Method, device and storage medium for generating contour lines of intersection area

Abstract

An embodiment of the present application provides a method, device and storage medium for generating the contour line of an intersection area, the method comprising: obtaining the current initial contour line of the target intersection area, the initial contour line comprising at least one segment connected in sequence. In the generated high-precision map, at least one recommended segment is determined for the target segment containing the target endpoint of the initial contour line. In at least one recommended segment, a recommended target segment is determined. The recommended target segment is connected with the target segment of the initial contour line to obtain an updated contour line. Determine whether the updated contour line is closed. If so, the updated contour line is determined as the target contour line corresponding to the target area. The technical solution of the present application can determine the recommended segment for the target segment of the initial contour line in the high-precision map, and then only the recommended target segment needs to be selected in the recommended segment to update the contour line segment by segment, so that the target contour line corresponding to the target area can be determined quickly and effectively.

Description

Technical Field

[0001] The embodiments of the present application relate to high-precision map technology, and in particular to a method, device, and storage medium for generating contour lines of an intersection area. Background Art

[0002] High-precision maps are a more refined and accurate digital representation of the real world. Intersections are numerous in the real world, and their outlines, which indicate their boundaries, can provide effective driving decision-making data for scenarios like intelligent driving. Given the sheer number of intersections, efficient generation of intersection outlines with guaranteed data quality is a challenge facing those skilled in the art. Summary of the Invention

[0003] The embodiments of the present application provide a method, device, and storage medium for generating a contour line of an intersection area, so as to overcome the problem of low efficiency in generating contour lines.

[0004] In a first aspect, an embodiment of the present application provides a method for generating a contour line of an intersection area, comprising:

[0005] Acquire a current initial contour line of the target intersection area, wherein the initial contour line includes at least one segment connected in sequence;

[0006] In the generated high-precision map, determining at least one recommended segment for the target segment including the target endpoint of the initial contour line;

[0007] Determining a recommended target segment in the at least one recommended segment;

[0008] Connecting the recommended target segment with the target segment of the initial contour line to obtain an updated contour line;

[0009] Determining whether the updated contour line is closed;

[0010] If so, the updated contour line is determined as the target contour line corresponding to the target area.

[0011] In a second aspect, an embodiment of the present application provides a device for generating a contour line of an intersection area, comprising:

[0012] An acquisition module, configured to acquire a current initial contour line of a target intersection area, wherein the initial contour line includes at least one segment connected in sequence;

[0013] a determination module, configured to determine, in the generated high-precision map, at least one recommended segment for the target segment containing the target endpoint of the initial contour line;

[0014] The determining module is further configured to determine a recommended target segment in the at least one recommended segment;

[0015] a processing module, configured to connect the recommended target segment with the target segment of the initial contour line to obtain an updated contour line;

[0016] A judging module, configured to judge whether the updated contour line is closed;

[0017] The determining module is further configured to, if yes, determine the updated contour line as the target contour line corresponding to the target area.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0019] Memory, used to store programs;

[0020] A processor is used to execute the program stored in the memory. When the program is executed, the processor is used to execute the method described in the first aspect and any one of the various possible designs of the first aspect.

[0021] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium comprising instructions, which, when executed on a computer, enables the computer to execute the method described in the first aspect and any one of the various possible designs of the first aspect.

[0022] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method described in the first aspect and any of the various possible designs of the first aspect.

[0023] An embodiment of the present application provides a method and device for generating the contour line of an intersection area, the method comprising: obtaining the current initial contour line of the target intersection area, the initial contour line comprising at least one segment connected in sequence. In the generated high-precision map, at least one recommended segment is determined for the target segment containing the target endpoint of the initial contour line. In at least one recommended segment, a recommended target segment is determined. The recommended target segment is connected with the target segment of the initial contour line to obtain an updated contour line. It is determined whether the updated contour line is closed. If so, the updated contour line is determined as the target contour line corresponding to the target area. The present application determines the next possible recommended segment for the target segment in the generated high-precision map, and then only needs to simply select the recommended target segment in the recommended segment, and connect the recommended target segment with the target segment of the initial contour line to obtain the updated contour line, so that the contour line can be updated segment by segment until the updated contour line is closed, and the target contour line corresponding to the target area can be determined quickly and effectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. 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 any creative labor.

