Editing method and device of lane line data, electronic equipment and storage medium

Abstract

The application provides a lane line data editing method and device, electronic equipment and storage medium. According to the embodiment of the application, a target driving track can be displayed on a display screen; a first-screen track segment is determined according to display parameters submitted for the target driving track, and an editing interface of lane line data corresponding to the first-screen track segment is displayed. The remaining part of the target driving track is split into multiple-screen track segments according to the first-screen track segment, so as to determine a track segment splitting result conforming to a viewing angle determined by a user, thereby improving the user experience. In response to the user completing the editing of the lane line data in the editing interface of the previous-screen track segment, an editing interface of lane line data corresponding to the next-screen track segment is displayed on the display screen, so as to obtain lane line data edited for each screen track segment respectively. By sequentially displaying the editing interfaces of the split screen track segments, the editing difficulty of the lane line data can be reduced, and the editing efficiency can be improved.

Description

Technical Field

[0001] This application relates to the field of high-precision map technology, and in particular to a method, apparatus, electronic device and storage medium for editing lane line data. Background Technology

[0002] In scenarios where electronic maps provide assisted driving information, it is necessary to create electronic maps to recreate real-world road traffic information. The core element of an electronic map is lane markings. When creating an electronic map, lane marking data needs to be manually edited to ensure its accuracy and completeness.

[0003] However, lane line data is characterized by its large scale and complex relationships. When lane line operators perform editing tasks, they need to repeatedly drag the screen to locate the lane line to be edited and determine the lane line data to be edited. This makes lane line data editing difficult and time-consuming. Therefore, there is an urgent need for a new lane line data editing method to reduce the difficulty of editing, reduce time consumption, and improve editing efficiency. Summary of the Invention

[0004] This application provides a method, apparatus, electronic device, and storage medium for editing lane line data to solve one or more of the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a method for editing lane line data. The method includes: displaying a target driving trajectory on a display screen; determining a first-screen trajectory segment based on display parameters submitted for the target driving trajectory, and displaying an editing interface for lane line data corresponding to the first-screen trajectory segment; splitting the remaining part of the target driving trajectory into multiple-screen trajectory segments based on the first-screen trajectory segment; and, in response to a user completing the editing of lane line data in the editing interface of the previous-screen trajectory segment, displaying an editing interface for lane line data corresponding to the next-screen trajectory segment on the display screen, thereby obtaining lane line data edited separately for each screen trajectory segment.

[0006] Secondly, embodiments of this application provide a method for creating a high-precision map, the method comprising: determining a target driving trajectory to be edited in the high-precision map; acquiring lane line data for editing the target driving trajectory, the lane line data being generated based on the method described in any one of the above-mentioned embodiments; and creating a high-precision map based on the acquired lane line data.

[0007] Thirdly, embodiments of this application provide a lane line data editing device, the device comprising: a trajectory display module for displaying a target driving trajectory on a display screen; a trajectory segment determination module for determining a first-screen trajectory segment based on display parameters submitted for the target driving trajectory, and displaying an editing interface for lane line data corresponding to the first-screen trajectory segment; a trajectory segment splitting module for splitting the remaining part of the target driving trajectory into multiple-screen trajectory segments based on the first-screen trajectory segment; and a data editing interface display module for displaying an editing interface for lane line data corresponding to the next-screen trajectory segment on the display screen in response to the user completing the editing of lane line data in the editing interface of the previous-screen trajectory segment, so as to obtain lane line data edited separately for each screen trajectory segment.

[0008] Fourthly, this application provides a high-precision map production apparatus, the apparatus comprising: a trajectory determination module for determining a target driving trajectory to be edited in the high-precision map; a data acquisition module for acquiring lane line data for editing the target driving trajectory, the lane line data being generated based on the method provided in this embodiment; and a map production module for producing a high-precision map based on the acquired lane line data.

[0009] Fifthly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor, when executing the computer program, implements the method described in any of the above-mentioned embodiments.

[0010] Sixthly, embodiments of this application provide a computer product including computer instructions, wherein the computer instructions, when executed by a processor, implement the method described in any of the above-mentioned embodiments.

[0011] In a seventh aspect, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any of the preceding claims.

[0012] Compared with related technologies, this application has the following advantages:

[0013] According to the embodiments of this application, a target driving trajectory is displayed on a display screen; a first-screen trajectory segment is determined based on the display parameters submitted for the target driving trajectory, and an editing interface for the lane line data corresponding to the first-screen trajectory segment is displayed. The remaining portion of the target driving trajectory is divided into multiple-screen trajectory segments based on the first-screen trajectory segment to determine the trajectory segment division result that conforms to the display parameters determined by the user (e.g., a lane line operator). Then, in response to the user completing the editing of the lane line data in the editing interface of the previous screen trajectory segment, an editing interface for the lane line data corresponding to the next screen trajectory segment is displayed on the display screen to obtain lane line data edited separately for each screen trajectory segment. By displaying the editing interface of the next screen or a specified screen trajectory segment obtained from the division, the user can directly jump to the display of the lane line position to be edited, thereby avoiding the time consumption of repeatedly dragging the screen to find the lane line position to be edited, reducing the difficulty of editing lane line data, and improving editing efficiency.

[0014] Furthermore, for multiple driving trajectories that correspond to the same lane lines, it is also possible to determine the overlap between the range of a segment of a certain screen and the range of the driving trajectory that has already been edited, and skip the track segment that has already been edited, thereby further reducing the time consumption for editing lane line data and improving editing efficiency.

[0015] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0016] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments according to this application and should not be construed as limiting the scope of this application.

