Method, device, medium and equipment for automatically processing intersection lane conflict types

Abstract

The present application discloses a method, device, medium, equipment and computer program product for automatically processing intersection lane conflict types, and belongs to the field of high-precision map technology. The method mainly includes: using high-precision maps to determine the intersection of roads and obtain the lanes in the intersection corresponding to the intersection; screening at least one group of conflicting lanes from the lanes in the intersection according to lane attributes and lane geometry information; obtaining the lane turning information of the conflicting lanes according to the allowed direction of passage corresponding to the conflicting lanes; judging the conflict type of the conflicting lanes according to the lane turning information of a group of conflicting lanes and the terminal position of a group of conflicting lanes. The present application can realize the automatic processing of intersection lane conflict types, reduce labor costs, and at the same time improve the quality and efficiency of the vectorization production of intersection lane conflict types, further ensuring the accuracy and correctness of intersection conflict types.

Description

Technical Field

[0001] The present application relates to the field of high-precision map technology, and in particular to a method, device, storage medium, equipment and computer program product for automatically processing intersection lane conflict types. Background Art

[0002] Road intersections are nodes where traffic flows are converted and converged during transportation. When the traffic volume at a road intersection is large, there is a risk of conflict between motor vehicles flowing in different directions. In autonomous driving, the intersection lane conflict type information of high-precision maps plays a relatively important role in the way autonomous vehicles deal with intersection conflict scenarios. Clear lane conflict types can help autonomous vehicles predict the location of conflicting vehicles and enable autonomous vehicles to plan control paths in advance, thereby reducing or eliminating related safety hazards to a certain extent.

[0003] At present, the lane conflict types of intersections in high-precision maps are mainly judged by artificially using information such as intersection lane geometry, lane turning information, and lane association, and the conflict types of lanes in the intersection are obtained. However, the traffic scenes at intersections are complex and the amount of data is large. When using artificial judgment of complex information, there are problems such as difficulty in manually judging lane conflict types, difficulty in ensuring data quality, and low data production efficiency due to manual mechanical repetitive operations to generate conflict type attributes. Summary of the invention

[0004] In view of the problems of low efficiency and unstable data quality in the manual determination of lane conflict types in the prior art, the present application mainly provides a method, device, storage medium, equipment and computer program product for automatic processing of intersection lane conflict types.

[0005] In order to achieve the above-mentioned purpose, a technical solution adopted in the present application is: to provide a method for automatically processing intersection lane conflict types, which includes: using a high-precision map to determine the intersection of the road and obtain the lanes in the intersection corresponding to the intersection; screening at least one group of conflicting lanes from the lanes in the intersection according to lane attributes and lane geometry information, wherein the lane attributes include the starting position of the lane, and the lane geometry information includes the intersection of the running trajectories corresponding to the lanes; according to the allowed travel direction corresponding to the conflicting lane, the lane turning information of the conflicting lane is obtained; according to the lane turning information of a group of conflicting lanes and the end position of a group of conflicting lanes, the conflict type of the conflicting lanes is judged.

[0006] Optionally, a high-precision map is used to determine the intersection of the road and obtain the intra-intersection lane corresponding to the intersection, including: using the high-precision map to obtain the reference line number of the road; based on the reference line number, filtering the intra-intersection lanes in the same intersection from a database of the high-precision map; wherein, under the condition that the reference line numbers corresponding to the lanes are the same, the lanes are intra-intersection lanes in the same intersection.

[0007] Optionally, at least one group of conflicting lanes is screened from the lanes in the intersection according to lane attributes and lane geometry information, including: if the starting positions of two lanes in the intersection are different and the corresponding running trajectories of the lanes in the intersection intersect, then the two lanes in the intersection are a group of conflicting lanes.

[0008] Optionally, lane turning information of the conflicting lane is obtained based on the allowed direction of travel corresponding to the conflicting lane, including: when the allowed direction of travel corresponding to the conflicting lane is a single direction, the lane turning of the conflicting lane is consistent with the allowed direction of travel; when the allowed direction of travel corresponding to the conflicting lane is not a single direction, the lane turning of the conflicting lane is obtained based on the allowed direction of travel of the conflicting lane and the relative position between the conflicting lane and the entry lane corresponding to the conflicting lane; wherein, when the allowed direction of travel corresponding to the conflicting lane is not a single direction, the lane turning of the conflicting lane is obtained based on the allowed direction of travel of the conflicting lane and the relative position between the conflicting lane and the entry lane corresponding to the conflicting lane, including: obtaining the lane turning of the conflicting lane based on the relative left-right position between the conflicting lane and the entry lane, and the allowed direction of travel corresponding to the conflicting lane, wherein the relative left-right position uses the actual driving direction of the conflicting lane as a reference.

[0009] Optionally, the conflict type of the conflict lanes is determined based on the lane turning information of a group of conflict lanes and the end positions of a group of conflict lanes, including: when the end positions of a group of conflict lanes are the same, the conflict type of the conflict lanes is a lane merging conflict type; when the lane turns of a group of conflict lanes are all straight or all left turns, the conflict type of the conflict lanes is a non-opposite lane conflict type; and when the lane turns of a group of conflict lanes are left turns and right turns, the conflict type of the conflict lanes is an opposite lane conflict type.