[0025] Figure 1 A schematic diagram illustrating the implementation of dragging and adjusting contour lines provided in an embodiment of the present application;

[0026] Figure 2 A flowchart of a method for generating a contour line of an intersection area provided in an embodiment of the present application;

[0027] Figure 3 The process of the method for generating the contour line of the intersection area provided in the embodiment of the present application Figure 2 ;

[0028] Figure 4 A schematic diagram illustrating the implementation of determining lane lines to be selected according to an embodiment of the present application;

[0029] Figure 5 A schematic diagram of self-intersection of contour lines provided in an embodiment of the present application;

[0030] Figure 6 A schematic diagram of the orientation area of ​​the end point of the contour line provided in an embodiment of the present application;

[0031] Figure 7 The process of the method for generating the contour line of the intersection area provided in the embodiment of the present application Figure 3 ;

[0032] Figure 8 A schematic diagram illustrating an implementation of determining a stop line to be selected according to an embodiment of the present application;

[0033] Figure 9 The process of the method for generating the contour line of the intersection area provided in the embodiment of the present application Figure 4 ;

[0034] Figure 10 A schematic diagram illustrating an implementation of connecting lines for determining isolated point categories provided in an embodiment of the present application;

[0035] Figure 11 The process of the method for generating the contour line of the intersection area provided in the embodiment of the present application Figure 5 ;

[0036] Figure 12 A schematic diagram of determining recommended segments of an end category provided in an embodiment of the present application;

[0037] Figure 13A schematic diagram of an implementation of displaying recommended segments provided in an embodiment of the present application;

[0038] Figure 14 A schematic diagram of a target contour provided in an embodiment of the present application;

[0039] Figure 15 A schematic diagram of the structure of a device for generating a contour line of an intersection area provided in an embodiment of the present application;

[0040] Figure 16 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0042] In order to better understand the technical solution of this application, the relevant technologies involved in this application are first introduced below.

[0043] High-precision maps are a more refined and accurate digital representation of the real world. Intersections are numerous in the real world, and their outlines, which indicate their boundaries, can provide effective driving decision-making data for scenarios like intelligent driving. Given the sheer number of intersections, efficient generation of intersection outlines with guaranteed data quality is a challenge facing those skilled in the art.

[0044] In some possible implementations, when generating the contour line of the intersection area, in order to ensure the quality of the final output contour line, it is usually necessary to manually calibrate the contour line. This process usually displays the intersection area on the operation interface, and then the operator adjusts the contour line of the intersection area by dragging the mouse. During the dragging process, the dragging position must be adsorbed to the map point in order to fix the adjusted contour line. Figure 1 To understand, Figure 1 A schematic diagram of implementing the dragging and adjusting contour line provided in an embodiment of the present application.

[0045] like Figure 1 As shown, the intersection area can be displayed on the contour adjustment operation interface. Figure 1The example shows an intersection area at an intersection. In actual implementation, the specific implementation method of the intersection area can be selected and set according to actual needs.

[0046] Reference Figure 1 First, let's understand 10. For the intersection area of ​​this crossroads, it is assumed that the contour line shown by 101 in the figure has been determined at the current moment, wherein the contour line 101 only covers a part of the intersection area, and further adjustment is needed for the contour line.

[0047] Reference Figure 1 There are multiple map points on the lane line and the roadside line. These map points can be adsorbed during the process of adjusting the contour line. Figure 1 If the map point a on the roadside line shown in FIG10 is determined as the point to be adsorbed, for example, point b on the contour line 101 is dragged so that point b on the contour line 101 is adsorbed onto the map point a.

[0048] The intermediate process of dragging can be referred to as Figure 1 As shown in 20, the contour line 101 is adjusted when point b is dragged. Figure 1 In the case shown in 20, there is no map point to be adsorbed, so point b cannot be fixed.

[0049] Continue to refer to Figure 1 As shown in 30, after dragging point b on the contour line to map point a, point b on the contour line can be fixed on map point a, thereby fixing the adjusted contour line. Figure 1 The adjusted contour line 102 is shown in FIG. 30 .

