High-precision map high-speed emergency lane generation method and system, and medium

Abstract

The application discloses a high-precision map high-speed emergency lane generation method and system and a medium, and the method comprises the following steps: acquiring the right side lane outer side line of each road section on each highway and the sorted right side lane outer side line according to lane boundary information; performing shape cutting on the road outer side line according to the road information associated with the road outer side line information, and acquiring the right side road outer side line associated with each road; acquiring the right side road outer side line associated with each road section of each road according to the right side road outer side line and the sorted right side lane outer side line; and judging whether the high-speed emergency lane needs to be generated according to the right side lane outer side line and the right side road outer side line associated with each road section of each road.

Description

Technical Field

[0001] This invention relates to the field of high-precision map production technology, and in particular to a method, system and medium for generating high-precision maps of highway emergency lanes. Background Technology

[0002] In autonomous driving, vehicles need to obtain information about emergency lanes to avoid unknowingly occupying emergency lanes illegally. Therefore, it is necessary to store emergency lane data in high-precision maps to better provide lane-level path planning and guidance for autonomous driving.

[0003] Currently, emergency lane data is typically collected by data collection vehicles and manually drawn by production personnel. However, manual data collection and drawing suffers from issues of low accuracy and safety, and the workload is also substantial and inefficient, failing to meet the ever-growing demands of road traffic. Summary of the Invention

[0004] This invention provides a method, system, and medium for generating high-precision emergency lanes on highways, enabling the automatic generation of emergency lane information from high-precision map data based on the outer edge of the right lane and the outer edge of the right road. This improves highway lane information, enhances the accuracy of lane-level path planning and driving safety, and significantly reduces the workload of manually collecting and drawing emergency lane data.

[0005] Firstly, a method for inheriting speed limits at the starting point of a lane in a high-precision map is provided, including the following steps:

[0006] Obtain lane edge information and outer lane information for each expressway;

[0007] Based on the lane edge information, obtain the outer right lane line of each road section on each expressway and the sorted outer right lane lines;

[0008] Based on the road information associated with the road outer line information, the road outer line is shaped and cut so that each road outer line is associated with a road, and the right road outer line associated with each road is obtained;

[0009] Based on the outer right road line and the sorted outer right lane lines, obtain the outer right road line associated with each road section of each road.

[0010] Based on the outer right lane line and the outer right road line associated with each road section of each road, determine whether a high-speed emergency lane needs to be generated.

[0011] According to the first aspect, in a first possible implementation of the first aspect, the step of "obtaining the outer right lane line of each road section on each expressway and the sorted outer right lane lines based on the lane edge line information" specifically includes the following steps:

[0012] In each highway, all lane edges of each road section are obtained based on the lane edge information;

[0013] Sort all lane edge lines of each road section from left to right, and select the last sorted lane edge line as the outer right lane edge line corresponding to each road section.

[0014] Sort multiple road sections according to their road connection relationship, and obtain the outer right lane line corresponding to each sorted road section.

[0015] According to the first possible implementation of the first aspect, in the second possible implementation of the first aspect, the step of "cutting the shape of the road outer line according to the road information associated with the road outer line information so that each road outer line is associated with a road, and obtaining the right-side road outer line associated with each road" specifically includes the following steps:

[0016] In each expressway, the right-side outer lane is selected based on the aforementioned outer lane information.

[0017] When it is detected that the outer edge of the right-hand road is associated with a road, the outer edge of the right-hand road is associated with the only detected road.

[0018] When it is detected that the outer line of the right road is associated with multiple roads, the outer line of the right road is shaped and cut according to a preset cutting method to obtain multiple unit lines of the outer line of the right road, and each unit line is associated with one of the multiple roads.