[0010] Optionally, the conflict type of the conflict lanes is determined based on lane turning information of a group of conflict lanes and the terminal positions of a group of conflict lanes, including: when the lane turns of a group of conflict lanes are left turn and straight going, the conflict type of the conflict lanes is determined based on the relationship between the difference between a first angle composed of an entry lane corresponding to the left-turn conflict lane and a predetermined direction and a second angle composed of an entry lane corresponding to the straight-ahead conflict lane and the predetermined direction, and a predetermined angle range; wherein, the conflict type of the conflict lanes is determined based on the relationship between the difference between the first angle composed of an entry lane corresponding to the left-turn conflict lane and the predetermined direction and a second angle composed of an entry lane corresponding to the straight-ahead conflict lane and the predetermined direction, and a predetermined angle range, including: when the absolute value of the difference is within the predetermined angle range, the conflict type of the conflict lane is an opposite-oncoming lane conflict type; and, when the absolute value of the difference is outside the predetermined angle range, the conflict type of the conflict lane is a non-opposite-oncoming lane conflict type.

[0011] Another technical solution adopted in the present application is: to provide an automatic processing device for intersection lane conflict types, which includes: an intersection lane screening module, which is used to use a high-precision map to determine the intersection of the road and obtain the intersection lanes corresponding to the intersection; a conflict lane screening module, which is used to filter at least one group of conflict lanes from the lanes in the intersection according to lane attributes and lane geometry information, wherein the lane attributes include the starting position of the lane, and the lane geometry information includes the intersection of the running trajectories corresponding to the lanes; a lane turning information confirmation module, which is used to obtain the lane turning information of the conflict lane according to the allowed travel direction corresponding to the conflict lane; a conflict type confirmation module, which is used to determine the conflict type of the conflict lane according to the lane turning information of a group of conflict lanes and the end position of a group of conflict lanes.

[0012] Optionally, the intra-intersection lane screening module includes a screening module 1, which is used to use a high-precision map to obtain a reference line number of the road; based on the reference line number, the intra-intersection lanes within the same intersection are screened from a database of the high-precision map; wherein, under the condition that the reference line numbers corresponding to the lanes are the same, the lanes are intra-intersection lanes within the same intersection.

[0013] Optionally, the conflict lane screening module includes a screening module 2, which is used to determine that if the starting positions of the two lanes in the intersection are different and the running trajectories corresponding to the lanes intersect, then the two lanes in the intersection are a group of conflict lanes.

[0014] Optionally, the lane turning information confirmation module includes a confirmation module 1, which is used to ensure that the lane turning of the conflict lane is consistent with the allowed direction of passage when the allowed direction of passage corresponding to the conflict lane is a single direction; when the allowed direction of passage corresponding to the conflict lane is not a single direction, the lane turning of the conflict lane is obtained according to the allowed direction of passage of the conflict lane and the relative position between the conflict lane and the entry lane corresponding to the conflict lane.

[0015] Optionally, the lane turning information confirmation module includes a confirmation module 2, which is used to obtain the lane turning of the conflicting lane based on the relative left and right positions between the conflicting lane and the entering lane, and the allowed direction of travel corresponding to the conflicting lane, wherein the relative left and right positions use the actual driving direction of the conflicting lane as a reference.

[0016] Optionally, the conflict type confirmation module includes a first module, which is used to, when the end positions of a group of conflicting lanes are the same, the conflict type of the conflicting lanes is a lane merging conflict type; when the lane turns of a group of conflicting lanes are all straight or all left turns, the conflict type of the conflicting lanes is a non-opposite lane conflict type; and when the lane turns of a group of conflicting lanes are left turns and right turns, the conflict type of the conflicting lanes is an opposite lane conflict type.

[0017] Optionally, the conflict type confirmation module includes a second module, which is used to determine the conflict type of the conflict lanes based on the relationship between the difference between a first angle formed by an entry lane corresponding to the left-turn conflict lane and a predetermined direction and a second angle formed by an entry lane corresponding to the straight-ahead conflict lane and the predetermined direction, and a predetermined angle range when the lane turns of a group of conflict lanes are left turns and straight driving.

[0018] Optionally, the conflict type confirmation module includes a third module, which is used to determine that the conflict type of the conflict lane is an opposite lane conflict type when the absolute value of the difference is within a predetermined angle range; and, when the absolute value of the difference is outside the predetermined angle range, the conflict type of the conflict lane is a non-opposite lane conflict type.

[0019] Another technical solution adopted by the present application is: providing a computer-readable storage medium storing a computer program / instruction, which is operated to execute the automatic processing method of intersection lane conflict type in solution one.

[0020] Another technical solution adopted in the present application is: to provide a computer device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores computer instructions that can be executed by the at least one processor, and the at least one processor operates the computer instructions to execute the automatic processing method of intersection lane conflict types in solution one.

[0021] Another technical solution adopted by the present application is: to provide a computer program product, including a computer program / instruction, which, when executed by a processor, implements the method for automatically handling intersection lane conflict types in solution one.