[0017] Figure 1 A flowchart illustrating a method for editing lane line data provided in an embodiment of this application is shown;

[0018] Figure 2 A schematic diagram of a lane line data editing page provided in an embodiment of this application is shown;

[0019] Figure 3 This illustration shows one of the schematic diagrams illustrating the process of calculating the region coordinates of the display area corresponding to the screen trajectory segment provided in the embodiments of this application in the trajectory coordinate system;

[0020] Figure 4This is the second schematic diagram illustrating the process of calculating the area coordinates of the display area of ​​the screen trajectory segment provided in this embodiment of the application in the trajectory coordinate system;

[0021] Figure 5 This is the third schematic diagram illustrating the process of calculating the area coordinates of the display area of ​​the screen trajectory segment provided in this embodiment of the application in the trajectory coordinate system;

[0022] Figure 6 This is the fourth schematic diagram illustrating the process of calculating the area coordinates of the display area of ​​the screen trajectory segment provided in this embodiment of the application in the trajectory coordinate system;

[0023] Figure 7 This is the fifth schematic diagram illustrating the process of calculating the area coordinates of the display area of ​​the screen trajectory segment provided in this embodiment of the application in the trajectory coordinate system;

[0024] Figure 8 This is the sixth schematic diagram illustrating the process of calculating the area coordinates of the display area of ​​the screen trajectory segment provided in this embodiment of the application in the trajectory coordinate system;

[0025] Figure 9 This illustration shows one of the implementation diagrams for deleting a screen trajectory segment provided in the embodiments of this application;

[0026] Figure 10 This is a second schematic diagram illustrating an implementation method for deleting a screen trajectory segment provided in this application.

[0027] Figure 11 The third schematic diagram illustrates an implementation method for deleting a screen trajectory segment provided in this application.

[0028] Figure 12 A schematic diagram illustrating a scenario of the lane line data editing scheme provided in an embodiment of this application is shown;

[0029] Figure 13 A flowchart illustrating the method for creating high-precision maps provided in the embodiments of this application is shown;

[0030] Figure 14 This paper shows a structural block diagram of a lane line data editing device provided in an embodiment of this application;

[0031] Figure 15 This invention illustrates a structural block diagram of the high-precision map production apparatus provided in an embodiment of this application; and

[0032] Figure 16 A block diagram of an electronic device used to implement embodiments of this application is shown. Detailed Implementation

[0033] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the concept or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0034] To facilitate understanding of the technical solutions of the embodiments of this application, the relevant technologies of the embodiments of this application are described below. The following relevant technologies are optional solutions and can be combined with the technical solutions of the embodiments of this application in any way, and all of them fall within the protection scope of the embodiments of this application.

[0035] First, the relevant concepts involved in this application will be explained. In the embodiments of this application, lane lines refer to markings on the road surface, such as lines, vertical markings, raised pavement markers, and delineators, that convey traffic and road information to road users. In the scenario of editing lane line data, the shape data and attribute data of the lane lines can be edited. The shape data and attribute data can be used to describe the characteristics of the lane lines. The shape data of the lane lines describes the position and geometric shape of the lane lines. In electronic maps, lane lines are represented by lines connecting lane shape points. Lane line operators can edit the shape data of lane lines by adding, deleting, or modifying the position of lane shape points, so that the shape data of the lane lines can more accurately express the actual coordinate position and geometric connection shape of the lane lines.

[0036] Lane line attribute data includes lane line type (e.g., single dashed line, single solid line, double dashed line, double solid line, left solid and right dashed line, or curb line, etc.), color (e.g., white or yellow), material (e.g., paint, metal, or cement, etc.), longitudinal deceleration markings (e.g., whether the marking exists, and whether it is located on the left or right side), movable guardrail markings (e.g., whether the marking exists), and reliability indicators. Among these, the curb line refers to the line connecting the lane guardrail or curb to the ground, and the reliability indicator refers to the operator's description of the reliability of the road photographs referenced when editing the lane line data, such as whether the road photographs are clear, and whether the lane lines in the road photographs are obscured.

[0037] In a prior art application, lane line operators needed to drag and drop within an editing interface to locate the lane line to be edited. Since multiple lane lines often exist on the same road segment, and the geometric connections between them are complex, operators had to repeatedly drag to pinpoint the location. For lane lines with altered geometric shapes (such as lane lines connecting straight sections to curves), the display view needed to be repeatedly adjusted to ensure the lane line extension direction on the editing page roughly matches the direction in the road photograph, thus guaranteeing the accuracy of the edited lane line data. Therefore, editing lane line data using this technique is difficult, time-consuming, and inefficient.

[0038] In view of this, embodiments of this application provide a new method for editing lane line data to solve all or part of the above-mentioned technical problems.

[0039] This application provides a method for editing lane line data, such as... Figure 1 The diagram shown is a flowchart of a lane line data editing method 100 according to an embodiment of this application. The method 100 may include:

[0040] In step S101, the target driving trajectory is displayed on the display screen.

[0041] In order to distinguish the different driving trajectories involved in the embodiments of this application, the driving trajectory that the user (e.g., lane operator) edits the lane line data for is provided through a display screen and recorded as the target driving trajectory.

[0042] The driving trajectory involved refers to the trajectory used to reconstruct the path taken by the data collection vehicle along the actual driving road. While driving, the data collection vehicle uses one or more image / point cloud acquisition devices to collect images / point clouds of the driving road and its surrounding environment. The images collected by the vehicle are recorded as road acquisition photos, which contain information such as acquisition point identifiers, coordinates, and acquisition time. These photos are stored together with the road acquisition photos in a storage location associated with the driving trajectory. In this embodiment, acquisition points can be used as trajectory points of the driving trajectory, and the acquisition points (trajectory points) are connected sequentially according to the acquisition time to form the driving trajectory. In this embodiment, the lane line operator edits the lane line data of the driving road corresponding to the driving trajectory. The lane line operator can edit the lane line data based on the driving trajectory, the corresponding road acquisition photos, and other relevant data (such as point cloud data corresponding to the driving trajectory).

[0043] The lane line data editing method provided in the application embodiments can be integrated into applications (such as programs, application software, or web applications) used for editing lane lines. When editing lane line data, lane line operators can use the aforementioned applications for editing lane lines through terminal devices such as mobile phones, computers, tablets, virtual reality (VR), and augmented reality (AR), and perform editing operations based on the display screen of these terminal devices. By acquiring and responding to the lane line operator's editing operations, the content displayed on the screen and the editing result of the lane line data can be determined.

[0044] It is understood that since the data collection vehicle travels in the direction of road travel, the direction of the driving trajectory involved in this application embodiment is consistent with the direction of travel of the road on which the driving trajectory is located. The following mainly uses the scenario of editing lane line data under the condition that the road traveled by the data collection vehicle is on the right and the relative relationship between the target driving trajectory displayed on the display screen and the display screen is roughly parallel to the vertical direction as an example to explain the lane line data editing method provided by this application embodiment.