[0019] According to the second possible implementation of the first aspect, in the third possible implementation of the first aspect, the step of "when it is detected that the outer line of the right road is associated with multiple roads, the outer line of the right road is shaped and cut according to a preset cutting method to obtain multiple unit lines of the outer line of the right road, and each unit line is associated with one of the multiple roads" specifically includes the following steps:

[0020] Multiple roads are sorted according to their connection relationships;

[0021] Select the last point of the first road after sorting and the second to last point to form a line segment. Draw a perpendicular line to the line segment through the last point. Cut the outer line of the right road with the perpendicular line to obtain two unit lines. Select the first unit line along the direction of the connection relationship of multiple roads and associate it with the corresponding first road.

[0022] Select the second road after sorting and cut the second unit line in the same shape until the second to last road after sorting has been cut into the unit line, and associate each unit line with one of the multiple roads.

[0023] According to the third possible implementation of the first aspect, in the fourth possible implementation of the first aspect, after the step of "selecting the second sorted road and cutting the second unit line with the same shape until the second to last sorted road has finished cutting the unit line, and associating each unit line with one of the multiple roads", the specific steps include:

[0024] When a road is detected to be associated with multiple unit lines, the multiple unit lines are spliced ​​together according to their shape continuity.

[0025] According to the fourth possible implementation of the first aspect, in the fifth possible implementation of the first aspect, the step of "obtaining the right-side outer line associated with each road section of each road based on the right-side outer line and the sorted right-side lane outer lines" specifically includes the following steps:

[0026] For each sorted road section, the outer right lane line is cut into the shape of each unit line of the outer right road line according to the way the road cuts the outer right road line, and multiple local unit lines of the unit line are obtained. Each local unit line is then associated with each road section.

[0027] According to the fifth possible implementation of the first aspect, in the sixth possible implementation of the first aspect, the step of "determining whether a high-speed emergency lane needs to be generated based on the right lane outer line and the right road outer line associated with each road section of each road" specifically includes the following steps:

[0028] When the outer right lane line is detected to be to the left of the outer right lane line, a high-speed emergency lane will not be generated.

[0029] When it is detected that the outer line of the right road is to the right of the outer line of the right lane, and the distance between them is less than the preset distance, a high-speed emergency lane will not be generated.

[0030] When it is detected that the outer line of the right-hand road is to the right of the outer line of the right-hand lane, and the distance between the two is greater than or equal to the preset distance, a high-speed emergency lane is generated.

[0031] According to the sixth possible implementation of the first aspect, in the seventh possible implementation of the first aspect, the step of "generating a high-speed emergency lane" specifically includes the following steps:

[0032] Based on the fact that the outer line of the right road generates a centerline to the right of the outer line of the right lane, the outer line of the right lane is set as the lane edge line on the left side of the highway emergency lane, and the outer line of the right road is set as the lane edge line on the right side of the highway emergency lane.

[0033] Secondly, a high-precision map system for generating highway emergency lanes is provided, including:

[0034] The information acquisition module is used to acquire lane edge information and outer road line information for each expressway;

[0035] The right lane outer line module is communicatively connected to the information acquisition module and is used to acquire the right lane outer line and the sorted right lane outer line of each road section on each expressway based on the lane edge line information.

[0036] The right-side road outer line module is communicatively connected to the information acquisition module. It is used to cut the shape of the road outer line according to the road information associated with the road outer line information, so that each road outer line is associated with a road, and to acquire the right-side road outer line associated with each road.

[0037] The road section association module is communicatively connected to the right lane outer line module and the right road outer line module, and is used to obtain the right road outer line associated with each road section of each road based on the right road outer line and the sorted right lane outer lines.

[0038] The generation module is communicatively connected to the right lane outer line module and the road section association module, and is used to determine whether a high-speed emergency lane needs to be generated based on the right lane outer line and right road outer line associated with each road section of each road.

[0039] Thirdly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the high-precision map high-speed emergency lane generation method as described in any of the preceding claims.