[0022] The technical solution of this application can achieve the beneficial effect of: being able to realize the automatic processing of intersection lane conflict types, reducing labor costs and manual participation. By improving the process flow and automatic identification of road conflict types, the quality and efficiency of the vectorization production of intersection lane conflict types are improved, and the accuracy and correctness of intersection conflict types are further guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 It is a schematic diagram of a specific implementation method of an intersection lane conflict type automatic processing method of the present application;

[0025] Figure 2 It is a schematic diagram of a specific calculation process of an automatic processing method for intersection lane conflict types of the present application;

[0026] Figure 3 It is a schematic diagram of an intersection and lanes in an intersection in an automatic processing method of intersection lane conflict type of the present application;

[0027] Figure 4 It is a schematic diagram of conflicting lanes in a method for automatically handling intersection lane conflict types in the present application;

[0028] Figure 5 It is a schematic diagram of lane turning information of an automatic processing method of intersection lane conflict type in the present application;

[0029] Figure 6 It is a schematic diagram of a merging conflict type of an intersection lane conflict type automatic processing method of the present application;

[0030] Figure 7-1 It is a schematic diagram of a crossing conflict type when driving straight in an automatic processing method of a lane conflict type at an intersection of the present application;

[0031] Figure 7-2 It is a schematic diagram of a crossing conflict type when turning in an automatic processing method of a lane conflict type at an intersection of the present application;

[0032] Figure 8 It is a schematic diagram of an Oncoming conflict type of an automatic processing method for intersection lane conflict types of the present application;

[0033] Fig. 9 It is a schematic diagram of angle calculation of an automatic processing method for intersection lane conflict types in the present application;

[0034] Fig.10 It is a schematic diagram of a specific implementation of a device for automatically handling intersection lane conflict types in the present application.

[0035] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present application are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present application can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present application.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0038] The method provided in this application is applicable to the scenario of: vectorization production of lane conflict types at intersections on high-precision maps.

[0039] The inventive concept of this application is: This application proposes an automatic batch processing method for lane conflict types at intersections based on high-precision maps. That is, based on information such as lane geometry attributes, lane connectivity, and the relationship between lanes and allowed directions of travel in high-precision maps, according to preset principles, lane conflict types in intersections are fully automatically identified and processed without manual intervention.

[0040] Glossary: ​​1. Intersection: An intersection is a place where two or more roads intersect on the same plane. The roads here include city streets, alleys, lanes (except for alleys and lanes that intersect only with the sidewalks on both sides of city streets) and highways. Usually, the area within the stop line of the road is the intersection area, and the corresponding lanes within this area are the lanes within the intersection.

[0041] 2. MERGING conflict type: different oncoming lanes merge into the same lane, which is the lane merging conflict type; CROSSING conflict type: non-opposite oncoming lanes, that is, adjacent oncoming lanes conflict and cross; ONCOMING conflict type: opposite oncoming lanes, that is, non-adjacent oncoming lanes conflict and cross.

[0042] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in other embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0043] Figure 1 An implementation of a method for automatically handling intersection lane conflict types according to the present application is shown.

[0044] Figure 1 The method for automatically processing intersection lane conflict types shown includes: step S101, using a high-precision map, determining the intersection of the road and obtaining the lanes in the intersection corresponding to the intersection;

[0045] Step S102, selecting at least one group of conflicting lanes from lanes in the intersection according to lane attributes and lane geometry information, wherein the lane attributes include the starting position of the lane, and the lane geometry information includes the intersection of the running tracks corresponding to the lanes;

[0046] Step S103, obtaining lane turning information of the conflicting lane according to the allowed travel direction corresponding to the conflicting lane;

[0047] Step S104, judging the conflict type of the conflicting lanes according to the lane turning information of a group of conflicting lanes and the end positions of a group of conflicting lanes.

[0048] This specific implementation method can realize the automatic processing of intersection lane conflict types, reduce labor costs and manual participation. By improving the process flow and automatic identification of road conflict types, the quality and efficiency of the vectorization of intersection lane conflict types are improved, and the accuracy and correctness of intersection conflict types are further guaranteed.

[0049] Specifically, Figure 2, obtain lane data in the high-precision map and classify the lane data according to the lane name, lane number, intersection name, intersection number and reference line number of the lane, and obtain the lanes in the same intersection. According to the starting position of the lane and whether there may be an intersection between lanes, one or more conflicting lanes are screened from the lanes in the intersection, where the same conflicting lane can form a conflicting lane group with multiple other conflicting lanes. According to the allowed travel directions corresponding to at least two conflicting lanes, the corresponding lane turning information of the two conflicting lanes is obtained. After obtaining the turning direction corresponding to the conflicting lane, first determine whether the estimated entry lanes of the two conflicting lanes are the same lane. When the estimated entry lanes of the two conflicting lanes are the same lane, the conflict type of the two conflicting lanes is a merging type conflict. When the estimated entry lanes of the two conflicting lanes are different lanes, the lane conflict type of the two lanes is further determined according to the lane turning directions of the two conflicting lanes. The reference line here refers to one or more lanes. When they are on the same road surface and the allowed travel directions are the same, their reference line numbers are the same, that is, one intersection reference line number can contain multiple lanes, and the reference line number can reflect the information of the intersection corresponding to the road.