[0045] In one possible implementation, before displaying the target driving trajectory on the screen, at least one road-captured photograph corresponding to the lane line creation task can be displayed as a reference for selecting the driving trajectory. The lane line creation task refers to the editing task of lane line data to be processed by the user, which includes sub-tasks for editing the lane line data corresponding to one or more driving trajectories. In conjunction with the aforementioned embodiments, in the lane line data editing scenario, the user edits the lane line data corresponding to the driving trajectory along the driving trajectory. By displaying the road-captured photographs corresponding to the driving trajectory, a reference basis for editing the lane line data can be provided to the user.

[0046] In this embodiment, the target driving trajectory to be displayed can be determined by acquiring a driving trajectory selected from at least one driving trajectory. Specifically, in response to the user's selection of a driving trajectory, the driving trajectory selected by the lane line operator can be determined as the target driving trajectory; alternatively, in response to the lane line operator's confirmation of the driving trajectory selected by a pre-trained machine learning model, the driving trajectory recommended by the machine learning model can be acquired as the target driving trajectory.

[0047] The machine learning model involved refers to a model used to recommend target driving trajectories. This model can recommend driving trajectories corresponding to road-captured photos with clear images and unobstructed lane lines based on the features of multiple driving trajectories. Furthermore, it can also combine the capture time of the road-captured photos to recommend driving trajectories whose capture time is closer to the time the user performed the lane line creation task. This application does not limit the specific algorithm and structure of the machine learning model.

[0048] In step S102, the first screen trajectory segment is determined based on the display parameters submitted for the target driving trajectory, and the editing interface for the lane line data corresponding to the first screen trajectory segment is displayed.

[0049] After determining the target driving trajectory, the determined target driving trajectory can be displayed on the lane operator's display screen based on default display parameters. In this embodiment, the display parameters may include the trajectory range of the driving trajectory on the display screen, scaling parameters, and the distance between the trajectory segment and the boundary of the display area. The content of the target driving trajectory displayed on the display screen changes in response to the user's adjustment of the display parameters. The user can adjust the trajectory range and scaling parameters on the display screen by dragging the display of the target driving trajectory or by zooming in and out, or by inputting parameter data. In the display parameters submitted for the target driving trajectory, the trajectory range can be determined by the coordinates corresponding to the trajectory segments of the driving trajectory on the display screen. A trajectory segment refers to a portion of the target driving trajectory displayed on the display screen.

[0050] In one possible implementation, the editing interface for the initial trajectory segment also displays initial lane marking data for that segment. When displaying the editing interface, the initial lane marking data for the initial trajectory segment can be obtained first. This initial marking data is generated by using a machine learning model to predict point cloud data of the driving road and road-captured photographs. For example, the initial marking data may include lane shape points generated from road-captured photographs identified by the machine learning model. Lane line operators can verify the positions of these lane shape points, adjust shape points with large errors in the initial marking data, correct erroneous markings, and improve the accuracy of the lane line data.

[0051] In addition, the editing interface for the first screen trajectory segment can also display road-captured photos corresponding to the first screen trajectory segment, which can be used as a reference for editing lane line data.

[0052] Figure 2This diagram illustrates a lane line data editing page provided in an embodiment of this application. Figure 2 As shown, the editing page can include initial marker data predicted for lane lines on the first screen trajectory segment, used to display the initial trajectory segment. The editing page can also display road-captured photos corresponding to the displayed first screen trajectory segment, editing controls (such as buttons, input fields, and dropdown menus), and other elements relevant to the scenario. The road-captured photos can be obtained based on trajectory points on the first screen trajectory segment; one trajectory point may correspond to multiple road-captured photos. The editing interface can respond to the lane line operator's selection of road-captured photos, displaying the selected photo. It is understood that... Figure 2 This application only schematically illustrates one possible editing page, and does not limit the specific display design of the editing interface in this embodiment.

[0053] In step S103, the remaining part of the target driving trajectory is divided into multi-screen trajectory segments based on the first screen trajectory segment.

[0054] In one application example, the splitting results of the first screen trajectory segment and the remaining multi-screen trajectory segments (i.e., at least one screen trajectory segment) can be stored in the form of a stack, and the stack storing the splitting results is called the job stack.

[0055] In this embodiment, the multi-screen trajectory segments involved correspond to regional coordinates in the trajectory coordinate system in the display area of ​​the display screen. The range of regional coordinates of the display area can be determined based on the vertex coordinates of the display area. Here, the trajectory coordinate system refers to the coordinate system used to record the coordinates of the trajectory points on the driving trajectory, such as the Mars coordinate system or the WGS-84 (World Geodetic System-1984 Coordinate System, an internationally adopted geocentric coordinate system) coordinate system, etc.

[0056] In one possible implementation, when splitting the remaining portion of the target driving trajectory into multi-screen trajectory segments based on the initial screen trajectory segment, the remaining portion of the target driving trajectory can be sequentially split using a sliding window according to the direction of the target driving trajectory, thereby obtaining trajectory segment splitting results in units of sliding windows. The boundary range of the sliding window can be determined based on the display area of ​​the trajectory segment (e.g., it can be the same size as the display area), and the sliding direction of the sliding window is determined based on the line segment direction of the end portion of the previous screen trajectory segment. In this embodiment, the next screen trajectory segment can be determined by iteratively processing the target driving trajectory based on the previous screen trajectory segment and the sliding window. The next screen trajectory segment refers to the screen trajectory segment to be determined, and the previous screen trajectory segment refers to the already determined screen trajectory segment adjacent to the next screen trajectory segment.

[0057] When segmenting the target driving trajectory, the display area of ​​a multi-screen trajectory segment can be determined in the trajectory coordinate system based on the start and end coordinates of the multi-screen trajectory segment. In other words, when determining the next screen trajectory segment, the display area of ​​that next screen trajectory segment can be determined in the trajectory coordinate system based on its start and end coordinates.

