Zebra crossing generation method, device, electronic device and storage medium

Abstract

The present application relates to a method, device, electronic device and storage medium for generating zebra crossings. The method comprises: obtaining a first lane line and a second lane line on both sides of a zebra crossing area to be set; determining a zebra crossing box based on the first lane line and the second lane line; and drawing a zebra crossing in the zebra crossing box. The solution provided by the present application can conveniently and quickly generate a zebra crossing of a set size at a set position on a high-precision map, thereby improving the efficiency of generating zebra crossings on a high-precision map.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a zebra crossing generation method, device, electronic device and storage medium. Background Art

[0002] Nowadays, high-precision maps have been increasingly widely used in various scenarios. In the field of autonomous driving, zebra crossings are one of the important elements in high-precision maps.

[0003] In the related art, the method of generating zebra crossings mostly uses computer recognition and generation, and then generates zebra crossings through post-processing. This method has many problems: 1. The recognition effect is uncontrollable, and it is easy to have occlusion and incomplete recognition problems; 2. The generation efficiency is low. To generate a zebra crossing, the entire video needs to be run once. The reason why zebra crossings are needed in actual high-precision maps is just to display the zebra crossing area at the intersection. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related art, the present application provides a zebra crossing generation method, device, electronic device and storage medium, which can easily and quickly generate a zebra crossing of a set size at a set position on a high-precision map, thereby improving the efficiency of generating zebra crossings on a high-precision map.

[0005] A first aspect of the present application provides a zebra crossing generation method, the method comprising:

[0006] Get the first lane line and the second lane line on both sides of the zebra crossing area to be set;

[0007] Determine a zebra crossing box based on the first lane line and the second lane line;

[0008] A zebra crossing is drawn in the zebra crossing box.

[0009] In one embodiment, determining a zebra crossing frame based on the first lane line and the second lane line includes:

[0010] Acquire a first endpoint and a second endpoint on the first lane line, and acquire a third endpoint and a fourth endpoint on the second lane line;

[0011] According to the attribute information of the first endpoint, the second endpoint, the third endpoint and the fourth endpoint, and the set length of the first border of the zebra crossing box to be generated, a zebra crossing box is generated between the first lane line and the second lane line, wherein the zebra crossing box is composed of the first border, the second border, the third border and the fourth border, the first border is parallel to the first lane line and / or the second lane line, the second border is parallel to the line connecting the second endpoint and the fourth endpoint, the third border is parallel to the first border and the length is equal, and the fourth border is parallel to the second border and the length is equal.

[0012] A zebra crossing between the first lane line and the second lane line is generated in the zebra crossing box.

[0013] In one embodiment, generating a zebra crossing box between the first lane line and the second lane line according to the attribute information of the first endpoint, the second endpoint, the third endpoint and the fourth endpoint, and the set length of the first border of the zebra crossing box to be generated, includes:

[0014] According to the attribute information of the second endpoint and the fourth endpoint, obtaining the midpoint of the line connecting the second endpoint and the fourth endpoint;

[0015] Obtaining the center point of the zebra crossing box according to the midpoint of the line connecting the second endpoint and the fourth endpoint and the attribute information of the midpoint of the line;

[0016] The zebra crossing box is generated between the first lane line and the second lane line according to the center point of the zebra crossing box and the set length of the first border.

[0017] In one embodiment, obtaining the center point of the zebra crossing box according to the midpoint of the line connecting the second endpoint and the fourth endpoint includes:

[0018] Obtaining a first translation vector of a midpoint of a line connecting the second endpoint and the fourth endpoint according to the attribute information of the second endpoint, the third endpoint and the fourth endpoint;

[0019] The center point of the zebra crossing box is obtained according to the midpoint of the line connecting the second endpoint and the fourth endpoint and the first translation vector.

[0020] In one embodiment, generating the zebra crossing box between the first lane line and the second lane line according to the center point of the zebra crossing box and the set length of the first border includes:

[0021] Obtaining a second translation vector of the center point according to a set length of the first border;

[0022] Obtaining a midpoint of the second frame according to the center point and the second translation vector;

[0023] The zebra crossing box is generated between the first lane line and the second lane line according to the center point of the zebra crossing box, the midpoint of the second frame, and the set length of the first frame.