[0050] exist Figure 1 In the illustrated embodiment, the method for automatically processing intersection lane conflict types includes step S101, using a high-precision map to determine the intersection of the road and obtain the lanes in the intersection corresponding to the intersection. This step can accurately divide the lanes of the intersection so as to obtain more accurate information about the road at the intersection.

[0051] Specifically, first determine the intersection corresponding to the intersection, that is, determine the scope of the intersection, and then determine all lanes corresponding to the intersection, which are the lanes within the intersection. Figure 3 As shown, the lanes within the intersection of the intersection are lanes numbered 1-16.

[0052] For example, Figure 3 The intersection includes a north-facing intersection, a south-facing intersection, a west-facing intersection and an east-facing intersection. When determining the intersection to which these four intersections belong, the lanes corresponding to these four intersections are determined according to the reference line numbers. For example, the intersection corresponds to lanes numbered 1-16.

[0053] In a specific embodiment of the present application, step S101 includes using a high-precision map to obtain a reference line number of the road; based on the reference line number, filtering out intra-intersection lanes within the same intersection from a database of the high-precision map; wherein, under the condition that the reference line numbers corresponding to the lanes are the same, the lanes are intra-intersection lanes within the same intersection.

[0054] Specifically, a high-precision map is used to obtain the content in Table 1, and whether the lanes are at the same intersection is determined based on the reference line numbers in Table 1, that is, when the reference line numbers are the same, the intersections corresponding to the lanes are the same intersection.

[0055] Table 1 Lane record table

[0056]

[0057]

[0058] The reference line numbers in Table 1 reflect information about the intersection in the form shown in Table 2.

[0059] Table 2 Intersection record table

[0060] Field Name Field Code Data Types Range and Description default value Intersection Number INTERSECTION_PID INTEGER(8) Primary Key Not empty Intersection Name INTERSECTION_NAME TEXT(255) Not empty Reference line number LINK_PID INTEGER(8) Foreign Keys

[0061] exist Figure 1 In the specific implementation shown, the method for automatically processing intersection lane conflict types also includes step S102, screening at least one group of conflicting lanes from the lanes in the intersection according to lane attributes and lane geometry information, wherein the lane attributes include the starting position of the lane, and the lane geometry information includes the intersection of the running tracks corresponding to the lanes. This step can automatically screen out lanes that do not conflict with each other in the lanes in the intersection through the road attributes and geometry attributes of the lanes, so as to facilitate further judgment of the conflict types of the conflicting lanes in the future, without manual intervention and judgment, and can achieve rapid screening of a larger amount of data, which is the basis for improving the judgment efficiency of the conflict type.

[0062] Specifically, according to the travel direction allowed by the lane in the intersection, the running trajectory that can be traveled in the lane in the intersection is estimated, and the lanes in the intersection where the driving trajectory intersects in the lane in the intersection are traversed, and according to the lane attributes such as the starting position and the ending position of the lane in the intersection, it is determined whether the lane in the intersection where the trajectory intersects is a conflict lane.

[0063] In a specific embodiment of the present application, step S102 includes: if the starting positions of the two lanes in the intersection are different and the running trajectories corresponding to the lanes intersect, then the two lanes in the intersection are a group of conflicting lanes.

[0064] Specifically, according to the starting position of the lane and the running trajectory corresponding to the lane, the following can be obtained: Figure 4 The running trajectory diagram of lanes in different intersections. Figure 4 In 4-1, the running trajectories corresponding to the lanes do not intersect, so the lanes in the intersection corresponding to these two running trajectories are not a set of conflicting lanes. Figure 4In 4-2, although the running trajectories corresponding to the lanes intersect, the starting positions of the lanes corresponding to the two running trajectories are the same, and the lanes in the intersection corresponding to the two running trajectories are not a set of conflicting lanes. In 4-3, 4-4 and 4-5, the running trajectories corresponding to the lanes intersect and the starting positions of the lanes corresponding to the two running trajectories are different. Therefore, the lanes in the intersection corresponding to these three sets of running trajectories are a corresponding set of conflicting lanes. Figure 4 The running trajectory, lane starting position and lane ending position corresponding to the lanes are only exemplary. In the actual judgment process, the geometric relationship and positional relationship between the lanes can also have other forms of expression, and this application does not make further limitations on this.

[0065] exist Figure 1 In the specific implementation shown, the method for automatically processing intersection lane conflict types also includes step S103, obtaining lane turning information of the conflict lane according to the allowed travel direction corresponding to the conflict lane. This step can ensure the comprehensiveness of the conflict lane information by further obtaining the lane information of the conflict lane, can more accurately judge the conflict type between the conflict lanes, avoid misjudgment, and improve the data quality of the conflict type between the conflict lanes.

[0066] Specifically, the allowed directions of the conflicting lane include going straight, turning left, turning right and U-turn. The allowed directions of the conflicting lane can be obtained through the association between the lane and the lane direction mark, wherein the lane direction mark includes the lane's direction of travel arrow. The turning direction of a lane refers to the direction of travel of the vehicle when the vehicle is driving on the lane, leaves the lane, enters the intersection and re-enters a new lane. The present application calculates the turning direction of the conflicting lane by obtaining the allowed direction of travel of the conflicting lane. The lane direction mark of the lane is shown in Table 3.