[0058] In one possible implementation, when dividing the remaining portion of the target driving trajectory sequentially using a sliding window according to the target driving trajectory direction, firstly, for the trajectory segment to be determined for the next screen, the target line segment formed by the last trajectory point of the previous screen trajectory segment and the next trajectory point can be determined. Then, the starting coordinates of the next screen trajectory segment are determined based on the multiple points included in the target line segment. The sliding window is then slid along the direction of the target line segment, and the ending coordinates of the next screen trajectory segment are determined based on the boundary range of the sliding window. In one application example, the boundary range of the sliding window can be determined by obtaining the area size of the display area corresponding to the trajectory segment. When the boundary range of the sliding window is consistent with the area size of the display area, the height and width of the display area can be correspondingly determined as the height and width of the sliding window. When determining the ending coordinates of the estimated next screen segment, the ending coordinates of the next screen trajectory segment can be determined on the target driving trajectory based on the starting coordinates of the next screen trajectory segment and the determined height of the sliding window.

[0059] In one possible implementation, the aforementioned display parameters include the trajectory range of the target vehicle trajectory on the display screen and the distance between the trajectory segment and the boundary of the display area of ​​a trajectory segment on one screen. In this embodiment, when determining the region coordinates of the display area of ​​a trajectory segment in the trajectory coordinate system based on the start and end coordinates of the trajectory segment, the vertex coordinates of the display area of ​​the next trajectory segment in the direction of the junction of the two trajectory segments can be determined based on the start coordinates of the next trajectory segment and the distance between the trajectory segment and the boundary of the display area in the previous trajectory segment. Then, based on the height and width of the display area and the determined vertex coordinates, the remaining three vertex coordinates of the display area of ​​the next trajectory segment are determined, and the obtained four vertex coordinates are used as the region coordinates of the display area of ​​the next trajectory segment in the trajectory coordinate system.

[0060] The following combination Figures 3-8 The concepts and calculation methods involved in determining the endpoint coordinates of the next screen trajectory segment are explained. Figures 3-8 Several schematic diagrams illustrate the process of calculating the region coordinates of the display area corresponding to the screen trajectory segment provided in this embodiment of the application in a trajectory coordinate system, in one application example. In this application example, the boundary range of the sliding window is consistent with the size of the display area. Figures 3-8 In the diagram, the directional lines formed by T0, T1, T2, T3, T4 and T5 illustrate the target driving trajectory involved in the embodiments of this application. This target driving trajectory is the trajectory recorded when the vehicle is driving on the right side of the road and driving photos are taken.

[0061] The target driving trajectory starts at T0 (the first trajectory point) and ends at T5 (the last trajectory point). T2, T3, T4, and T5 are the other four trajectory points on the target driving trajectory. Figure 3 The area bounded by P0, P1, P2, and P3 shown is the display area corresponding to the first screen trajectory segment, determined based on the display parameters submitted by the lane line operator for the target driving trajectory. The height and width of the display area can be determined based on the style file used in the editing interface, such as a CSS (Cascading Style Sheets) file, and in conjunction with the resolution of the currently used display screen.

[0062] In scenarios where driving is on the right, the oncoming lane is to the left of the current lane. The desired driving trajectory extends in a generally vertically upward direction within the display area on the screen (e.g., ...). Figure 3In the case shown (the direction from point T0 to point T1 relative to the direction of the display area), the lane operator edits the lane lines on the road that is in the same direction as the target driving trajectory. When displaying the target driving trajectory determined by the lane operator on the editing interface, the lane operator can be guided to adjust the trajectory segment to a position further to the left in the display area of ​​the editing page. In this scenario, by adjusting the trajectory segment in the display area to a position further to the left, it is possible to avoid selecting the oncoming road into the display area, thereby avoiding accidental editing of the lane line data on the oncoming lane when editing the lane line data corresponding to the target driving trajectory.

[0063] The intersection point of the target line segment formed by points T1 and T2 in the target trajectory and the display area is denoted as intersection point i. Boundary distance refers to the pixel distance between the first trajectory point and the boundary of the display area (e.g., the left boundary). Figure 3 In this scenario, the boundary formed by endpoints P0 and P3 is designated as the left boundary, and the boundary distance is the distance from point T0 to the left boundary, which is the left-side distance shown in the diagram. In this scenario, the boundary distance can also be the right-side distance between the first trajectory point and the right boundary of the display area. In scenarios where the target driving trajectory displayed on the screen is roughly parallel to the horizontal direction when editing lane line data, the boundary distance can be the distance between the first trajectory point and the upper or lower boundary of the display area.

[0064] exist Figures 3-6 In this system, the previous screen displays the trajectory segment display area corresponding to the first screen, and the next screen displays the trajectory segment display area corresponding to the second screen. When calculating the area range of the next screen, the intersection point i can be directly used as the starting point of the trajectory segment of the next screen, or the starting point can be determined by backscaling an appropriate distance from point i, so that the area range of the next screen partially overlaps with that of the previous screen. This allows the connection relationship of lane lines in the area ranges of the two screens to be displayed in the next screen, avoiding the omission of lane line data corresponding to the driving trajectory at the junction of the two screens. For example... Figure 4 As shown, on the target line segment, the point determined by retreating 2 meters from point i along the target line segment is recorded as the starting point b of the trajectory segment of the next screen, and the retreat direction is the direction from point i to point T1.

[0065] Then, on the target line segment, taking the starting point of the next screen trajectory segment as the foot of the perpendicular, and combining the distance between the previous screen trajectory segment and the boundary of the display area, determine the vertex coordinates of the display area of ​​the next screen trajectory segment in the direction of the junction of the two screen trajectory segments. For example... Figure 5As shown, with point b as the foot of the perpendicular, along a direction perpendicular to the target line segment, take point N0, a distance from point b that is the boundary distance (leftward distance), as the vertex of the next screen. Based on point N0 and the height and width of the display area, the coordinates of the remaining three vertices of the display area for the trajectory segment of the next screen can be determined. For example... Figure 6 As shown, we can first determine point N1 along the direction from N0 to b, combined with the width W of the display area. Then, combined with the height H of the display area and the direction perpendicular to the line segment formed by points N0 and N1, we can determine points N2 and N3 respectively. The coordinates of points N0, N1, N2, and N3 are determined as the area coordinates of the display area of ​​the next screen trajectory segment in the trajectory coordinate system, that is, the area coordinates of the second screen trajectory segment area in the trajectory coordinate system. Figure 7 As shown, the trajectory segments in the second screen trajectory segment display area are displayed in a generally vertically upward direction.