[0024] In one embodiment, generating the zebra crossing box between the first lane line and the second lane line according to the center point of the zebra crossing box, the midpoint of the second frame, and the set length of the first frame includes:

[0025] The set length of the zebra crossing is used as the set length of the first frame;

[0026] Obtaining a length of the second frame according to a first distance between the first frame and the first lane line, a second distance between the third frame and the second lane line, and a third distance between the second endpoint and the fourth endpoint;

[0027] The zebra crossing box is generated between the first lane line and the second lane line according to the center point of the zebra crossing box, the midpoint of the second frame, the set length of the first frame, and the length of the second frame.

[0028] In one embodiment, drawing a zebra crossing in the zebra crossing box and generating a zebra crossing between the first lane line and the second lane line in the zebra crossing box include:

[0029] A set color is rendered in the zebra crossing box to generate a zebra crossing between the first lane line and the second lane line.

[0030] A second aspect of the present application provides a zebra crossing generation device, the device comprising:

[0031] An acquisition module, used to acquire the first lane line and the second lane line on both sides of the zebra crossing area to be set;

[0032] A processing module, configured to determine a zebra crossing box based on the first lane line and the second lane line acquired by the acquisition module;

[0033] A generating module is used for drawing a zebra crossing in the zebra crossing box determined by the processing module.

[0034] A third aspect of the present application provides an electronic device, including:

[0035] Processor; and

[0036] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0037] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0038] The technical solution provided by this application may have the following beneficial effects:

[0039] The zebra crossing generation method of the present application obtains the first lane line and the second lane line on both sides of the zebra crossing area to be set; determines the zebra crossing box based on the first lane line and the second lane line; and draws the zebra crossing in the zebra crossing box. In this way, there is no need to identify the zebra crossing image, which greatly reduces the generation cost of the zebra crossing on the high-precision map, improves the display effect of the zebra crossing, can easily and quickly generate a zebra crossing of a set size at a set position on the high-precision map, improves the efficiency of generating zebra crossings on the high-precision map, and makes the rendering of the zebra crossing more convenient and beautiful.

[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail the exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0042] Figure 1 It is a flowchart of a zebra crossing generation method shown in an embodiment of the present application;

[0043] Figure 2 is another flow chart of the zebra crossing generation method shown in the embodiment of the present application;

[0044] Figure 3 is a scene schematic diagram of a zebra crossing generation method shown in an embodiment of the present application;

[0045] Figure 4 is another scenario schematic diagram of the zebra crossing generation method shown in an embodiment of the present application;

[0046] Figure 5 is a structural schematic diagram of a zebra crossing generation device shown in an embodiment of the present application;

[0047] Figure 6 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0049] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0050] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0051] At present, high-precision maps have been widely used in practical scenarios. For example, autonomous vehicles can use high-precision maps to perceive, locate, and make decisions about the environment. In some scenarios, high-precision maps can be combined with high-precision positioning, cloud computing and other related technologies to achieve monitoring, navigation, public transportation priority, and so on for special vehicles. Therefore, the higher the accuracy of high-precision maps and the greater the amount of information, the more accurate the support they can provide.

[0052] Zebra crossings are based on the original color of the lanes, with the lanes alternately divided by blocks of set colors, such as white, to form a crosswalk composed of white lines, which is mainly used for pedestrians to cross the road.

[0053] Nowadays, high-precision maps have been increasingly widely used in various scenarios. In the field of autonomous driving, zebra crossings are one of the important elements in high-precision maps. In related technologies, zebra crossings on high-precision maps are obtained by recognizing zebra crossing images. However, due to the influence of environmental factors such as line of sight occlusion, the recognition effect of zebra crossings is poor, and it is easy to have incomplete recognition and fail to obtain complete zebra crossings. The efficiency of generating zebra crossings on high-precision maps is low.

[0054] In view of the above problems, the embodiments of the present application provide a zebra crossing generation method, which can easily and quickly generate a zebra crossing of a set size at a set position on a high-precision map, thereby improving the efficiency of generating zebra crossings on a high-precision map. The rendering of zebra crossings is more convenient and beautiful. When a cartographer makes lane lines, he can use tools to generate a complete zebra crossing between lane lines (for example, by clicking a mouse).

[0055] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0056] Embodiment 1

[0057] Figure 1 It is a flow chart of a zebra crossing generation method shown in an embodiment of the present application.

[0058] See also Figure 1 , a zebra crossing generation method, comprising:

[0059] In S110, a first lane line and a second lane line on both sides of the zebra crossing area to be set are obtained.