[0067] Table 3 Lane association record table

[0068]

[0069]

[0070] In a specific embodiment of the present application, step S103 includes, when the allowed direction of passage corresponding to the conflicting lane is a single direction, the lane turning of the conflicting lane is consistent with the allowed direction of passage; when the allowed direction of passage corresponding to the conflicting lane is not a single direction, the lane turning of the conflicting lane is obtained according to the allowed direction of passage of the conflicting lane and the relative position between the conflicting lane and the entry lane corresponding to the conflicting lane.

[0071] Furthermore, according to the relative left-right position between the conflict lane and the entry lane, and the allowed travel direction corresponding to the conflict lane, the lane turning of the conflict lane is obtained, wherein the relative left-right position uses the actual travel direction of the conflict lane as a reference.

[0072] Specifically, when the allowed direction of travel corresponding to the conflicting lane is a single direction, that is, the conflicting lane can only allow travel in one direction instead of multiple directions, the lane turning direction of the conflicting lane is consistent with the allowed direction of travel. For example, when the allowed direction of travel of the conflicting lane is straight ahead, the lane turning direction of the conflicting lane can only be straight ahead.

[0073] When the allowed direction of travel corresponding to the conflicting lane is not a single direction, the lane turning of the conflicting lane is obtained according to the connection relationship between the lanes, the allowed directions of travel of at least two conflicting lanes, and the relative position between the conflicting lane and the entry lane corresponding to the conflicting lane. When the vehicle is driving, the two different lanes it drives through at the intersection are the two connected lanes. When performing actual calculations, the connection relationship between the lanes can be recorded in Table 4.

[0074] Table 4 Lane connectivity record table

[0075]

[0076]

[0077] by Figure 5 For example, when going straight, Figure 5 As shown in the trajectory 1 in the figure, the lane to enter is lane 3 and the lane to exit is lane 2. Figure 5 As shown in trajectory 2 in , the entering lane is lane 4 and the exit lane is lane 1.

[0078] According to the allowed direction of travel of the conflicting lane and the relative position between the conflicting lane and the entry lane corresponding to the conflicting lane, the specific processing procedure for lane turning of the conflicting lane is obtained as follows: according to the arrow type of the exit lane, that is, the allowed direction of travel and the number of exit lanes corresponding to the entry lane, a value is assigned to the conflicting lane, that is, the predicted running trajectory of the conflicting lane corresponding to the exit lane is determined.

[0079] For example, when the permitted direction of the exit lane is straight ahead or right turn, at this time, if the entry lane is on the left side of the exit lane, the lane turning direction of the entry lane is straight ahead, and if the entry lane is on the right side of the exit lane, the lane turning direction of the entry lane is right turn; when the permitted direction of the exit lane is straight ahead or left turn, at this time, if the entry lane is on the left side of the exit lane, the lane turning direction of the entry lane is left turn, and if the entry lane is on the right side of the exit lane, the lane turning direction of the entry lane is straight ahead; when the permitted direction of the exit lane is left turn or right turn, if the entry lane is on the left side of the exit lane, the lane turning direction of the entry lane is left turn, and if the entry lane is on the right side of the exit lane, the lane turning direction of the entry lane is straight ahead. If the entry lane is on the left side of the exit lane, the lane turning direction of the entry lane is a left turn, and if the entry lane is on the right side of the exit lane, it is assigned a right turn; when the permitted direction of the exit lane is straight ahead or a U-turn, if the entry lane is on the left side of the exit lane, the lane turning direction of the entry lane is a left turn, and if the entry lane is on the right side of the exit lane, the lane turning direction of the entry lane is a right turn; when the permitted direction of the exit lane is a left turn or a U-turn, if the entry lane is on the left side of the exit lane, the lane turning direction of the entry lane is a U-turn, and if the entry lane is on the right side of the exit lane, the lane turning direction of the entry lane is a left turn. Among them, when judging the left-right relationship between the exit lane and the entry lane, the actual driving direction corresponding to the exit lane is used as a reference to judge the relative positions of the left and right sides. The actual running direction referred to here refers to the direction of the vehicle in the intersection when it leaves the exit lane and enters the proceeding lane. For example Figure 5 The exit lane corresponding to trajectory 4 in , whose allowed running direction is left turn or U-turn, at this time, whether it is to turn left or U-turn, it is within the intersection (i.e. Figure 5 The direction of the exit lane (as defined by the range in the legend 5) should be westward first. At this time, the actual running direction of the exit lane corresponding to trajectory 4 is westward, so the U-turn is at its relative left position, and the left turn is at its relative right position.

[0080] Finally, the calculated lane turning direction of the conflicting lane is recorded in the lane turning type recording table shown in Table 5, so as to facilitate the subsequent judgment of the conflict type of the conflicting lane according to the lane turning direction of the conflicting lane in Table 5.

[0081] Table 5 Lane turning type record table

[0082]

[0083] exist Figure 1In the specific implementation shown, the method for automatically processing intersection lane conflict types also includes step S104, judging the conflict type of the conflict lanes according to the lane turning information of a group of conflict lanes and the end position of a group of conflict lanes. This step improves the quality and efficiency of the vectorization production of intersection lane conflict types by comprehensively batch processing multiple high-precision map elements that have been vectorized and further improving and improving the process flow of intersection lane conflict type production, ensuring the accuracy and correctness of the intersection conflict type of the high-precision map, and achieving the purpose of transforming from full manual operation to full automatic batch processing to calculate the intersection lane conflict type.