[0066] Following the same calculation approach, the remaining target driving trajectory is further broken down through iterative calculations. Figures 7-8 In the middle, the area corresponding to the second trajectory segment displayed on the previous screen. For example... Figure 8 As shown, the coordinates of the third trajectory segment display area can be calculated based on the area coordinates of the second trajectory segment display area and display parameters (such as left distance). During the iterative calculation, the splitting can be completed if the intersection point or the target line segment does not exist.

[0067] It is understood that in other application examples, the extension direction of the driving trajectory in the display area on the screen can also be vertically downward, horizontally to the left, horizontally to the right, or other possible directions. In this embodiment, the extension direction can be predetermined, and the content displayed in the display area can be determined based on the determined extension direction. The specific extension direction can be adjusted according to the actual application, and this embodiment does not limit it.

[0068] In one possible implementation, after splitting the remaining part of the target driving trajectory into multi-screen trajectory segments based on the first screen trajectory segment, the overlapping area formed by the display area corresponding to the screen trajectory segment and the display area of ​​the multi-screen trajectory segments of the historical driving trajectory in the trajectory coordinate system can be determined for any screen trajectory segment. When there are multiple historical driving trajectories, the overall area corresponding to multiple historical driving trajectories can be determined sequentially, or the overall area of ​​some or all historical driving trajectories can be determined in batches; this application embodiment does not impose any limitations on this. Then, if the area of ​​the overlapping area exceeds a set proportion (e.g., 75%) of the area corresponding to the screen trajectory segment, and the angle between the overlapping area and the trajectory direction of the trajectory segments corresponding to the screen trajectory segment is lower than a set angle threshold (e.g., 45 degrees), the screen trajectory segment is deleted.

[0069] The historical driving trajectory refers to the driving trajectory for which lane line data editing has been completed before the target driving trajectory is edited. The overall area involved can be determined through the following steps: First, obtain the display areas corresponding to the generated first-screen trajectory segment and the remaining multi-screen trajectory segments excluding the first screen, respectively. Then, based on the area coordinates of each display area corresponding to the historical driving trajectory in the trajectory coordinate system, determine the area boundary of the overall area formed by all display areas corresponding to the historical driving trajectory.

[0070] The following combination Figures 9-11 The methods for determining overlapping regions and the overall region are explained. For example... Figure 9 As shown, when segmenting the target driving trajectory into segments, for a certain segment of the target driving trajectory, after determining the area coordinates of a one-screen trajectory segment display area A, the overlapping area between display area A and the historical driving trajectory is determined. Figure 9 In the context of historical driving trajectories, the generated first-screen trajectory segment and the remaining multi-screen trajectory segments (excluding the first screen) correspond to the historical driving trajectory. Based on the region coordinates of the display areas of these three trajectory segments in the trajectory coordinate system, the region boundary of the overall region formed by all display areas corresponding to the historical driving trajectory can be determined. The determined region boundary of this overall region is the outer boundary of the set of display areas for the aforementioned three trajectory segments.

[0071] Then, after determining the coordinates of the display area A of the target driving trajectory and the coordinates corresponding to the boundary of the entire historical driving trajectory area, the coordinates of the overlapping area between the display area A and the entire historical driving trajectory area can be determined through differential calculation, thereby determining the area of ​​the overlapping area. Then, if the area of ​​the overlapping area exceeds a set proportion of the display area corresponding to a single-screen trajectory segment, and the angle between the overlapping area and the trajectory directions of the corresponding trajectory segments is lower than a set angle threshold, the lane line data corresponding to the single-screen trajectory segment can be considered to have been edited. Specifically, when the area of ​​the overlapping area exceeds a set proportion of the display area corresponding to a single-screen trajectory segment, it indicates that the lane lines corresponding to the target driving trajectory and the historical driving trajectory have a geometric overlap. When the angle between the overlapping area and the trajectory directions of the corresponding trajectory segments is lower than a set angle threshold, it indicates that the lane lines corresponding to the target driving trajectory and the historical driving trajectory have the same direction. Therefore, if the area exceeds the set ratio and the included angle is lower than the set angle threshold, it can be determined that the lane line data corresponding to the one-screen trajectory segment of the target driving trajectory has been edited in the lane line creation task corresponding to the historical driving trajectory. In other words, by deleting the one-screen trajectory segment, the lane line operator can avoid repeatedly displaying the already edited lane line, thereby improving the efficiency of lane line data editing.

[0072] In one application example, if the area of ​​the overlapping region exceeds 75% of the display area corresponding to a single-screen trajectory segment, and the angle between the trajectory directions of the overlapping region and the trajectory segments corresponding to the single-screen trajectory segment is less than 45 degrees, then the single-screen trajectory segment is deleted. Figure 10 and Figure 11 The diagram shows the overlapping areas of the target driving trajectory display area A and the historical driving trajectory in two different application scenarios. Figure 10 and Figure 11 In the diagram, the shaded area represents the overlap between display area A and the overall area of ​​the historical driving trajectory. For example... Figure 10 As shown, the ratio of the overlapping area to the area of ​​display area A is significantly greater than 75%, and the angle between the direction of the trajectory segment corresponding to display area A and the direction of the historical driving trajectory in the overlapping area is less than 45 degrees. In this case, the trajectory segment corresponding to display area A can be deleted. Therefore, when the editing interfaces of the split trajectory segments are displayed sequentially on the display screen, the display of the editing interface corresponding to this trajectory segment can be skipped. Figure 11As shown, the ratio of the overlapping area to the area of ​​display area A is significantly greater than 75%. However, the angle between the direction of the trajectory segment corresponding to display area A and the direction of the historical driving trajectory in the overlapping area is higher than 45 degrees. This indicates that the lane line directions corresponding to the target driving trajectory and the historical driving trajectory in the overlapping area are inconsistent. Therefore, it cannot be determined that the lane line data corresponding to the trajectory segment has been edited, and thus the trajectory segment corresponding to display area A is not deleted.

[0073] In one possible implementation, after splitting the remaining portion of the target driving trajectory into multi-screen trajectory segments based on the initial screen trajectory segment and display parameters, if an adjustment operation to the display parameters is detected, the remaining portion of the target driving trajectory is then re-splitted based on the adjusted display parameters and the current screen trajectory segment, and each screen trajectory segment is updated according to the re-splitting result. The specific splitting process can be found in the aforementioned implementation method and will not be repeated here.