[0060] In S120 , a zebra crossing box is determined based on the first lane line and the second lane line.

[0061] In S130 , a zebra crossing is drawn in the zebra crossing frame.

[0062] In one embodiment, a first lane line and a second lane line can be obtained through a high-precision map, a first endpoint and a second endpoint on the first lane line, a third endpoint and a fourth endpoint on the second lane line, and attribute information of the first endpoint, the second endpoint, the third endpoint, and the fourth endpoint can be obtained, and the attribute information of the endpoints may include longitude and latitude coordinates of the endpoints, wherein the distance between the first endpoint and the third endpoint and / or the distance between the second endpoint and the fourth endpoint is equal to the distance between the first lane line and the second lane line.

[0063] In one implementation, the first lane line and the second lane line may be boundary lines of the lanes, and the distance between the first lane line and the second lane line may be obtained through a high-precision map.

[0064] In one embodiment, a zebra crossing box is generated between a first lane line and a second lane line based on attribute information of a first endpoint, a second endpoint, a third endpoint, and a fourth endpoint, and a set length of a first border of the zebra crossing box to be generated, wherein the zebra crossing box is composed of a first border, a second border, a third border, and a fourth border, the first border is parallel to the first lane line and / or the second lane line, the second border is parallel to a line connecting the second endpoint and the fourth endpoint, the third border is parallel to the first border and has the same length, and the fourth border is parallel to the second border and has the same length.

[0065] In one embodiment, the distance between the first endpoint, the second endpoint, the third endpoint and the fourth endpoint can be obtained according to the latitude and longitude coordinates of the first endpoint, the second endpoint, the third endpoint and the fourth endpoint; the length of the second border of the zebra crossing box to be generated and the position of the zebra crossing box to be generated can be obtained according to the distance between the four endpoints and the set length of the first border of the zebra crossing box to be generated; a zebra crossing box consisting of the first border, the second border, the third border and the fourth border is generated at the position of the zebra crossing box to be generated, wherein the first border can be parallel to the first lane line and / or the second lane line, the second border can be parallel to the line connecting the second endpoint and the fourth endpoint, the third border can be parallel to the first border and have the same length, and the fourth border can be parallel to the second border and have the same length.

[0066] In one implementation, a zebra crossing between the first lane line and the second lane line may be generated in a zebra crossing frame using a color block having a set color and a set width and a length equal to a set length of the first border.

[0067] The zebra crossing generation method of the embodiment of the present application obtains the first lane line and the second lane line on both sides of the zebra crossing area to be set; determines the zebra crossing box based on the first lane line and the second lane line; and draws the zebra crossing in the zebra crossing box. In this way, there is no need to identify the zebra crossing image, which greatly reduces the generation cost of the zebra crossing on the high-precision map, improves the display effect of the zebra crossing, can easily and quickly generate a zebra crossing of a set size at a set position on the high-precision map, improves the efficiency of generating zebra crossings on the high-precision map, and makes the rendering of the zebra crossing more convenient and beautiful. When the cartographer is making the lane line, he can use the tool to click the mouse between the lane lines (for example, click the mouse) to generate a complete zebra crossing.

[0068] Embodiment 2

[0069] Figure 2 is another flow chart of the zebra crossing generation method shown in the embodiment of the present application; Figure 3 It is a scene schematic diagram of the zebra crossing generation method shown in an embodiment of the present application.

[0070] See also Figure 2 and Figure 3 , a zebra crossing generation method, comprising:

[0071] In S210, a first endpoint and a second endpoint are acquired on the first lane line, and a third endpoint and a fourth endpoint are acquired on the second lane line.

[0072] In one embodiment, Figure 3As shown, the boundary lines on both sides of the lane can be obtained through the high-precision map: the first lane line 301 and the second lane line 302, and the width of the lane is obtained; according to the width of the lane and the set length of the first frame of the zebra crossing box, the first endpoint A and the second endpoint B are obtained on the first lane line 301, the third endpoint C and the fourth endpoint D are obtained on the second lane line 302, and the attribute information of the first endpoint A, the second endpoint B, the third endpoint C and the fourth endpoint D are obtained, and the attribute information of the endpoints may include the longitude and latitude coordinates of the endpoints; wherein the second endpoint B and the fourth endpoint D may be the intersection of the lane stop line and the first lane line 301 and the second lane line 302, or the second endpoint B and the fourth endpoint D may be the end points of the first lane line 301 and the second lane line 302, the distance between the first endpoint A and the second endpoint B and / or the distance between the third endpoint C and the fourth endpoint D is greater than the set length of the first frame of the zebra crossing box, and the line connecting the first endpoint A and the third endpoint C may be perpendicular to the first lane line 301 and the second lane line 302, that is, the distance between the first endpoint A and the third endpoint C is equal to the width of the lane.