[0084] In a specific embodiment of the present application, step S104 includes: when the end positions of a group of conflicting lanes are the same, the conflict type of the conflicting lanes is a lane merging conflict type; when the lane turns of a group of conflicting lanes are all straight or all left turns, the conflict type of the conflicting lanes is a non-opposite lane conflict type; and when the lane turns of a group of conflicting lanes are left turns and right turns, the conflict type of the conflicting lanes is an opposite lane conflict type.

[0085] Specifically, Figure 6 , when the end points of the lanes in the intersection are the same, it is not necessary to consider the turning direction of the lanes, and it can be directly judged as a merging conflict type (Merging). In real life, this type of conflict may occur when the lane turning information of one conflicting lane in a group of conflicting lanes is straight and the lane turning information of the other conflicting lane is right turn. It can also occur when the lane turning information of one conflicting lane in a group of conflicting lanes is left turn and the lane turning information of the other conflicting lane is U-turn. Figure 7-1 , when the lane turning information of one conflicting lane in a group of conflicting lanes is going straight, and the lane turning information of the other conflicting lane is also going straight, the conflict type of this group of conflicting lanes is non-opposite lane conflict type (Crossing). Figure 7-2 , when the lane turning information of one conflicting lane in a group of conflicting lanes is a left turn, and the lane turning information of another conflicting lane is also a left turn, the conflict type of this group of conflicting lanes is also a non-opposite lane conflict type (Crossing). Figure 8 When the lane turning information of one conflicting lane in a group of conflicting lanes is a left turn, and the lane turning information of another conflicting lane is a right turn, the conflict type of the group of conflicting lanes is also an opposite oncoming lane conflict type (Oncoming).

[0086] In a specific embodiment of the present application, step S104 includes, when a group of conflicting lanes have lane turns of left turn and straight going, judging the conflict type of the conflicting lanes according to the relationship between the difference between a first angle formed by an entry lane corresponding to the left turn conflicting lane and a predetermined direction and a second angle formed by an entry lane corresponding to the straight conflicting lane and the predetermined direction, and a predetermined angle range.

[0087] Further, when the absolute value of the difference is within a predetermined angle range, the conflict type of the conflict lane is an opposite lane conflict type; and when the absolute value of the difference is outside the predetermined angle range, the conflict type of the conflict lane is a non-opposite lane conflict type.

[0088] Specifically, Figure 8 , when one of the conflicting lanes in a group of conflicting lanes turns left and the other conflicting lane turns straight, first, it is necessary to calculate the lane angles α and β between the lane directions of the entry lanes corresponding to the two conflicting lanes and the predetermined direction. The predetermined direction can be due north, due south, etc. The lane direction of the entry lane is obtained by connecting the last two shape points in the geometric points representing the entry lane. Then the absolute value of the difference between α and β is calculated, and the calculated result is compared with the predetermined range. When the absolute value of the difference is within the predetermined angle range, the conflict type of the conflicting lane is the conflict type of the opposite lane; when the absolute value of the difference is outside the predetermined angle range, the conflict type of the conflicting lane is the conflict type of the non-opposite lane. Among them, the predetermined angle range is obtained and adjusted according to the actual road conditions. Because many intersections in actual roads are irregular intersections, the preferred predetermined angle range is 150 degrees to 210 degrees, and the preferred angle value is 180 degrees.

[0089] For example, when the lane turning directions of a group of conflicting lanes are straight ahead and left turn, the calculated clockwise angles between the entry lane directions corresponding to the two conflicting lanes and the north direction are α and β respectively. When the calculated value of |α-β| is 180 degrees, the lane conflict type of this group of conflicting lanes is Oncoming; when the calculated value of |α-β| is greater than or less than 180 degrees, the lane conflict type of this group of conflicting lanes is Crossing.

[0090] for example, Fig. 9 shown Figure 8The corresponding example of calculating the angle of the conflicting lanes is that the absolute value of the difference between the angle α between lane 11 and the north direction in the clockwise direction and the angle β between lane 12 and the north direction in the clockwise direction satisfies 150<|θ|=|α-β|<210, so the conflict type between lane 1 and lane 2 is Oncoming; the absolute value of the difference between the angle α between lane 11 and the north direction in the clockwise direction and the angle β between lane 13 and the north direction in the clockwise direction satisfies |θ|=|α-β|<150 or |θ|=|α-β|>210, so the conflict type of the conflicting lanes formed by lane 1 and lane 3 is Crossing.

[0091] Fig.10 A specific implementation of an automatic processing device for intersection lane conflict types of the present application is shown.

