )…(x n , y n , heading n )}.

[0064] Optionally, based on the profile point information of the target lane from the current position of the vehicle to the target exit intersection on the preset high-precision map, calculating the lane width of the target lane may include:

[0065] Based on the left profile point information and the right profile point information in the profile point information, respectively fit the corresponding side lane lines of the target lane to obtain the left lane line fitting expression and the right lane line fitting expression of the target lane; calculate the lane width of the target lane according to the left lane line fitting expression and the right lane line fitting expression.

[0066] In this embodiment, in order to make the generated high-speed intersection exit guiding line adapt to different bending degrees of the high-speed exit intersection under different working conditions, the lane width of the target lane can be calculated based on the profile point information of the target lane obtained from the high-precision map at a certain distance distance2 from the target exit intersection.

[0067] Optionally, based on the left profile point information and the right profile point information in the profile point information, respectively fit the corresponding side lane lines of the target lane to obtain the left lane line fitting expression and the right lane line fitting expression of the target lane, which may include:

[0068] Based on the first left profile point information within the first preset distance range forward from the starting point of the target exit intersection in the left profile point information, fit the left lane line of the target lane to obtain the first left lane line fitting expression of the target lane.

[0069] Based on the first right profile point information within the first preset distance range forward from the starting point of the target exit intersection in the right profile point information, fit the right lane line of the target lane to obtain the first right lane line fitting expression of the target lane.

[0070] Calculate the first standard deviation of the first left shape point information and the corresponding points in the first left lane line fitting expression, and the second standard deviation of the first right shape point information and the corresponding points in the first right lane line fitting expression.

[0071] Determine whether both the first standard deviation and the second standard deviation are less than the standard deviation threshold.

[0072] If both the first standard deviation and the second standard deviation are less than the standard deviation threshold, then respectively determine the first left lane line fitting expression and the first right lane line fitting expression as the left lane line fitting expression and the right lane line fitting expression of the target lane.

[0073] If the first standard deviation and / or the second standard deviation is not less than the standard deviation threshold, then reduce the first preset distance to the second preset distance, and re-obtain the first left lane line fitting expression and / or the first right lane line fitting expression of the target lane until both the first standard deviation and the second standard deviation are less than the standard deviation threshold or the first preset distance is reduced to the minimum preset distance.

[0074] In this embodiment, since the curvature of the ramp under the exit ramp is different under different working conditions, when fitting the target lane, an iterative method can be used for fitting to ensure that when fitting the lane lines of lanes with different curvature radii, it can be consistent with the actual lane, realize the restoration of the real scene, and reduce the occurrence of overfitting.

[0075] Specifically, the starting point of the target exit ramp can be used as the fitting starting point, and 150 m forward (i.e., the first preset distance can be 150 m) can be used as the end point. Cubic curve fitting is respectively performed on all the left shape point information (i.e., the first left shape point information) and all the right shape point information (i.e., the first right shape point information) of the preset high-precision map within this range. Then, the fitted left lane line (i.e., the first left lane line fitting expression) is verified with the left shape point information of the preset high-precision map, and the fitted right lane line (i.e., the first right lane line fitting expression) is verified with the right shape point information of the preset high-precision map, and then it is determined whether the fitted left lane line and the fitted right lane line are distorted. When both the fitted left lane line and the fitted right lane line are not distorted, the lane width of the target lane is calculated based on the fitted left lane line and the fitted right lane line.

[0076] If it is determined that the left lane line after fitting is distorted, then the starting point of the target exit intersection can be used as the fitting starting point, and 100 m forward (i.e., the second preset distance can be 150 m) can be used as the end point to perform a cubic curve fitting on all the left shape point information of the preset high-precision map within this range. Then, the left lane line after the second fitting is verified against the left shape point information of the preset high-precision map, and it is continuously determined whether the left lane line after the second fitting is distorted until the left lane line after the second fitting is not distorted or the first preset distance is reduced to the minimum preset distance, and then the fitting is ended. For example, after fitting with the starting point of the target exit intersection as the fitting starting point and 30 m forward (i.e., the minimum preset distance can be 30 m) as the end point, even if the left lane line after the second fitting is still distorted, the fitting is ended.