[0050] Refer to the above Figure 1 Understandably, manually dragging to adjust the contour requires the operator to attach the dragged position to an existing map point in order to fix it. This also requires multiple adjustments to the camera's position to view the map point from the appropriate perspective, making the contour adjustment process extremely time-consuming. Furthermore, manually dragging to attach map points can lead to issues such as failure to attach or attaching the wrong map point due to perspective issues.

[0051] Therefore, in response to the problems of low efficiency and unguaranteed accuracy in contour line generation in the existing technology, the present application proposes the following technical concept: in the process of drawing the contour line of the intersection area, starting from the end point of the contour line, the possible next contour line is searched in the map, and the possible next contour line is displayed on the screen as a recommended contour line. After that, the operator only needs to perform a simple selection operation to realize the generation of the contour line, thereby effectively improving the efficiency of generating the contour line of the intersection area.

[0052] Based on the above introduction, the following describes in detail the method for generating the contour line of the intersection area provided by this application in conjunction with specific embodiments. The execution subject of each embodiment of this application can be a server, processor, chip, or other device with data processing capabilities. In the actual implementation process, the specific implementation of the execution subject can be selected according to actual needs.

[0053] First, combine Figure 2 To explain, Figure 2 This is a flowchart of a method for generating contour lines of an intersection area provided in an embodiment of the present application.

[0054] like Figure 2 As shown, the method includes:

[0055] S201: Acquire a current initial contour line of a target intersection area, where the initial contour line includes at least one segment connected in sequence.

[0056] In this embodiment, the contour line is generated in a segment-by-segment manner, so the contour line in this application may include multiple segments connected in sequence. At different times during the contour line generation process, the contour line may contain different numbers of segments, so it is necessary to obtain the current initial contour line of the target intersection area, where the current initial contour line is the contour line determined for the target intersection area at the current moment, where the target intersection area can be any intersection area.

[0057] In a possible implementation, if the current moment is a moment in the contour generation process, the current initial contour already contains at least one segment, and thus the current initial contour at the current moment can be directly obtained.

[0058] Alternatively, if the current moment is at the very beginning of the generation process, or before the generation process begins, the operator must first determine the starting segment of the contour line on the map, and then use this starting segment as the basis for subsequent contour line generation. For example, the operator can click on any map point near an intersection, and the map line containing the clicked map point will be determined as the current initial contour line. This map line can be a lane line, a stop line, or something similar.

[0059] Lane lines may include lines within a lane used to distinguish different lanes, and may also include roadside lines used to indicate vehicle driving areas. This embodiment does not limit the specific implementation of map lines, and the starting and ending positions of map lines are also determined during the production of high-precision maps.

[0060] For example, taking a certain roadside line as an example, assuming that a complete roadside line is from point c to point d, in the high-precision map, the roadside line between point c and point d can be divided into multiple sections, thereby obtaining multiple roadside lines connected in sequence in the high-precision map. The specific number of sections can be selected and determined according to actual needs. It can be understood that each section of the roadside line has its own starting position and ending position. When the position clicked by the user is on a certain section of the roadside line, this section of the roadside line can be determined as the current initial contour line.

[0061] S202: In the generated high-precision map, determine at least one recommended segment for the target segment including the target endpoint of the initial contour line.

[0062] After determining the initial contour line, it is necessary to further recommend the next possible segment based on the initial contour line. In this embodiment, for the target segment containing the target endpoint of the initial contour line, the possible next segment can be found in the generated high-precision map, and the next possible segment can be used as a recommended segment, thereby determining at least one recommended segment.

[0063] In one possible implementation, the target endpoint in this embodiment may be the end point of the initial contour line, in which case the corresponding target segment containing the target endpoint is the end point segment, i.e., the last segment of the initial contour line. Alternatively, the target endpoint in this embodiment may be the starting point of the initial contour line, in which case the corresponding target segment containing the target endpoint is the starting point segment, i.e., the first segment of the initial contour line.

[0064] The recommended segment determined for the target segment may be a lane line in the target map, a stop line in the target map, or a segment formed by connecting a map point in the target map and the end point of the initial contour line. This embodiment does not limit the specific implementation method of the recommended segment.

[0065] In one possible implementation, in this embodiment, an operation interface for the contour line can be displayed on the screen, in which the target map and the current initial contour line are displayed. At the same time, at least one currently determined recommended segment can also be displayed, so that the operator can quickly and effectively determine the actual situation of each recommended segment.