[0092] exist Fig.10 In the specific implementation shown, the automatic processing device for intersection lane conflict types mainly includes: an intersection lane screening module 1001, which is used to determine the intersection of the road and obtain the intersection lane corresponding to the intersection using a high-precision map;

[0093] The conflict lane screening module 1002 is used to screen at least one group of conflict lanes from lanes in the intersection according to lane attributes and lane geometry information, wherein the lane attributes include the starting position of the lane, and the lane geometry information includes the intersection of the running tracks corresponding to the lanes;

[0094] The lane turning information confirmation module 1003 is used to obtain the lane turning information of the conflicting lane according to the allowed passing direction corresponding to the conflicting lane;

[0095] The conflict type confirmation module 1004 is used to determine the conflict type of the conflict lanes according to the lane turning information of a group of conflict lanes and the end positions of a group of conflict lanes.

[0096] In a specific embodiment of the present application, the intra-intersection lane screening module 1001 includes a screening module 1, which is used to use a high-precision map to obtain the reference line number of the road; according to the reference line number, the intra-intersection lanes in the same intersection are screened from the database of the high-precision map; wherein, under the condition that the reference line numbers corresponding to the lanes are the same, the lanes are intra-intersection lanes in the same intersection.

[0097] In a specific embodiment of the present application, the conflict lane screening module 1002 includes a screening module 2, which is used to determine that if the starting positions of the two lanes in the intersection are different and the running trajectories corresponding to the lanes intersect, the two lanes in the intersection are a group of conflict lanes.

[0098] In a specific embodiment of the present application, the lane turning information confirmation module 1003 includes a confirmation module 1, which is used to ensure that the lane turning of the conflict lane is consistent with the allowed direction of passage when the allowed direction of passage corresponding to the conflict lane is a single direction; when the allowed direction of passage corresponding to the conflict lane is not a single direction, the lane turning of the conflict lane is obtained according to the allowed direction of passage of the conflict lane and the relative position between the conflict lane and the entry lane corresponding to the conflict lane.

[0099] In a specific embodiment of the present application, the lane turning information confirmation module 1003 includes a confirmation module 2, which is used to obtain the lane turning of the conflicting lane based on the relative left and right positions between the conflicting lane and the entering lane, and the allowed direction of travel corresponding to the conflicting lane, wherein the relative left and right positions use the actual driving direction of the conflicting lane as a reference.

[0100] In a specific embodiment of the present application, the conflict type confirmation module 1004 includes a first module, which is used to, when the end positions of a group of conflicting lanes are the same, the conflict type of the conflicting lanes is a lane merging conflict type; when the lane turns of a group of conflicting lanes are all straight or all left turns, the conflict type of the conflicting lanes is a non-opposite lane conflict type; and when the lane turns of a group of conflicting lanes are left turns and right turns, the conflict type of the conflicting lanes is an opposite lane conflict type.

[0101] In a specific embodiment of the present application, the conflict type confirmation module 1004 includes a second module, which is used to determine the conflict type of the conflict lanes based on the relationship between the difference between a first angle formed by an entry lane corresponding to the left-turn conflict lane and a predetermined direction and a second angle formed by an entry lane corresponding to the straight-ahead conflict lane and the predetermined direction, and a predetermined angle range when the lane turns of a group of conflict lanes are left turns and straight driving.

[0102] In a specific embodiment of the present application, the conflict type confirmation module 1004 includes a third module, which is used to determine that the conflict type of the conflict lane is an opposite lane conflict type when the absolute value of the difference is within a predetermined angle range; and when the absolute value of the difference is outside the predetermined angle range, the conflict type of the conflict lane is a non-opposite lane conflict type.

[0103] In a specific embodiment of the present application, each functional module in an automatic processing device for intersection lane conflict types of the present application can be directly in hardware, in a software module executed by a processor, or in a combination of the two.

[0104] The software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from and write information to the storage medium.

[0105] The processor 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 gates or transistor logic, discrete hardware components, or any combination thereof. A general-purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration. In an alternative, the storage medium may be integrated with the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and the storage medium may reside in a user terminal as discrete components.

[0106] The automatic processing device for intersection lane conflict types provided in the present application can be used to execute the automatic processing method for intersection lane conflict types described in any of the above embodiments. Its implementation principles and technical effects are similar and will not be repeated here.

[0107] In another specific embodiment of the present application, a computer-readable storage medium stores a computer program / instruction, and the computer program / instruction is operated to execute the automatic processing method of intersection lane conflict type described in the above embodiment.

[0108] In a specific embodiment of the present application, a computer device includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores computer instructions that can be executed by the at least one processor, and the at least one processor operates the computer instructions to execute the automatic processing method for intersection lane conflict types described in the above embodiment.

[0109] Another technical solution adopted by the present application is: to provide a computer program product, including a computer program / instruction, which, when executed by a processor, implements the method for automatically handling intersection lane conflict types described in the above embodiment.