[0040] Compared with existing technologies, the advantages of this invention are as follows: First, the lane edge information and road outer line information of each highway are acquired; then, based on the lane edge information, the right lane outer line and the sorted right lane outer lines for each road section on each highway are acquired; based on the road information associated with the road outer line information, the road outer lines are shaped and cut so that each road outer line is associated with a road, and the right road outer line associated with each road is acquired; based on the right road outer line and the sorted right lane outer lines, the right road outer line associated with each road section is acquired; based on the right lane outer line and the right road outer line associated with each road section, it is determined whether a highway emergency lane needs to be generated. This enables high-precision map data to automatically generate emergency lane information based on the right lane outer line and the right road outer line, improving highway lane information, enhancing the accuracy of lane-level path planning and driving safety, while significantly reducing the workload of manually collecting and drawing emergency lanes. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating an embodiment of the high-precision map method for generating highway emergency lanes according to the present invention.

[0042] Figure 2 This is a schematic diagram illustrating the shape cutting of the outer right-side road line according to the present invention;

[0043] Figure 3 This is a schematic diagram illustrating the splicing of multiple unit lines associated with the road in this invention;

[0044] Figure 4 This is a schematic diagram illustrating the construction of emergency lanes in road sections according to the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of a high-precision map high-speed emergency lane generation system according to the present invention. Attached image description:

[0047] 100. High-precision map high-speed emergency lane generation system; 110. Information acquisition module; 120. Right lane outer line module; 130. Right road outer line module; 140. Road section association module; 150. Generation module. Detailed Implementation

[0048] Referring now to specific embodiments of the invention, examples of which are illustrated in the accompanying drawings. Although the invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the invention to the described embodiments. Rather, it is intended to cover variations, modifications, and equivalents included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0049] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] Note: The examples described below are merely specific examples and are not intended to limit the embodiments of the present invention to the specific steps, values, conditions, data, order, etc. Those skilled in the art can utilize the concept of the present invention to construct more embodiments not mentioned herein by reading this specification.

[0051] See Figure 1 As shown in the figure, this embodiment of the invention provides a method for generating high-precision map highway emergency lanes, including the following steps:

[0052] S100, obtain lane edge information and outer road line information for each expressway;

[0053] 1. Load basic road network data to obtain highway information; emergency lanes are only generated on the right side of the highway.

[0054] 2. Load lane edge line and shape information to obtain the right lane edge line of the road section. The shape information is used to determine whether an emergency lane needs to be generated and to construct the shape of the emergency lane.

[0055] 3. Load the outer edge data of the road and obtain the outer edge of the road on the right side of the highway according to the correlation relationship, which is used to construct the emergency lane;

[0056] At the same time, all road data is traversed, and only roads of the type "intercity expressway" and "city closed road" are selected to form a highway set. Subsequent processing is only performed on the roads in this set.

[0057] S200, Based on the lane edge information, obtain the outer right lane line of each road section on each expressway and the sorted outer right lane lines;

[0058] S300, based on the road information associated with the road outer line information, the road outer line is shaped and cut so that each road outer line is associated with a road, and the right-side road outer line associated with each road is obtained;

[0059] S400, based on the outer right road line and the sorted outer right lane line, obtain the outer right road line associated with each road section of each road;

[0060] S500 determines whether a high-speed emergency lane needs to be generated based on the corresponding outer right lane line and outer right road line of each road section.

[0061] Specifically, in this embodiment, in autonomous driving, vehicles need to obtain information about emergency lanes to avoid unknowingly occupying them illegally. Therefore, emergency lane data needs to be stored in high-precision maps to better provide lane-level path planning and guidance for autonomous driving. Currently, emergency lane data is generally collected by data collection vehicles and manually drawn by production personnel. However, manual data collection and drawing has issues with low accuracy and safety, and the workload is also large and inefficient, which cannot meet the ever-growing needs of road traffic.

[0062] Therefore, to solve the above problems, this invention first obtains the lane edge information and road outer line information of each highway; then, based on the lane edge information, it obtains the right lane outer line and the sorted right lane outer lines for each road section on each highway; based on the road information associated with the road outer line information, it performs shape cutting on the road outer lines so that each road outer line is associated with a road, and obtains the right road outer line associated with each road; based on the right road outer line and the sorted right lane outer lines, it obtains the right road outer line associated with each road section; based on the right lane outer line and the right road outer line associated with each road section, it determines whether a highway emergency lane needs to be generated. This enables high-precision map data to automatically generate emergency lane information based on the right lane outer line and the right road outer line, improving highway lane information, enhancing the accuracy of lane-level path planning and driving safety, while significantly reducing the workload of manually collecting and drawing emergency lanes.