[0074] In one possible implementation, lane line data corresponding to the target driving trajectory can be generated based on the lane line data edited separately for the initial trajectory segment and the trajectory segments obtained from each segment. That is, after the lane line operator completes the editing of the lane line data corresponding to the target driving trajectory segment by segment along the target driving trajectory, the lane line data corresponding to the target driving trajectory can be updated and generated uniformly, thus completing the lane line creation task for the target driving trajectory.

[0075] Figure 12 This illustration shows a scenario diagram of a lane line data editing scheme provided by an embodiment of this application. In this scenario, when a lane line operator edits lane line data, they can use applications for editing lane lines through terminal devices such as mobile phones, computers, tablets, virtual reality, and augmented reality, and perform editing operations based on the display screen of the aforementioned terminal devices. After obtaining the display parameters of the operator for the initial trajectory segment, the remaining part of the target driving trajectory can be split according to the initial trajectory segment and the determined display parameters, and the data obtained can be obtained from the data. Figure 12 The splitting results are shown.

[0076] In a possible application example, the lane line mapping task of the lane line operator includes editing the lane line data corresponding to driving trajectory A and driving trajectory B. Before starting to edit the lane line data corresponding to driving trajectory B, the lane line operator has already completed the editing of the lane line data corresponding to driving trajectory A. The trajectory segment splitting result A0 corresponding to driving trajectory A is stored in the task stack.

[0077] When editing the lane lines corresponding to driving trajectory B, driving trajectory B is the target driving trajectory. After determining the display parameters of the first screen trajectory segment of driving trajectory B, the remaining part of the target driving trajectory is split according to the first screen trajectory segment and the determined display parameters. The resulting split is B0: segment 0-segment 1-segment 2-segment 3-segment 4-segment 5-segment 6. The split results of trajectory A stored in the job stack are compared with B0 by difference to determine the trajectory segments that meet the preset conditions, so that duplicate trajectory segments are deleted. The preset conditions can be that the area of ​​the overlapping area between the trajectory segment and the trajectory stored in the job stack exceeds 75% of the display area corresponding to the first screen trajectory segment, and the angle between the overlapping area and the trajectory direction of the trajectory segments corresponding to the first screen trajectory segments is less than 45 degrees. For example, if segments 2 and 3 are found to meet the preset conditions, segments 2 and 3 in B0 can be removed. The split result after removal (screen 0-screen 1-screen 4-screen 5-screen 6) is recorded as B1 and stored in the job stack.

[0078] When the lane line operator begins editing subsequent lane data based on driving trajectory B, the display parameters are adjusted when working on segment 4. Based on the adjusted display parameters, the splitting result B2 from segment 4 to the trajectory endpoint can be calculated: segment 0 - segment 1 - segment 4* - segment 5* - segment 6*. B2 is then compared with the splitting result of driving trajectory A stored in the work stack. For example, if segment 5* meets the above preset conditions, segment 5* can be deleted from B2 to obtain a new splitting result B3: segment 0 - segment 1 - segment 4* - segment 6*, and the B2 stored in the work stack is updated to B3.

[0079] Therefore, the display parameters corresponding to the splitting results stored in the work stack match the display perspective determined by the lane line operator during operation. When the lane line operator reviews the lane line data corresponding to the driving trajectory again, the splitting results stored in the work stack can be called to display the trajectory segment that matches the lane line operator's display perspective, avoiding the time consumption caused by repeatedly adjusting the working perspective when editing the lane line data corresponding to the same trajectory segment.

[0080] In step S104, in response to the user completing the editing of lane line data in the editing interface of the previous screen trajectory segment, the editing interface of the lane line data corresponding to the next screen trajectory segment is displayed on the display screen to obtain lane line data edited separately for each screen trajectory segment.

[0081] In one application example, in response to user interactions on the display screen, such as double-tapping the screen or clicking the editing control to display the next screen, the system can determine that the user has completed editing the lane line data corresponding to a current trajectory segment and display the editing interface for the split trajectory segment to the next screen. For example, after receiving confirmation from the operator that editing of a trajectory segment to the next screen is complete, the system can retrieve the lane line data corresponding to that segment and update the database accordingly. Then, it can read the relevant data for the next trajectory segment from the task stack to display its editing interface. Alternatively, in response to a request to display a trajectory segment, the system can read the relevant data for the requested segment from the task stack and display it in the editing interface.

[0082] This application also provides a method for creating high-precision maps, such as... Figure 13 The diagram shown is a flowchart of a high-precision map creation method 1300 according to an embodiment of this application. The method 1300 may include:

[0083] In step S1301, the target vehicle trajectory to be edited in the high-precision map is determined.

[0084] In step S1302, lane line data edited for the target driving trajectory is obtained, and the lane line data is generated based on the method 100 provided in the embodiments of this application.

[0085] In step S1303, a high-precision map is created based on the acquired lane line data.

[0086] Lane line data is a crucial component of high-precision map data, and the creation of high-precision maps includes editing lane line data. Specific implementation methods for editing lane line data can be found in the examples described above, and will not be repeated here.

[0087] Corresponding to the application scenarios and methods provided in the embodiments of this application, the embodiments of this application also provide a lane line data editing device. For example... Figure 14 The diagram shown is a structural block diagram of a lane line data editing device 1400 according to an embodiment of this application. The device 1400 includes:

[0088] The trajectory display module 1401 is used to display the target vehicle trajectory on the display screen;

[0089] The trajectory segment determination module 1402 is used to determine the first screen trajectory segment based on the display parameters submitted for the target driving trajectory, and to display the editing interface of the lane line data corresponding to the first screen trajectory segment;

[0090] The trajectory segment splitting module 1403 is used to split the remaining part of the target driving trajectory into multi-screen trajectory segments based on the first screen trajectory segment;

[0091] The data editing interface display module 1404 is used to respond to the user's completion of editing lane line data in the editing interface of the previous screen trajectory segment, and to display the editing interface of the lane line data corresponding to the next screen trajectory segment on the display screen, so as to obtain lane line data edited separately for each screen trajectory segment.