[0077] Similarly, if it is determined that the right lane line after fitting is distorted, then the starting point of the target exit intersection can be used as the fitting starting point, and 100 m forward (i.e., the second preset distance can be 150 m) can be used as the end point to perform a cubic curve fitting on all the right shape point information of the preset high-precision map within this range. Then, the right lane line after the second fitting is verified against the right shape point information of the preset high-precision map, and it is continuously determined whether the right lane line after the second fitting is distorted until the right lane line after the second fitting is not distorted or the first preset distance is reduced to the minimum preset distance, and then the fitting is ended.

[0078] Similarly, if it is determined that both the left lane line after fitting and the right lane line after fitting are distorted, they are refitted according to the above method until both the left lane line and the right lane line after the second fitting are not distorted, or the first preset distance is reduced to the minimum preset distance.

[0079] Among them, it is possible to determine whether the left lane line after fitting and the right lane line after fitting are distorted through the standard deviation. Specifically, the corresponding first standard deviation and second standard deviation can be calculated through the following method:

[0080] Optionally, calculating the first standard deviation of the first left shape point information and the corresponding points in the first left lane line fitting expression may include:

[0081] According to Calculate the first standard deviation of the first left shape point information and the corresponding points in the first left lane line fitting expression.

[0082] Calculating the second standard deviation of the first right shape point information and the corresponding points in the first right lane line fitting expression may include:

[0083] According to Calculate the second standard deviation of the first right shape point information and the corresponding points in the first right lane line fitting expression.

[0084] Among them, sl is the first standard deviation, map_line_left1 i is the fitted ordinate corresponding to the i-th map point in the first left lane line fitting expression, y i is the ordinate information of the i-th map point in the first left shape point information / first right shape point information, n is the total number of map points in the first left shape point information, s r is the second standard deviation, map_line_right1 i is the fitted ordinate corresponding to the i-th map point in the first right lane line fitting expression.

[0085] Optionally, the left lane line fitting expression can be:

[0086] map_line_left = lc 0 + lc 1 x + lc 2 x 2 + lc 3 x 3 .

[0087] The right lane line fitting expression can be:

[0088] map_line_right = rc 0 + rc 1 x + rc 2 x 2 + rc 3 x 3 .

[0089] Calculating the lane width of the target lane according to the left lane line fitting expression and the right lane line fitting expression may include:

[0090] According to lane_width = lc 0 - rc 0 , calculate the lane width of the target lane.

[0091] Among them, map_line_left is the fitted ordinate of the left lane line of the target lane, lc 0 is the constant term coefficient of the left lane line fitting expression, lc 1 is the first-order term coefficient of the left lane line fitting expression, lc 2 is the second-order term coefficient of the left lane line fitting expression, lc 3 is the third-order term coefficient of the left lane line fitting expression, x is the fitted abscissa of the left lane line / right lane line of the target lane, map_line_right is the fitted ordinate of the right lane line of the target lane, rc 0is the constant term coefficient of the right lane line fitting expression, rc1 is the first-order term coefficient of the right lane line fitting expression, rc2 is the second-order term coefficient of the right lane line fitting expression, rc3 is the third-order term coefficient of the right lane line fitting expression, and lane_width is the lane width.

[0092] In the above embodiment, since the left lane line fitting expression and the right lane line fitting expression are obtained by fitting with a cubic curve, the left lane line fitting expression can be obtained as: map_line_left = lc0 + lc 1 x + lc 2 x 2 + lc 3 x 3 , and the right lane line fitting expression is: map_line_right = rc 0 + rc 1 x + rc 2 x 2 + rc 3 x 3 . Since the coefficients of each term in the left lane line fitting expression and the right lane line fitting expression have been determined, the lane width of the target lane can be calculated by lane_width = lc 0 - rc 0 .

[0093] In step 102, according to the lane width and the heading angle corresponding to each map point, the corresponding map points are offset to obtain the offset point information corresponding to each map point in the target profile point information.