[0063] Preferably, in another embodiment of this application, the step "S200, obtaining the outer right lane line of each road section on each highway and the sorted outer right lane lines based on the lane edge line information" specifically includes the following steps:

[0064] S210, In each expressway, obtain all lane edges of each road section based on the lane edge information;

[0065] S220: Sort all lane edge lines of each road section from left to right, and select the last sorted lane edge line as the outer right lane edge line corresponding to each road section.

[0066] S230: Sort multiple road sections according to their road connection relationship, and obtain the outer right lane line corresponding to each sorted road section.

[0067] Specifically, in this embodiment, the outer right lane line of each road section on the highway is obtained, and multiple road sections are sorted according to the road connection relationship. The outer right lane line corresponding to each road section is also sorted. In the sorted set of outer right lane lines, the first outer right lane line corresponds to the first road section, and the last lane line corresponds to the last road section.

[0068] Preferably, in another embodiment of this application, the step "S300, according to the road information associated with the road outer line information, perform shape cutting on the road outer line so that each road outer line is associated with a road, and obtain the right-side road outer line associated with each road" specifically includes the following steps:

[0069] S310, in each expressway, the right-side outer lane located on the right side of the road is selected based on the road outer lane information;

[0070] S320, when it is detected that the outer edge of the right road is associated with a road, the outer edge of the right road is associated with the only detected road;

[0071] S330, when it is detected that the outer line of the right road is associated with multiple roads, the outer line of the right road is shaped and cut according to a preset cutting method to obtain multiple unit lines of the outer line of the right road, and each unit line is associated with one of the multiple roads.

[0072] Preferably, in another embodiment of this application, the step "S330, when it is detected that the outer edge of the right road is associated with multiple roads, the outer edge of the right road is shaped and cut according to a preset cutting method to obtain multiple unit lines of the outer edge of the right road, and each unit line is associated with one of the multiple roads" specifically includes the following steps:

[0073] S331 sorts multiple roads according to their connection relationships;

[0074] S332, select the tail point of the first road after sorting and the second to last point to form a line segment, draw a perpendicular line to the line segment through the tail point, cut the outer line of the right road with the perpendicular line to obtain two unit lines, and select the first unit line along the direction of the connection relationship of multiple roads to associate with the corresponding first road.

[0075] S333, select the second road after sorting and cut the second unit line in the same shape until the second to last road after sorting is cut into the unit line, and associate each unit line with one of the multiple roads.

[0076] Specifically, in this embodiment, multiple roads are sorted according to their road connection relationship. The first road R1 in the sorted road set is taken, and the tail point a and the second to last shape point b of road R1 are obtained to form line segment Lab. A perpendicular line V1 is drawn through point a to line segment Lab. The perpendicular line V1 is used to cut the outer line of the right road to obtain two unit lines RS1 and RS2 of the outer line of the right road. RS1 is associated with R1, and RS2 is retained for subsequent cutting processing.

[0077] Repeat the above steps, taking roads in the sorted road set in sequence, cutting the outer line of the processed right road, until the second to last road in set B has completed cutting the outer line of the right road, and then associating the cut outer line of the right road with the road.

[0078] See Figure 2 As shown, the outer line of the right-hand road is associated with three roads. The set of roads after being sorted by their succession relationship is {road 1, road 2, road 3}. Taking road 1 and road 2 in sequence, a perpendicular line is drawn from the end point of each road to cut the outer line of the road. The outer line of the right-hand road is cut into 3 unit lines: RS1, RS, RS3, where RS1 is associated with road 1, RS2 is associated with road 2, and RS3 is associated with road 3.