[0110] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0111] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0112] The above description is only an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structural transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for automatically handling intersection lane conflict types, characterized in that: include: Using a high-precision map, determine the intersection of the road and obtain the lane in the intersection corresponding to the intersection; At least one group of conflicting lanes is obtained by screening the lanes in the intersection according to lane attributes and lane geometry information, wherein the lane attributes include the starting position of the lane, and the lane geometry information includes the intersection of the running tracks corresponding to the lanes; According to the allowed direction of travel corresponding to the conflicting lane, lane turning information of the conflicting lane is obtained, wherein when the allowed direction of travel corresponding to the conflicting lane is a single direction, the lane turning of the conflicting lane is consistent with the allowed direction of travel, and when the allowed direction of travel corresponding to the conflicting lane is not a single direction, according to the allowed direction of travel of the conflicting lane and the relative position between the conflicting lane and the entry lane corresponding to the conflicting lane, the lane turning of the conflicting lane is obtained, and according to the relative left-right position between the conflicting lane and the entry lane and the allowed direction of travel corresponding to the conflicting lane, the lane turning of the conflicting lane is obtained, wherein the relative left-right position uses the actual driving direction of the conflicting lane as a reference; The conflict type of the conflict lanes is determined according to a group of lane turning information of the conflict lanes and a group of end positions of the conflict lanes.

2. The method for automatically handling intersection lane conflict types according to claim 1 is characterized in that: The method of using a high-precision map to determine a road intersection and obtaining a lane in the intersection corresponding to the intersection includes: Using the high-precision map, obtaining a reference line number of the road; According to the reference line number, the lanes in the same intersection are obtained by screening from the database of the high-precision map; Wherein, under the condition that the reference line numbers corresponding to the lanes are the same, the lanes are the intra-intersection lanes in the same intersection.

3. The method for automatically handling intersection lane conflict types according to claim 1, characterized in that: The step of selecting at least one group of conflicting lanes from lanes in the intersection according to lane attributes and lane geometry information includes: If the starting positions of the two lanes in the intersection are different and the running trajectories corresponding to the lanes in the intersection intersect, then the two lanes in the intersection are a group of conflicting lanes.

4. The method for automatically handling intersection lane conflict types according to claim 1, characterized in that: The determining the conflict type of the conflict lanes according to a set of lane turning information of the conflict lanes and a set of end positions of the conflict lanes comprises: When the end positions of a group of conflicting lanes are the same, the conflict type of the conflicting lanes is a lane merging conflict type; When the lane turns of a group of the conflicting lanes are all going straight or all turning left, the conflict type of the conflicting lanes is a non-opposite lane conflict type; and, When a group of lane turns of the conflicting lanes are left turns and right turns, the conflict type of the conflicting lanes is an opposite-oncoming lane conflict type.

5. The method for automatically handling intersection lane conflict types according to claim 1 is characterized in that: The determining the conflict type of the conflict lanes according to a set of lane turning information of the conflict lanes and a set of end positions of the conflict lanes comprises: When a group of the conflicting lanes have lane turns of left turn and straight ahead, the conflict type of the conflicting lanes is determined according to a relationship between a difference between a first angle formed by an entry lane corresponding to the left-turn conflicting lane and a predetermined direction and a second angle formed by an entry lane corresponding to the straight-ahead conflicting lane and the predetermined direction, and a predetermined angle range; Among them, the conflict type of the conflict lane is judged based on the relationship between the difference between a first angle formed by an entry lane corresponding to the left-turn conflict lane and a predetermined direction and a second angle formed by an entry lane corresponding to the straight-ahead conflict lane and the predetermined direction, and a predetermined angle range, including: when the absolute value of the difference is within the predetermined angle range, the conflict type of the conflict lane is an opposite-oncoming lane conflict type; and, when the absolute value of the difference is outside the predetermined angle range, the conflict type of the conflict lane is a non-opposite-oncoming lane conflict type.

6. An automatic processing device for intersection lane conflict types, characterized in that: include: An intersection lane screening module is used to determine the intersection of the road and obtain the intersection lane corresponding to the intersection using a high-precision map; a conflicting lane screening module, used for screening at least one group of conflicting lanes from the lanes in the intersection according to lane attributes and lane geometry information, wherein the lane attributes include the starting position of the lane, and the lane geometry information includes the intersection of the running tracks corresponding to the lanes; a lane turning information confirmation module, configured to obtain lane turning information of the conflicting lane according to the allowed direction of travel corresponding to the conflicting lane, wherein when the allowed direction of travel corresponding to the conflicting lane is a single direction, the lane turning of the conflicting lane is consistent with the allowed direction of travel; when the allowed direction of travel corresponding to the conflicting lane is not a single direction, the lane turning of the conflicting lane is obtained according to the allowed direction of travel of the conflicting lane and the relative position between the conflicting lane and the entry lane corresponding to the conflicting lane, and the lane turning of the conflicting lane is obtained according to the relative left-right position between the conflicting lane and the entry lane and the allowed direction of travel corresponding to the conflicting lane, wherein the relative left-right position uses the actual driving direction of the conflicting lane as a reference; The conflict type confirmation module is used to determine the conflict type of the conflict lane according to a group of lane turning information of the conflict lane and a group of end positions of the conflict lane.

7. A computer-readable storage medium storing a computer program / instruction, characterized in that: The computer program / instructions are operated to execute the method for automatically handling intersection lane conflict types according to any one of claims 1-5.

8. An electronic device, characterized in that: include: at least one processor; as well as a memory in communication with the at least one processor; The memory stores computer instructions that can be executed by the at least one processor, and the at least one processor operates the computer instructions to execute the automatic processing method for intersection lane conflict types as described in any one of claims 1-5.

9. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the method for automatically handling intersection lane conflict types as described in any one of claims 1-5 is implemented.

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