[0094] In this embodiment, since the profile point information on one side of the target lane where the target exit intersection is located is used as the standard according to the navigation direction, and the exit guiding line is generally the center line of the lane, therefore, according to the heading angle corresponding to each map point in the target profile point information obtained in the above steps, the target profile point information is offset in the opposite direction of the navigation direction, and the offset distance is one-half of the current lane (that is, one-half of the lane width). Furthermore, an exit guiding line is generated based on the offset point information corresponding to each map point in the offset target profile point information.

[0095] Optionally, offsetting the corresponding map points according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target profile point information may include:

[0096] According to offset the corresponding map points to obtain the offset point information corresponding to each map point in the target profile point information.

[0097] Among them, deviation_y iis the vertical coordinate information of the offset point corresponding to the i-th map point in the target side shape point information, deviation_x i is the horizontal coordinate information of the offset point corresponding to the i-th map point in the target side shape point information, y i is the vertical coordinate information of the i-th map point in the target side shape point information, x i is the horizontal coordinate information of the i-th map point in the target side shape point information, lane_width is the lane width, heading i is the heading angle corresponding to the i-th map point in the target side shape point information.

[0098] In step 103, curve fitting is performed according to the offset point information to generate a guiding line for exiting the highway intersection.

[0099] In this embodiment, cubic curve fitting can be performed on the point set generated by the offset to generate a guiding line for exiting the highway intersection. Exemplarily, the guiding lines for exiting the highway intersection generated in different scenarios are as shown in Figure 3 (a) in Figure 3 and (b) in.

[0100] In the embodiment of the present invention, when the distance between the vehicle and the target exit intersection reaches the distance threshold, first, based on a preset high-precision map, from the current position of the vehicle to the shape point information of the target lane where the target exit intersection is located, calculate the heading angle corresponding to each map point in the target side shape point information in the same navigation direction and the lane width of the target lane; then, according to the lane width and the heading angle corresponding to each map point, offset the corresponding map point to obtain the offset point information corresponding to each map point in the target side shape point information; then, perform curve fitting according to the offset point information to generate a guiding line for exiting the highway intersection. Since the embodiment of the present invention does not simply rely on the high-precision map to perform the exit operation at the highway intersection, but based on the expression of the shape point information of the highway intersection in the high-precision map and the navigation direction of the vehicle, offset the shape point information of the template lane of the highway intersection provided by the high-precision map, and perform curve fitting based on the offset point information to generate a guiding line for exiting the highway intersection, so that the generated guiding line for exiting the highway intersection can adapt to the different bending degrees of the highway exit intersection under different working conditions, thereby realizing the stable exit of the vehicle at the highway intersection, improving the vehicle exit success rate, and enhancing the user's vehicle use experience. Moreover, the method for generating the guiding line for exiting the highway intersection in the embodiment of the present invention has less computing resource occupancy, strong stability, and is convenient for transplantation.

[0101] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0102] The following is an apparatus embodiment of the present invention. For details not described in detail, reference may be made to the corresponding method embodiment above.

[0103] Figure 4 The structural schematic diagram of the high-speed intersection exit guiding line generation device provided by the embodiment of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown and are described in detail as follows:

[0104] As Figure 4 shown, the high-speed intersection exit guiding line generation device includes: a first processing module 41, a second processing module 42, and an exit guiding line generation module 43.

[0105] The first processing module 41 is configured to, when the distance between the vehicle and the target exit intersection reaches a distance threshold, calculate the heading angle corresponding to each map point in the target side shape point information in the same navigation direction and the lane width of the target lane based on the shape point information from the current position of the vehicle to the target lane where the target exit intersection is located in a preset high-precision map;

[0106] The second processing module 42 is configured to offset the corresponding map points according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target side shape point information;

[0107] The exit guiding line generation module 43 is configured to perform curve fitting according to the offset point information to generate a high-speed intersection exit guiding line.