[0073] It should be noted that the first endpoint A and the second endpoint B on the first lane line 301 , and the third endpoint C and the fourth endpoint D on the second lane line 302 are acquired in no particular order.

[0074] Step S220: Obtain the midpoint of the line connecting the second endpoint and the fourth endpoint according to the attribute information of the second endpoint and the fourth endpoint.

[0075] In one implementation, the midpoint J of the line connecting the second endpoint B and the fourth endpoint D and the longitude and latitude coordinates of the midpoint J may be obtained according to the longitude and latitude coordinates of the second endpoint B and the fourth endpoint D.

[0076] Step S230, obtaining the center point of the zebra crossing frame according to the midpoint of the line connecting the second endpoint and the fourth endpoint and the attribute information of the midpoint of the line.

[0077] In one embodiment, the midpoint J of the line connecting the second endpoint B and the fourth endpoint D can be translated to obtain the center point O of the zebra crossing box. According to the attribute information of the second endpoint B, the third endpoint C and the fourth endpoint D, the first translation vector of the midpoint J of the line connecting the second endpoint B and the fourth endpoint D is obtained. According to the midpoint J of the line connecting the second endpoint B and the fourth endpoint D, the first translation vector Get the center point O of the zebra crossing box.

[0078] In one embodiment, the distance |BD| between the second endpoint B and the fourth endpoint D, the distance |BC| between the second endpoint B and the third endpoint C, and the distance |CD| between the third endpoint C and the fourth endpoint D can be obtained according to the latitude and longitude coordinates of the second endpoint B, the third endpoint C, and the fourth endpoint D. According to the distance |BD| between the second endpoint B and the fourth endpoint D, the distance |BC| between the second endpoint B and the third endpoint C, and the distance |CD| between the third endpoint C and the fourth endpoint D, the first translation vector is obtained. The amount of translation Translation First translation vector The translation direction can be opposite to or the same as the driving direction of the lane.

[0079] In one embodiment, the second endpoint B may be the end point of the first lane line 301, the fourth endpoint D may be the end point of the second lane line 302, and the first translation vector The translation direction can be the direction from the fourth endpoint D to the third endpoint C, or the direction from the second endpoint B to the first endpoint A, which is opposite to the driving direction of the lane.

[0080] Step S240, generating a zebra crossing frame between the first lane line and the second lane line according to the center point of the zebra crossing frame and the set length of the first border.

[0081] In one embodiment, the midpoint E of the second frame GH can be obtained by translating the center point O, and the second translation vector of the center point O can be obtained according to the set length of the first frame FG. According to the center point O, the second translation vector Obtain the midpoint E of the second frame GH; generate a zebra crossing frame FGHI between the first lane line AB and the second lane line CD according to the center point O of the zebra crossing frame FGHI, the midpoint E of the second frame GH, and the set length of the first frame FG.

[0082] In one embodiment, the second translation vector The amount of translation is half the set length of the first frame FG, and the second translation vector The translation direction is the same as the driving direction of the lane, and the second translation vector The translation direction and the first translation vector The translation direction is opposite to that of The midpoint E of the second frame GH and the longitude and latitude coordinates of the midpoint E are obtained by translation.

[0083] In one embodiment, the set length of the zebra crossing is used as the set length of the first frame FG; the length of the second frame GH of the zebra crossing box FGHI to be generated is obtained according to the first distance between the first frame FG and the first lane line 301, the second distance between the third frame HI and the second lane line 302, and the third distance between the second endpoint B and the fourth endpoint D; the zebra crossing box FGHI is generated between the first lane line AB and the second lane line CD according to the center point O of the zebra crossing box FGHI, the midpoint E of the second frame GH, the set length of the first frame FG, and the length of the second frame GH.