[0079] Preferably, in another embodiment of this application, after the step "S333, select the second sorted road and cut the second unit line in the same shape until the second to last sorted road has been cut into the unit line, and associate each unit line with one of the multiple roads", the following steps are specifically included:

[0080] When a road is detected to be associated with multiple unit lines, the multiple unit lines are spliced ​​together according to their shape continuity.

[0081] See Figure 3 As shown, specifically in this embodiment, road 1 is associated with two unit lines RS1 and RS2, where the coordinates of the end point of RS1 and the beginning point of RS2 coincide. Therefore, the set of outer road lines after sorting by shape continuity is {RS1, RS2}, the set of shape points of RS1 is {P1, P2, P3}, the set of shape points of RS2 is {Q1, Q2, Q3, Q4}, and the shape of the spliced ​​outer road lines is {P1, P2, P3, Q1, Q2, Q3, Q4}.

[0082] Preferably, in another embodiment of this application, the step "S400, obtaining the right-side outer line of each road section corresponding to each road based on the right-side outer line of the road and the sorted right-side lane outer lines" specifically includes the following steps:

[0083] For each sorted road section, the outer right lane line is cut into the shape of each unit line of the outer right road line according to the way the road cuts the outer right road line, and multiple local unit lines of the unit line are obtained. Each local unit line is then associated with each road section.

[0084] Specifically, in this embodiment, the outer right lane line corresponding to each sorted road section is shaped and cut into the shape of each unit line of the outer right lane line, and the cut multiple local unit lines are associated with the corresponding road section; the cutting method is the same as the method of cutting the outer right lane line according to the road in S330.

[0085] Preferably, in another embodiment of this application, the step "S, 500, determining whether a high-speed emergency lane needs to be generated based on the outer right lane line and the outer right road line associated with each road section of each road" specifically includes the following steps:

[0086] S510: When the outer right lane line is detected to be to the left of the outer right lane line, a high-speed emergency lane will not be generated.

[0087] S520: When it is detected that the outer line of the right road is to the right of the outer line of the right lane and the distance between them is less than the preset distance, a high-speed emergency lane will not be generated.

[0088] S530: When it is detected that the outer line of the right road is to the right of the outer line of the right lane, and the distance between the two is greater than or equal to the preset distance, a high-speed emergency lane is generated.

[0089] Specifically, in this embodiment, see Figure 4 As shown, each road can be divided into multiple road sections. In road section 1, the distance between the outer right lane line and the outer right lane line is greater than 2 meters, so a high-speed emergency lane is generated in road section 1. In road section 2, the distance between a portion of the outer right lane line and the outer right lane line is less than 2 meters, so a high-speed emergency lane is not generated in this road section.

[0090] Preferably, in another embodiment of this application, the step of "generating a high-speed emergency lane" specifically includes the following steps:

[0091] Based on the fact that the outer line of the right road generates a centerline to the right of the outer line of the right lane, the outer line of the right lane is set as the lane edge line on the left side of the highway emergency lane, and the outer line of the right road is set as the lane edge line on the right side of the highway emergency lane.

[0092] Specifically, in this embodiment, the start and end nodes of the emergency lane are constructed based on the coordinates of the first and last points of the emergency lane—corresponding to the outer right lane line and the outer right road line in each road segment; the emergency lane and its corresponding lane node information are output to data in a specified format.

[0093] Therefore, this invention utilizes simple shape-positional relationships to determine the shape continuity between multiple road outer lines, splices the shapes of the road outer lines, and uses the relationship between line segments and straight lines to cut the shapes of the road outer lines. The cut road outer lines are then associated with road sections. Next, the distance between polyline segments is calculated to determine whether an emergency lane needs to be generated. Finally, a simple algorithm is used to calculate the centerline based on the shapes of two polyline segments to construct the shape of the emergency lane. This preserves relevant information about the emergency lane in high-precision map data, facilitating timely route planning for users and preventing illegal occupation of emergency lanes. Simultaneously, the simple geometric algorithm avoids extensive data collection and manual drawing work, greatly improving the efficiency of high-precision map production.

[0094] See also Figure 5 As shown, this embodiment of the invention also provides a high-precision map highway emergency lane generation system 100, including: an information acquisition module 110, a right lane outer line module 120, a right road outer line module 130, a road section association module 140, and a generation module 150.