[0066] S203: Determine a recommended target segment in at least one recommended segment.

[0067] Afterwards, a recommended target segment can be determined from at least one recommended segment. In one possible implementation, for example, an operator can select a recommended segment. The selection operation can be a keyboard input operation, such as entering the serial number corresponding to the recommended segment on the keyboard, or using the arrow keys on the keyboard to select a recommended segment in a certain direction. This embodiment does not limit the specific implementation method of the selection operation. For example, the selection operation can also be implemented by clicking the recommended segment with a mouse.

[0068] Then, in response to a selection operation, the recommended segment corresponding to the selection operation may be determined as a recommended target segment. In this embodiment, the recommended target segment is the segment of the next contour line to be connected to the target segment.

[0069] Alternatively, in another possible implementation, a recommended target segment can be automatically determined based on the angle and distance between each recommended segment and the target segment. For example, the recommended segment with the smallest angle and distance can be determined as the recommended target segment. After the recommended target segment is automatically determined, the operator can confirm or reselect the recommended target segment, thereby further improving the efficiency of contour line generation.

[0070] S204: Connect the recommended target segment with the target segment of the initial contour line to obtain an updated contour line.

[0071] The recommended target segment is the segment of the next contour line to be connected to the target segment. Therefore, the recommended target segment can be connected to the target segment of the initial contour line to obtain an updated contour line. The updated contour line includes all segments in the initial contour line and the recommended target segment.

[0072] When connecting the recommended target segment and the target segment of the initial contour line, for example, the starting point of the recommended target segment and the target endpoint of the target segment can be connected. The starting point of the recommended target segment can be, for example, the endpoint of the recommended target segment that is closer to the target endpoint.

[0073] In one possible implementation, if the starting point and target endpoint of the recommended target segment coincide, the starting point of the recommended target segment and the target endpoint of the target segment can be directly connected, thereby making the recommended target segment a segment in the contour line. In this case, the updated contour line includes, in sequence, each segment in the initial contour line and the recommended target segment.

[0074] Alternatively, if the starting point and target endpoint of the recommended target segment do not coincide, the starting point and target endpoint of the target segment need to be connected first using a supplementary segment, and then the recommended target segment is determined as a segment in the contour line. In this case, the updated contour line includes the segments in the initial contour line, the supplementary segment, and the recommended target segment in sequence.

[0075] S205 , determining whether the updated contour line is closed, if so, executing S206 , if not, taking the updated contour line as the initial contour line and repeating S201 .

[0076] In this embodiment, during the process of determining the contour line, the contour line remains in the form of a line until it is completely generated. The contour line is completely generated only when it is closed. Therefore, after each updated contour line is obtained, it is necessary to determine whether the updated contour line is closed, thereby determining whether the contour line generation is complete. Contour line closure means that the starting point and end point of the contour line are connected.

[0077] In one possible implementation, if the updated contour line is not closed, it can be determined that the contour line has not been completely generated, and it is necessary to continue to determine the next segment. Therefore, the updated contour line can be used as the current initial contour line of the target intersection area, and the steps starting from S202 above are repeated until the updated contour line is closed.

[0078] S206: Determine the updated contour line as the target contour line corresponding to the target area.

[0079] In another possible implementation, if the updated contour line is closed, it can be determined that the contour line generation is completed, and the updated contour line can be directly determined as the target contour line corresponding to the target area.

[0080] The method for generating the contour line of an intersection area provided in an embodiment of the present application includes: obtaining the current initial contour line of the target intersection area, the initial contour line including at least one segment connected in sequence. In the generated high-precision map, for the target segment containing the target endpoint of the initial contour line, determine at least one recommended segment. In at least one recommended segment, determine the recommended target segment. Connect the recommended target segment with the target segment of the initial contour line to obtain an updated contour line. Determine whether the updated contour line is closed. If so, determine the updated contour line as the target contour line corresponding to the target area. By determining the next possible recommended segment for the target segment in the generated high-precision map, it is only necessary to simply select the recommended target segment in the recommended segment, and connect the recommended target segment with the target segment of the initial contour line to obtain the updated contour line, so that the contour line can be updated segment by segment until the updated contour line is closed, so that the target contour line corresponding to the target area can be determined quickly and effectively.