[0084] In one embodiment, the length of the second frame GH of the zebra crossing box FGHI to be generated can be obtained by subtracting the first distance between the first frame FG and the first lane line 301 and the second distance between the third frame HI and the second lane line 302 from the third distance between the second endpoint B and the fourth endpoint D. According to the center point O of the zebra crossing box FGHI, the midpoint E of the second frame GH, and the set length of the first frame FG and the length of the second frame GH, a zebra crossing box FGHI consisting of the first frame FG, the second frame GH, the third frame HI and the fourth frame IF is generated between the first lane line 301 and the second lane line 302, the first frame FG is parallel to the first lane line 301 and / or the second lane line 302, the second frame GH is parallel to the line connecting the second endpoint B and the fourth endpoint D, the third frame HI is parallel to the first frame FG and has the same length, and the fourth frame FI is parallel to the second frame GH and has the same length.

[0085] Step S250, rendering a set color in the zebra crossing box to generate a zebra crossing between the first lane line and the second lane line.

[0086] In one embodiment, a color block of a set color, such as a white color block, can be used, with a length equal to the length of the zebra crossing and a width equal to the set width of the zebra crossing. Figure 4 , the zebra crossing 401 is generated between the first lane line 301 and the second lane line 302 by alternately rendering in the zebra crossing box FGHI at a set distance. By rendering the set color in the zebra crossing box FGHI to generate the zebra crossing 401 between the first lane line 301 and the second lane line 302, the generated zebra crossing can be made more realistic.

[0087] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides a zebra crossing generation method device, electronic device and corresponding embodiments.

[0088] Figure 5 It is a schematic diagram of the structure of a zebra crossing generating device 50 shown in an embodiment of the present application.

[0089] See also Figure 5, a zebra crossing generating device 50 includes an acquiring module 510, a processing module 520, and a generating module 530.

[0090] The acquisition module 510 is used to acquire the first lane line and the second lane line on both sides of the zebra crossing area to be set.

[0091] The processing module 520 is used to determine the zebra crossing box based on the first lane line and the second lane line obtained by the obtaining module 520.

[0092] The generating module 530 is used to draw the zebra crossing within the zebra crossing box determined by the processing module 520 .

[0093] In one embodiment, the processing module 520 obtains the first endpoint and the second endpoint on the first lane line, and obtains the third endpoint and the fourth endpoint on the second lane line; obtains the midpoint of the line connecting the second endpoint and the fourth endpoint according to the attribute information of the second endpoint and the fourth endpoint; obtains the first translation vector of the midpoint of the line connecting the second endpoint and the fourth endpoint according to the attribute information of the second endpoint, the third endpoint and the fourth endpoint; obtains the center point of the zebra crossing box according to the midpoint of the line connecting the second endpoint and the fourth endpoint and the first translation vector; obtains the second translation vector of the center point according to the set length of the first frame; obtains the midpoint of the second frame according to the center point and the second translation vector; takes the set length of the zebra crossing as the set length of the first frame; obtains the length of the second frame of the zebra crossing box to be generated according to the first distance between the first frame and the first lane line, the second distance between the third frame and the second lane line, and the third distance between the second endpoint and the fourth endpoint; generates the zebra crossing box between the first lane line and the second lane line according to the center point of the zebra crossing box, the midpoint of the second frame, the set length of the first frame, and the length of the second frame.

[0094] In one embodiment, the generation module 530 can render a set color in the zebra crossing box to generate a zebra crossing between the first lane line and the second lane line.

[0095] The technical solution of the embodiment of the present application is to obtain the first lane line and the second lane line on both sides of the zebra crossing area to be set; determine the zebra crossing box based on the first lane line and the second lane line; and draw the zebra crossing in the zebra crossing box. In this way, there is no need to identify the zebra crossing image, which greatly reduces the generation cost of zebra crossings on high-precision maps, improves the display effect of zebra crossings, and can easily and quickly generate zebra crossings of a set size at a set position on the high-precision map, improves the efficiency of generating zebra crossings on high-precision maps, and is easy to render and beautiful. When the cartographer is making lane lines, a complete zebra crossing can be generated by clicking the tool with the mouse.

[0096] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0097] Figure 6 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0098] See also Figure 6 , the electronic device 600 includes a memory 610 and a processor 620 .

[0099] The processor 620 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0100] The memory 610 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 620 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 610 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 610 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0101] The memory 610 stores executable codes, and when the executable codes are processed by the processor 620 , the processor 620 can execute part or all of the above-mentioned methods.