[0108] In the embodiment of the present invention, when the distance between the vehicle and the target exit intersection reaches a distance threshold, first, based on the shape point information from the current position of the vehicle to the target lane where the target exit intersection is located in a preset high-precision map, the heading angle corresponding to each map point in the target side shape point information in the same navigation direction and the lane width of the target lane are calculated; then, the corresponding map points are offset according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target side shape point information; and then, curve fitting is performed according to the offset point information to generate a high-speed intersection exit guiding line. Since the embodiment of the present invention does not simply rely on the high-precision map for the exit operation at the high-speed intersection, but offsets the shape point information of the template lane of the high-speed intersection provided by the high-precision map based on the expression of the shape point information of the high-speed intersection in the high-precision map and the navigation direction of the vehicle, and performs curve fitting based on the offset point information to generate a high-speed intersection exit guiding line, so that the generated high-speed intersection exit guiding line can adapt to different bending degrees of the high-speed exit intersection under different working conditions, thereby realizing the stable exit of the vehicle at the high-speed intersection, improving the vehicle exit success rate, and enhancing the user's vehicle use experience.

[0109] In a possible implementation manner, the first processing module 41 may be configured to according to Calculate the heading angle corresponding to each map point in the target side shape point information in the same direction as the navigation direction;

[0110] where, heading i is the heading angle corresponding to the i-th map point in the target side shape point information in the same direction as the navigation direction, x i is the abscissa information of the i-th map point in the target side shape point information, y i is the ordinate information of the i-th map point in the target side shape point information, x i-1 is the abscissa information of the (i - 1)-th map point in the target side shape point information, y i-1 is the ordinate information of the (i - 1)-th map point in the target side shape point information.

[0111] In a possible implementation, the first processing module 41 can be used to respectively fit the corresponding side lane lines of the target lane based on the left side shape point information and the right side shape point information in the shape point information, and obtain the left lane line fitting expression and the right lane line fitting expression of the target lane;

[0112] Calculate the lane width of the target lane according to the left lane line fitting expression and the right lane line fitting expression.

[0113] In a possible implementation, the first processing module 41 can be used to fit the left lane line of the target lane based on the first left side shape point information within a first preset distance forward from the starting point of the target exit in the left side shape point information, and obtain the first left lane line fitting expression of the target lane;

[0114] Fit the right lane line of the target lane based on the first right side shape point information within a first preset distance forward from the starting point of the target exit in the right side shape point information, and obtain the first right lane line fitting expression of the target lane;

[0115] Calculate the first standard deviation of the corresponding points between the first left side shape point information and the first left lane line fitting expression, and the second standard deviation of the corresponding points between the first right side shape point information and the first right lane line fitting expression;

[0116] Judge whether both the first standard deviation and the second standard deviation are less than the standard deviation threshold;

[0117] If both the first standard deviation and the second standard deviation are less than the standard deviation threshold, then respectively determine the first left lane line fitting expression and the first right lane line fitting expression as the left lane line fitting expression and the right lane line fitting expression of the target lane;

[0118] If the first standard deviation and / or the second standard deviation is not less than the standard deviation threshold, reduce the first preset distance to a second preset distance, and re-obtain the first left lane line fitting expression and / or the first right lane line fitting expression of the target lane until both the first standard deviation and the second standard deviation are less than the standard deviation threshold or the first preset distance is reduced to the minimum preset distance.

[0119] In a possible implementation, the first processing module 41 can be used to calculate the first standard deviation between the first left shape point information and the corresponding point in the first left lane line fitting expression; according to calculate the second standard deviation between the first right shape point information and the corresponding point in the first right lane line fitting expression;

[0120] where s l is the first standard deviation, map_line_left1 i is the fitted ordinate of the i-th map point corresponding in the first left lane line fitting expression, y i is the ordinate information of the i-th map point in the first left shape point information / the first right shape point information, n is the total number of map points in the first left shape point information, s r is the second standard deviation, map_line_right1 i is the fitted ordinate of the i-th map point corresponding in the first right lane line fitting expression.