[0092] In one possible implementation, the trajectory segment determination module may include:

[0093] The trajectory splitting submodule is used to split the remaining part of the target driving trajectory sequentially according to the direction of the target driving trajectory using a sliding window. The sliding direction of the sliding window is determined based on the line segment direction of the end part of the trajectory segment on the previous screen.

[0094] The area coordinate determination submodule is used to determine the area coordinates of the display area of ​​the screen trajectory segment in the trajectory coordinate system based on the start coordinates and end coordinates of the screen trajectory segment.

[0095] In one possible implementation, the trajectory splitting submodule may include:

[0096] The line segment determination unit is used to determine the target line segment formed by the last trajectory point of the previous screen trajectory segment and the next trajectory point for the next screen trajectory segment to be determined.

[0097] The starting point coordinate determination unit is used to determine the starting point coordinates of the next screen trajectory segment based on the multiple points included in the target line segment;

[0098] The endpoint coordinate determination unit is used to slide the sliding window according to the direction of the target line segment, and determine the endpoint coordinates of the next screen trajectory segment based on the boundary range of the sliding window.

[0099] In one possible implementation, the display parameters include the trajectory range of the target driving trajectory on the display screen and the distance between the trajectory segment and the boundary of the display area of ​​a trajectory segment on the screen;

[0100] The region coordinate determination submodule can be specifically used to: determine the vertex coordinates of the display area of ​​the next screen trajectory segment in the direction of the connection position between the two screen trajectory segments based on the starting coordinates of the next screen trajectory segment and the distance between the trajectory segment in the previous screen trajectory segment and the boundary of the display area; determine the remaining three vertex coordinates of the display area of ​​the next screen trajectory segment based on the height and width of the display area and the determined vertex coordinates, and use the obtained four vertex coordinates as the region coordinates of the display area of ​​the next screen trajectory segment in the trajectory coordinate system.

[0101] In one possible implementation, each screen trajectory segment corresponds to a display area on the display screen with area coordinates in the trajectory coordinate system; the device 1400 may further include:

[0102] The overlapping area determination submodule is used to determine the overlapping area of ​​the display area corresponding to one screen trajectory segment and the display area of ​​the display area of ​​the multi-screen trajectory segment of the historical driving trajectory in the trajectory coordinate system for any screen trajectory segment after the remaining part of the target driving trajectory is divided into multi-screen trajectory segments according to the first screen trajectory segment.

[0103] The trajectory segment deletion submodule is used to delete the trajectory segment when the area of ​​the overlapping region exceeds a set ratio of the area of ​​the display area corresponding to the trajectory segment on the screen, and the angle between the overlapping region and the trajectory direction of the trajectory segment corresponding to the trajectory segment on the screen is lower than a set angle threshold.

[0104] In one possible implementation, the overlapping area determination submodule may further include an overall area determination unit. The overall area determination unit is used to obtain the display areas corresponding to the generated first-screen trajectory segment and the remaining multi-screen trajectory segments other than the first screen corresponding to the historical driving trajectory; and to determine the area boundary of the overall area formed by all the display areas corresponding to the historical driving trajectory based on the area coordinates of each display area in the trajectory coordinate system.

[0105] In one possible implementation, the device 1400 may further include a trajectory selection submodule, which is used to display road acquisition photos corresponding to at least one driving trajectory corresponding to the lane line creation task as a reference for selecting the driving trajectory before displaying the target driving trajectory on the display screen; and to obtain the target driving trajectory selected from the at least one driving trajectory.

[0106] In one possible implementation, the device 1400 may further include a trajectory segment update submodule, which is used to, after splitting the remaining part of the target driving trajectory into multi-screen trajectory segments according to the first screen trajectory segment, if an adjustment operation on the display parameters is detected, re-split the current remaining part of the target driving trajectory according to the adjusted display parameters and the current screen trajectory segment, and update each screen trajectory segment according to the re-split result.

[0107] In one possible implementation, the device 1400 may further include a data generation submodule for generating lane line data corresponding to the target driving trajectory based on lane line data edited for the first screen trajectory segment and the trajectory segments of each screen obtained by splitting.

[0108] Corresponding to the application scenarios and methods provided in the embodiments of this application, the embodiments of this application also provide a high-precision map production apparatus. For example... Figure 15 The diagram shown is a structural block diagram of a high-precision map production apparatus 1500 according to an embodiment of this application. The apparatus 1500 includes:

[0109] The trajectory determination module 1501 is used to determine the target vehicle trajectory to be edited in the high-precision map;

[0110] Data acquisition module 1502 is used to acquire lane line data edited for the target driving trajectory, wherein the lane line data is generated based on the method provided in the embodiments of this application;

[0111] The map creation module 1503 is used to create high-precision maps based on the acquired lane line data.

[0112] The functions of each module in each device in the embodiments of this application can be found in the corresponding description in the above method, and they have corresponding beneficial effects, which will not be repeated here.

[0113] Figure 16 This is a block diagram of an electronic device used to implement embodiments of this application. For example... Figure 16 As shown, the electronic device includes a memory 1601 and a processor 1602. The memory 1601 stores a computer program that can run on the processor 1602. When the processor 1602 executes the computer program, it implements the method described in the above embodiments. The number of memories 1601 and processors 1602 can be one or more.

[0114] The electronic device also includes:

[0115] The communication interface 1603 is used to communicate with external devices and exchange and transmit data.

[0116] If the memory 1601, processor 1602, and communication interface 1603 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 16 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0117] Optionally, in a specific implementation, if the memory 1601, processor 1602, and communication interface 1603 are integrated on a single chip, then the memory 1601, processor 1602, and communication interface 1603 can communicate with each other through an internal interface.

[0118] This application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method provided in this application.

[0119] This application also provides a chip including a processor for calling and executing instructions stored in a memory, causing a communication device with the chip installed to perform the method provided in this application.

[0120] This application also provides a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, output interface, processor, and memory are connected through an internal connection path. The processor is used to execute code in the memory. When the code is executed, the processor is used to execute the method provided in the application embodiment.

[0121] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting Advanced Reduced Instruction Set Machines (ARM) architecture.