[0095] The information acquisition module 110 is used to acquire lane edge information and road outer line information for each expressway;

[0096] The right lane outer line module 120 is communicatively connected to the information acquisition module 110 and is used to acquire the right lane outer line and the sorted right lane outer line of each road section on each expressway based on the lane edge line information.

[0097] The right-side road outer line module 130 is communicatively connected to the information acquisition module 110. It is used to cut the shape of the road outer line according to the road information associated with the road outer line information, so that each road outer line is associated with a road, and to acquire the right-side road outer line associated with each road.

[0098] The road section association module 140 is communicatively connected to the right lane outer line module 120 and the right road outer line module 130, and is used to obtain the right road outer line associated with each road section of each road based on the right road outer line and the sorted right lane outer line.

[0099] The generation module 150 is communicatively connected to the right lane outer line module 120 and the road section association module 140, and is used to determine whether a high-speed emergency lane needs to be generated based on the right lane outer line and right road outer line associated with each road section of each road.

[0100] This invention first acquires lane edge information and road outer line information for each highway; then, based on the lane edge information, it acquires the right lane outer line and sorted right lane outer lines for each road section on each highway; based on the road information associated with the road outer lines, it performs shape segmentation on the road outer lines so that each road outer line is associated with a road, acquiring the right road outer line associated with each road; based on the right road outer lines and the sorted right lane outer lines, it acquires the right road outer lines associated with each road section; based on the right lane outer lines and right road outer lines associated with each road section, it determines whether a highway emergency lane needs to be generated. This enables high-precision map data to automatically generate emergency lane information based on the right lane outer lines and right road outer lines, improving highway lane information, enhancing the accuracy of lane-level path planning and driving safety, while significantly reducing the workload of manually collecting and drawing emergency lanes.

[0101] Specifically, this embodiment corresponds one-to-one with the above method embodiments. The functions of each module have been described in detail in the corresponding method embodiments, so they will not be repeated here.

[0102] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements all or part of the method steps of the above method.

[0103] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed 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.

[0104] Based on the same inventive concept, embodiments of this application also provide an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, it implements all or part of the method steps described above.

[0105] The processor can be a Central Processing Unit (CPU), or 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. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0106] Memory can be used to store computer programs and / or modules. The processor performs various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, SmartMedia Cards (SMC), Secure Digital (SD) cards, Flash Cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0107] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0108] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0109] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0110] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0111] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for generating high-precision maps of highway emergency lanes, characterized in that, Includes the following steps: Obtain lane edge information and outer lane information for each expressway; Based on the lane edge information, obtain the outer right lane line of each road section on each expressway and the sorted outer right lane lines; Based on the road information associated with the road outer line information, the road outer line is shaped and cut so that each road outer line is associated with a road, and the right road outer line associated with each road is obtained; Based on the outer right road line and the sorted outer right lane lines, obtain the outer right road line associated with each road section of each road. Based on the outer right lane line and the outer right road line associated with each road section of each road, determine whether a high-speed emergency lane needs to be generated.

2. The high-precision map method for generating highway emergency lanes as described in claim 1, characterized in that, The step of "obtaining the outer right lane line and the sorted outer right lane line for each road section on each highway based on the lane edge line information" specifically includes the following steps: In each highway, all lane edges of each road section are obtained based on the lane edge information; Sort all lane edge lines of each road section from left to right, and select the last sorted lane edge line as the outer right lane edge line corresponding to each road section. Sort multiple road sections according to their road connection relationship, and obtain the outer right lane line corresponding to each sorted road section.

3. The high-precision map method for generating highway emergency lanes as described in claim 1, characterized in that, The step of "cutting the road outer lines into shapes based on the road information associated with the road outer line information so that each road outer line is associated with a road, and obtaining the right-side road outer line associated with each road" specifically includes the following steps: In each expressway, the right-side outer lane is selected based on the aforementioned outer lane information. When it is detected that the outer edge of the right-hand road is associated with a road, the outer edge of the right-hand road is associated with the only detected road. When it is detected that the outer line of the right road is associated with multiple roads, the outer line of the right road is shaped and cut according to a preset cutting method to obtain multiple unit lines of the outer line of the right road, and each unit line is associated with one of the multiple roads.