[0121] In a possible implementation, the left lane line fitting expression is:

[0122] map_line_left = lc 0 + lc 1 x + lc 2 x 2 + lc 3 x 3 ;

[0123] The right lane line fitting expression is:

[0124] map_line_right = rc 0 + rc 1 x + rc 2 x 2 + rc 3 x 3 ;

[0125] The first processing module 41 can be used to according to lane_width = lc 0 - rc0 , calculate the lane width of the target lane;

[0126] where map_line_left is the fitted ordinate of the left lane line of the target lane, lc 0 is the constant term coefficient of the fitting expression of the left lane line, lc 1 is the first-order term coefficient of the fitting expression of the left lane line, lc 2 is the second-order term coefficient of the fitting expression of the left lane line, lc 3 is the third-order term coefficient of the fitting expression of the left lane line, x is the fitted abscissa of the left lane line / right lane line of the target lane, map_line_right is the fitted ordinate of the right lane line of the target lane, rc 0 is the constant term coefficient of the fitting expression of the right lane line, rc 1 is the first-order term coefficient of the fitting expression of the right lane line, rc 2 is the second-order term coefficient of the fitting expression of the right lane line, rc 3 is the third-order term coefficient of the fitting expression of the right lane line, lane_width is the lane width.

[0127] In a possible implementation, the second processing module 42 can be used to offset the corresponding map points to obtain the offset point information corresponding to each map point in the target profile point information;

[0128] where deviation_y i is the ordinate information of the offset point corresponding to the i-th map point in the target profile point information, deviation_x i is the abscissa information of the offset point corresponding to the i-th map point in the target profile point information, y i is the ordinate information of the i-th map point in the target profile point information, x i is the abscissa information of the i-th map point in the target profile point information, lane_width is the lane width, heading i is the heading angle corresponding to the i-th map point in the target profile point information.

[0129] Figure 5 is a schematic diagram of the electronic device provided by the embodiments of the present invention. As Figure 5As shown, the electronic device 5 of this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50. When the processor 50 executes the computer program 52, the steps in the above-mentioned embodiments of the method for generating the export guiding line at each highway intersection are implemented, for example Figure 1 the steps 101 to 103 shown. Alternatively, when the processor 50 executes the computer program 52, the functions of each module / unit in the above-mentioned device embodiments are implemented, for example Figure 4 the functions of the modules / units 41 to 43 shown.

[0130] Exemplarily, the computer program 52 can be divided into one or more modules / units. One or more modules / units are stored in the memory 51 and executed by the processor 50 to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 52 in the electronic device 5. For example, the computer program 52 can be divided into Figure 4 the modules / units 41 to 43 shown.

[0131] The electronic device 5 can be an electronic device corresponding to the central control unit of a vehicle or an electronic device corresponding to the core control unit, etc. The electronic device 5 may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art can understand that Figure 5 this is only an example of the electronic device 5 and does not constitute a limitation on the electronic device 5. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the electronic device may further include input / output devices, network access devices, buses, etc.

[0132] The so-called processor 50 may be a central processing unit (CPU), or may also 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 may be a microprocessor or the processor may also be any conventional processor, etc.

[0133] The memory 51 may be an internal storage unit of the electronic device 5, such as the hard disk or memory of the electronic device 5. The memory 51 may also be an external storage device of the electronic device 5, such as a plug-in hard disk equipped on the electronic device 5, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 51 may also include both the internal storage unit of the electronic device 5 and the external storage device. The memory 51 is used to store computer programs and other programs and data required by the electronic device. The memory 51 may also be used to temporarily store the data that has been output or will be output.

[0134] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be assigned to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated herein.

[0135] As another embodiment of the present invention, the present invention may further include a vehicle, including the electronic device in any of the above embodiments, and having the same beneficial effects as the above electronic device, which will not be elaborated herein.