[0122] Further, optionally, the aforementioned memory may include read-only memory and random access memory. The memory may be volatile memory or non-volatile memory, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available. Examples include Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0123] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0124] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0125] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0126] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0127] The logic and / or steps described in the flowchart or otherwise herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0128] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0129] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0130] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for editing lane line data, comprising: Display the target vehicle trajectory on the display screen; The first screen trajectory segment is determined based on the display parameters submitted for the target driving trajectory, and the editing interface for the lane line data corresponding to the first screen trajectory segment is displayed. According to the direction of the target driving trajectory, the remaining part of the target driving trajectory is divided sequentially using a sliding window. The sliding direction of the sliding window is determined based on the line segment direction of the end part of the trajectory segment on the previous screen. The region coordinates of the display area of ​​the trajectory segment in the trajectory coordinate system are determined based on the starting coordinates and ending coordinates of the trajectory segment. The region coordinates are used to determine the region boundary of the overall area formed by all display areas corresponding to the historical driving trajectory. In response to the user completing the editing of lane line data in the editing interface of the previous screen trajectory segment, the editing interface of the lane line data corresponding to the next screen trajectory segment is displayed on the display screen to obtain lane line data edited separately for each screen trajectory segment.

2. The method according to claim 1, wherein, The step of sequentially splitting the remaining portion of the target driving trajectory using a sliding window according to the target driving trajectory direction includes: For the next screen trajectory segment to be determined, determine the target line segment formed by the last trajectory point of the previous screen trajectory segment and the next trajectory point; The starting coordinates of the next screen trajectory segment are determined based on the multiple points included in the target line segment; Slide the sliding window in the direction of the target line segment, and determine the endpoint coordinates of the next screen trajectory segment based on the boundary range of the sliding window.

3. The method according to claim 2, wherein, The display parameters include the trajectory range of the target driving trajectory on the display screen and the distance between the trajectory segment and the boundary of the display area of ​​a trajectory segment on the screen; Determining the region coordinates in the trajectory coordinate system corresponding to the display area of ​​the one-screen trajectory segment based on the start and end coordinates of the one-screen trajectory segment includes: Based on the starting coordinates of the next screen trajectory segment and the distance between the trajectory segment in the previous screen and the boundary of the display area, determine the vertex coordinates of the display area of ​​the next screen trajectory segment in the direction of the junction of the two screen trajectory segments; Based on the height and width of the display area and the determined vertex coordinates, the coordinates of the remaining three vertices of the display area of ​​the next screen trajectory segment are determined, and the obtained four vertex coordinates are used as the area coordinates of the display area of ​​the next screen trajectory segment in the trajectory coordinate system.

4. The method according to claim 1, wherein, Each screen trajectory segment corresponds to a region coordinate in the trajectory coordinate system in the display area of ​​the display screen. After splitting the remaining portion of the target driving trajectory into multi-screen trajectory segments based on the first-screen trajectory segment, the method further includes: For any screen trajectory segment, determine the overlapping area of ​​the display area corresponding to the screen trajectory segment and the display area of ​​the multi-screen trajectory segments of the historical driving trajectory in the trajectory coordinate system. If the area of ​​the overlapping region exceeds a set proportion of the area of ​​the display area corresponding to the one-screen trajectory segment, and the angle between the trajectory direction of the overlapping region and the trajectory segment corresponding to the one-screen trajectory segment is lower than a set angle threshold, then the one-screen trajectory segment is deleted.

5. The method according to claim 4, wherein, The overall region is determined through the following steps: Obtain the display areas corresponding to the generated first-screen trajectory segment and the remaining multi-screen trajectory segments other than the first screen, based on the historical driving trajectory. Based on the region coordinates of each display area corresponding to the historical driving trajectory in the trajectory coordinate system, the region boundary of the overall region formed by all display areas corresponding to the historical driving trajectory is determined.

6. The method according to claim 1, wherein, Before displaying the target driving trajectory on the display screen, the method further includes: Display road photos collected corresponding to at least one driving trajectory for the lane line creation task, as a reference for selecting the driving trajectory; Obtain the target driving trajectory selected from the at least one driving trajectory.

7. The method according to claim 1, wherein, After splitting the remaining portion of the target driving trajectory into multi-screen trajectory segments based on the first-screen trajectory segment, the method further includes: If an adjustment operation to the display parameters is detected, the remaining part of the target driving trajectory is re-splittered according to the adjusted display parameters and the current trajectory segment of the current screen, and the trajectory segments of each screen are updated according to the re-splittering result.

8. The method according to claim 1, wherein, The method further includes: Lane line data corresponding to the target driving trajectory is generated based on the lane line data edited from the trajectory segment of the first screen and the trajectory segments of each screen obtained from the split.

9. A method for producing a high-precision map, wherein, include: Determine the target vehicle trajectory to be edited in the high-precision map; Obtain lane line data edited for the target driving trajectory, wherein the lane line data is generated based on the method of any one of claims 1-8; High-precision maps are created based on the acquired lane line data.

10. A device for editing lane line data, wherein, include: The trajectory display module is used to display the target vehicle trajectory on the display screen; The data editing interface display module is used to determine the first screen trajectory segment based on the display parameters submitted for the target driving trajectory, and to display the editing interface of the lane line data corresponding to the first screen trajectory segment; the trajectory segment determination module is used to sequentially split the remaining part of the target driving trajectory according to the direction of the target driving trajectory using a sliding window, wherein the sliding direction of the sliding window is determined based on the line segment direction of the end part of the previous screen trajectory segment; and to determine the area coordinates of the display area of ​​the screen trajectory segment in the trajectory coordinate system based on the starting coordinates and ending coordinates of the screen trajectory segment, wherein the area coordinates are used to determine the area boundary of the overall area formed by all display areas corresponding to the historical driving trajectory; The trajectory segment splitting module is used to split the remaining part of the target driving trajectory into multi-screen trajectory segments based on the first screen trajectory segment; The data editing interface display module is also used to respond to the user completing the editing of lane line data in the editing interface of the previous screen trajectory segment, and to display the editing interface of the lane line data corresponding to the next screen trajectory segment on the display screen, so as to obtain the lane line data edited separately for each screen trajectory segment.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory, wherein the processor, when executing the computer program, implements the method of any one of claims 1-9.

12. A computer product comprising computer instructions, wherein, When the computer instructions are executed by the processor, they implement the method described in any one of claims 1-9.

13. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the method of any one of claims 1-9.

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