4. The high-precision map method for generating highway emergency lanes as described in claim 3, characterized in that, The step of "when it is detected that the outer edge of the right road is associated with multiple roads, the outer edge of the right road is shaped and cut according to a preset cutting method to obtain multiple unit lines of the outer edge of the right road, and each unit line is associated with one of the multiple roads" specifically includes the following steps: Multiple roads are sorted according to their connection relationships; Select the last point of the first road after sorting and the second to last point to form a line segment. Draw a perpendicular line to the line segment through the last point. Cut the outer line of the right road with the perpendicular line to obtain two unit lines. Select the first unit line along the direction of the connection relationship of multiple roads and associate it with the corresponding first road. Select the second road after sorting and cut the second unit line in the same shape until the second to last road after sorting has been cut into the unit line, and associate each unit line with one of the multiple roads.

5. The high-precision map method for generating highway emergency lanes as described in claim 4, characterized in that, The step of "selecting the second sorted road and cutting the second unit line in the same shape until the second to last sorted road has been cut into the unit lines, and associating each unit line with one of the multiple roads" specifically includes the following steps: When a road is detected to be associated with multiple unit lines, the multiple unit lines are spliced ​​together according to their shape continuity.

6. The high-precision map method for generating highway emergency lanes as described in claim 4, characterized in that, The step of "obtaining the right-side outer line associated with each road section of each road based on the right-side outer line and the sorted right-side lane outer lines" specifically includes the following steps: For each sorted road section, the outer right lane line is cut into the shape of each unit line of the outer right road line according to the way the road cuts the outer right road line, and multiple local unit lines of the unit line are obtained. Each local unit line is then associated with each road section.

7. The high-precision map method for generating highway emergency lanes as described in claim 1, characterized in that, The step of "determining whether a high-speed emergency lane needs to be generated based on the corresponding right lane outer line and right road outer line of each road section" specifically includes the following steps: When the outer right lane line is detected to be to the left of the outer right lane line, a high-speed emergency lane will not be generated. When it is detected that the outer line of the right road is to the right of the outer line of the right lane, and the distance between them is less than the preset distance, a high-speed emergency lane will not be generated. When it is detected that the outer line of the right-hand road is to the right of the outer line of the right-hand lane, and the distance between the two is greater than or equal to the preset distance, a high-speed emergency lane is generated.

8. The method for generating high-precision map highway emergency lanes as described in claim 1, characterized in that, The step of "generating a high-speed emergency lane" specifically includes the following steps: Based on the fact that the outer line of the right road generates a centerline to the right of the outer line of the right lane, the outer line of the right lane is set as the lane edge line on the left side of the highway emergency lane, and the outer line of the right road is set as the lane edge line on the right side of the highway emergency lane.

9. A high-precision map system for generating highway emergency lanes, characterized in that, include: The information acquisition module is used to acquire lane edge information and outer road line information for each expressway; The right lane outer line module is communicatively connected to the information acquisition module and is used to acquire the right lane outer line and the sorted right lane outer line of each road section on each expressway based on the lane edge line information. The right-side road outer line module is communicatively connected to the information acquisition module. It is used to cut the shape of the road outer line according to the road information associated with the road outer line information, so that each road outer line is associated with a road, and to acquire the right-side road outer line associated with each road. The road section association module is communicatively connected to the right lane outer line module and the right road outer line module, and is used to obtain the right road outer line associated with each road section of each road based on the right road outer line and the sorted right lane outer lines. The generation module is communicatively connected to the right lane outer line module and the road section association module, and is used to determine whether a high-speed emergency lane needs to be generated based on the right lane outer line and right road outer line associated with each road section of each road.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the high-precision map high-speed emergency lane generation method as described in any one of claims 1 to 8.

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