[0136] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0137] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0138] In the embodiments provided by the present invention, it should be understood that the disclosed device / electronic device and method can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0139] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0140] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0141] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above method embodiments of the present invention, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments for generating the guiding lines exported from each highway toll station can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0142] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for generating a guiding line for exiting at a highway intersection, characterized in that, it includes: When the distance between the vehicle and the target exit intersection reaches a distance threshold, based on the preset high-precision map, from the current position of the vehicle to the shape point information of the target lane where the target exit intersection is located, calculate the heading angle corresponding to each map point in the target-side shape point information in the same navigation direction and the lane width of the target lane; Offset the corresponding map points according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target-side shape point information; Perform curve fitting according to the offset point information to generate a guiding line for exiting at a highway intersection; Wherein, before the distance between the vehicle and the target exit intersection reaches the distance threshold, it further includes: When the distance between the vehicle and the target exit intersection reaches a first distance, control the vehicle to change lanes to the lane closest to the target exit intersection; When the distance between the vehicle and the target exit intersection reaches a second distance, output the shape point information of the target lane in the preset high-precision map, wherein the first distance is greater than the second distance, the second distance is greater than the distance threshold, and the target lane is the lane that the target exit intersection to enter determined according to the navigation direction of the vehicle and the preset high-precision map.

2. The method for generating a guiding line for exiting at a highway intersection according to claim 1, characterized in that, The step of calculating the heading angle corresponding to each map point in the target-side shape point information in the same navigation direction based on the preset high-precision map from the current position of the vehicle to the shape point information of the target lane where the target exit intersection is located includes: According to Calculate the course angle corresponding to each map point in the target side shape point information in the navigation direction; Among them, heading i is the heading angle corresponding to the i-th map point in the target side shape point information in the same direction as the navigation direction, x i is the abscissa information of the i-th map point in the target side shape point information, yi is the ordinate information of the i-th map point in the target side shape point information, x i-1 is the abscissa information of the (i - 1)-th map point in the target side shape point information, y i-1 is the ordinate information of the (i - 1)-th map point in the target side shape point information.

3. The method for generating a guiding line for exiting at a highway intersection according to claim 1, characterized in that, Calculating the lane width of the target lane based on the preset high-precision map from the current position of the vehicle to the shape point information of the target lane where the target exit intersection is located includes: Based on the left-side shape point information and the right-side shape point information in the shape point information, respectively fit the corresponding side lane lines of the target lane to obtain the left-lane line fitting expression and the right-lane line fitting expression of the target lane; Calculate the lane width of the target lane according to the left-lane line fitting expression and the right-lane line fitting expression.

4. The method for generating a guiding line for exiting at a highway intersection according to claim 3, characterized in that, Based on the left-side shape point information and the right-side shape point information in the shape point information, respectively fit the corresponding side lane lines of the target lane to obtain the left-lane line fitting expression and the right-lane line fitting expression of the target lane, including: Based on the first left-side shape point information within the first preset distance range forward from the starting point of the target exit intersection in the left-side shape point information, fit the left-lane line of the target lane to obtain the first left-lane line fitting expression of the target lane; Based on the first right-side shape point information within the first preset distance range forward from the starting point of the target exit intersection in the right-side shape point information, fit the right-lane line of the target lane to obtain the first right-lane line fitting expression of the target lane; Calculate the first standard deviation of the corresponding points between the first left-shaped point information and the first left lane line fitting expression, and the second standard deviation of the corresponding points between the first right-shaped point information and the first right lane line fitting expression; Determine whether both the first standard deviation and the second standard deviation are less than the standard deviation threshold; If both the first standard deviation and the second standard deviation are less than the standard deviation threshold, then respectively determine the first left lane line fitting expression and the first right lane line fitting expression as the left lane line fitting expression and the right lane line fitting expression of the target lane; If the first standard deviation and / or the second standard deviation is not less than the standard deviation threshold, then reduce the first preset distance to a second preset distance, and re-obtain the first left lane line fitting expression and / or the first right lane line fitting expression of the target lane until both the first standard deviation and the second standard deviation are less than the standard deviation threshold or the first preset distance is reduced to the minimum preset distance.