[0102] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0103] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0104] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A zebra crossing generation method, characterized in that: include: Get the first lane line and the second lane line on both sides of the zebra crossing area to be set; Determine a zebra crossing box based on the first lane line and the second lane line; Wherein, it includes: obtaining a first endpoint and a second endpoint on the first lane line, and obtaining a third endpoint and a fourth endpoint on the second lane line; generating a zebra crossing box between the first lane line and the second lane line according to the attribute information of the first endpoint, the second endpoint, the third endpoint and the fourth endpoint, and the set length of the first border of the zebra crossing box to be generated, wherein the zebra crossing box is composed of the first border, the second border, the third border and the fourth border, the first border is parallel to the first lane line and / or the second lane line, the second border is parallel to the line connecting the second endpoint and the fourth endpoint, the third border is parallel to the first border and the length is equal, and the fourth border is parallel to the second border and the length is equal; A zebra crossing is drawn in the zebra crossing box.

2. The method according to claim 1, characterized in that The step of generating a zebra crossing box between the first lane line and the second lane line according to the attribute information of the first endpoint, the second endpoint, the third endpoint, and the fourth endpoint, and the set length of the first border of the zebra crossing box to be generated, comprises: According to the attribute information of the second endpoint and the fourth endpoint, obtaining the midpoint of the line connecting the second endpoint and the fourth endpoint; Obtaining the center point of the zebra crossing box according to the midpoint of the line connecting the second endpoint and the fourth endpoint and the attribute information of the midpoint of the line; The zebra crossing box is generated between the first lane line and the second lane line according to the center point of the zebra crossing box and the set length of the first border.

3. The method according to claim 2, characterized in that The step of obtaining the center point of the zebra crossing frame according to the midpoint of the line connecting the second endpoint and the fourth endpoint comprises: Obtaining a first translation vector of a midpoint of a line connecting the second endpoint and the fourth endpoint according to the attribute information of the second endpoint, the third endpoint and the fourth endpoint; The center point of the zebra crossing box is obtained according to the midpoint of the line connecting the second endpoint and the fourth endpoint and the first translation vector.

4. The method according to claim 3, characterized in that Generating the zebra crossing box between the first lane line and the second lane line according to the center point of the zebra crossing box and the set length of the first border includes: Obtaining a second translation vector of the center point according to a set length of the first border; Obtaining a midpoint of the second frame according to the center point and the second translation vector; The zebra crossing box is generated between the first lane line and the second lane line according to the center point of the zebra crossing box, the midpoint of the second frame, and the set length of the first frame.

5. The method according to claim 4, characterized in that Generating the zebra crossing box between the first lane line and the second lane line according to the center point of the zebra crossing box, the midpoint of the second frame, and the set length of the first frame includes: The set length of the zebra crossing is used as the set length of the first frame; Obtaining a length of the second frame according to a first distance between the first frame and the first lane line, a second distance between the third frame and the second lane line, and a third distance between the second endpoint and the fourth endpoint; The zebra crossing box is generated between the first lane line and the second lane line according to the center point of the zebra crossing box, the midpoint of the second frame, the set length of the first frame, and the length of the second frame.

6. The method according to claim 1, characterized in that Drawing a zebra crossing in the zebra crossing box includes: The zebra crossing frame is rendered with a set color to generate a zebra crossing between the first lane line and the second lane line.

7. A zebra crossing generation device, characterized in that: include: An acquisition module, used to acquire the first lane line and the second lane line on both sides of the zebra crossing area to be set; A processing module, configured to determine a zebra crossing box based on the first lane line and the second lane line acquired by the acquisition module; Wherein, it includes: obtaining a first endpoint and a second endpoint on the first lane line, and obtaining a third endpoint and a fourth endpoint on the second lane line; generating a zebra crossing box between the first lane line and the second lane line according to the attribute information of the first endpoint, the second endpoint, the third endpoint and the fourth endpoint, and the set length of the first border of the zebra crossing box to be generated, wherein the zebra crossing box is composed of the first border, the second border, the third border and the fourth border, the first border is parallel to the first lane line and / or the second lane line, the second border is parallel to the line connecting the second endpoint and the fourth endpoint, the third border is parallel to the first border and the length is equal, and the fourth border is parallel to the second border and the length is equal; A generating module is used for drawing a zebra crossing in the zebra crossing box determined by the processing module.

8. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: An executable code is stored thereon, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as claimed in any one of claims 1 to 6.

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