5. The method for generating an exit guiding line at a highway intersection according to claim 4, wherein, Calculating the first standard deviation of the corresponding points between the first left-shaped point information and the first left lane line fitting expression includes: According to calculate a first standard deviation of the corresponding points in the first left-shaped point information and the first left lane line fitting expression; Calculating the second standard deviation of the corresponding points between the first right-shaped point information and the first right lane line fitting expression includes: According to calculate the second standard deviation of the corresponding points in the first right-shaped point information and the first right lane line fitting expression; where s l is the first standard deviation, map_line_left1 i is the fitted ordinate corresponding to the i-th map point in the first left lane line fitting expression, y i is the ordinate information of the i-th map point in the first left profile point information / the first right profile point information, n is the total number of map points in the first left profile point information, s r is the second standard deviation, map_line_right1 i is the fitted ordinate corresponding to the i-th map point in the first right lane line fitting expression.

6. The method for generating an exit guiding line at a highway intersection according to claim 3, wherein, The left lane line fitting expression is: map_line_left = lc 0 + lc 1 x + lc 2 x 2 + lc 3 x 3 ; The right lane line fitting expression is: map_line_right = rc 0 + rc 1 x + rc 2 x 2 + rc 3 x 3 ; Calculating the lane width of the target lane according to the left lane line fitting expression and the right lane line fitting expression includes: According to lane_width = |lc 0 -rc 0 |, calculate the lane width of the target lane; where map_line_left is the fitted ordinate of the left lane line of the target lane, and lc 0 is the constant term coefficient of the fitting expression of the left lane line, and lc 1 is the first-order term coefficient of the fitting expression of the left lane line, and lc 2 is the second-order term coefficient of the fitting expression of the left lane line, and lc 3 is the third-order term coefficient of the fitting expression of the left lane line, x is the fitted abscissa of the left lane line / right lane line of the target lane, map_line_right is the fitted ordinate of the right lane line of the target lane, and rc 0 is the constant term coefficient of the fitting expression of the right lane line, and rc 1 is the first-order term coefficient of the fitting expression of the right lane line, and rc 2 is the second-order term coefficient of the fitting expression of the right lane line, and rc 3 is the third-order term coefficient of the fitting expression of the right lane line, and lane_width is the lane width.

7. The method for generating an exit guiding line at a highway intersection according to any one of claims 1-6, wherein, Offsetting the corresponding map points according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target side-shaped point information includes: According to offset the corresponding map points to obtain the offset point information corresponding to each map point in the target profile point information; Among them, deviation_y i is the vertical coordinate information of the offset point corresponding to the i-th map point in the target side shape point information, and deviation_x i is the horizontal coordinate information of the offset point corresponding to the i-th map point in the target side shape point information, y i is the vertical coordinate information of the i-th map point in the target side shape point information, x i is the horizontal coordinate information of the i-th map point in the target side shape point information, lane_width is the lane width, and heading i is the heading angle corresponding to the i-th map point in the target side shape point information.

8. An apparatus for generating an exit guiding line at a highway intersection, wherein, comprising: A first processing module, configured to, when the distance between the vehicle and the target exit intersection reaches a distance threshold, calculate the heading angle corresponding to each map point in the target side-shaped point information in the same navigation direction and the lane width of the target lane based on a preset high-precision map from the current position of the vehicle to the shaped point information of the target lane where the target exit intersection is located; A second processing module, configured to offset the corresponding map points according to the lane width and the heading angle corresponding to each map point to obtain the offset point information corresponding to each map point in the target side-shaped point information; An exit guiding line generation module, configured to perform curve fitting according to the offset point information to generate an exit guiding line at a highway intersection; wherein, the first processing module is further configured to: When the distance between the vehicle and the target exit intersection reaches a first distance, control the vehicle to change lanes to the lane closest to the target exit intersection; When the distance between the vehicle and the target exit intersection reaches a second distance, output the shape point information of the preset high-precision map in the target lane, where the first distance is greater than the second distance, the second distance is greater than the distance threshold, and the target lane is the lane that the target exit intersection to enter as determined according to the navigation direction of the vehicle and the preset high-precision map.

9. An electronic device, characterized in that, it includes a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7 above.

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