[0081] Based on the above description, it can be determined that the target segment in this application can be a starting segment or an end segment. The following describes the implementation method for determining the recommended segment when the target segment is the end segment. It is understandable that the implementation method for determining the recommended segment when the target segment is the starting segment is similar.

[0082] When the target segment is an end segment, at least one recommended segment can be determined for the end segment of the initial contour line in the generated high-precision map based on the initial information of the initial contour line, where the initial information includes at least the coordinates of the end point.

[0083] Furthermore, when determining the recommended segments in this application, multiple categories of recommended segments can be determined for the end segment of the initial contour line in the generated high-precision map based on the initial information of the initial contour line, where the multiple categories may include at least one of a lane line category, a stop line category, an isolated point category, and an end category. The method for determining the recommended segments for each category is explained below.

[0084] Because the initial contour line's initial information is required below, this information is first introduced. This initial information can include at least one of the following: the coordinates of the initial contour line's endpoint, the coordinates of the initial contour line's starting point, and the direction of the initial contour line's tail. In actual implementation, the specific content of this initial information can be expanded based on actual needs. For example, the initial information can also include the shape of the contour line itself.

[0085] First, the starting point and end point of the initial contour line are introduced. It can be understood that for the initial contour line that only includes one segment, there will be two endpoints. Any one of these two endpoints can be used as the starting point, and the other endpoint is the end point. After that, the next segment is connected from the end point based on the initial contour line that only includes one segment. In other words, the starting point of the contour line always remains unchanged, and the end point will be updated each time.

[0086] Alternatively, an initial contour line consisting of only one segment may have two endpoints. The direction of the lane line or stop line corresponding to this segment in the map can be used as the direction of the initial contour line consisting of only one segment. Based on this direction, the starting and ending points are determined from the two endpoints. Similarly to the above, the starting point is fixed, and the ending point is updated each time. It is also understood that if the target segment is the starting segment, the ending point remains unchanged, while the starting point is updated each time.

[0087] Therefore, the initial contour line has a starting point and an end point, where the direction from the starting point to the end point is the direction of the initial contour line.

[0088] Returning to the initial information introduced above, the coordinates of the end point and the starting point of the initial contour line, for example, are the coordinates in the coordinate system corresponding to the target map, as long as they can indicate the positions of the starting point and the end point of the initial contour line in the generated high-precision map.

[0089] The direction of the tail of the initial contour line can be the direction of the connecting line formed by the last two points of the initial contour line, where the last two points can be understood as the end point and the point before the end point in the initial contour line. The points in the initial contour line can be map points already in the initial contour line.

[0090] Based on the initial information introduced above, the following describes the methods for determining the recommended segments of each category introduced above in combination with specific embodiments.

[0091] First combine Figures 3 to 6 Explain the recommended segmentation of lane line categories. Figure 3 The process of the method for generating the contour line of the intersection area provided in the embodiment of the present application Figure 2 , Figure 4 This is a schematic diagram of determining the lane line to be selected provided in an embodiment of the present application. Figure 5 This is a schematic diagram of the self-intersection of contour lines provided in an embodiment of the present application. Figure 6 A schematic diagram of the orientation area of ​​the contour line end point provided in an embodiment of the present application.

[0092] like Figure 3 As shown, the method includes:

[0093] S301: Determine, based on the coordinates of the end point of the initial contour line, a geographical range with the end point as the center point and a set radius value corresponding to the lane line type as the radius.

[0094] In this embodiment, the corresponding geographical range can be determined for the lane line category. In one possible implementation method, a corresponding radius value is pre-set for the lane line category, and then a geographical range with the end point as the center point and the set radius value corresponding to the lane line category as the radius can be determined.

[0095] Alternatively, a rectangular geographic range may be determined with the endpoint as the center and a side length corresponding to a preset length of the lane line. Alternatively, the circular or rectangular geographic range described above may be used, but not centered on the endpoint, as long as the geographic range includes the endpoint. This embodiment does not impose any particular restrictions on the specific implementation of the geographic range, as long as the principle of determining the geographic range is to determine the range near the endpoint.

[0096] Also, when determining the geographical range for the lane line category, because the lane line closer to the end point is usually determined as the next segment, a smaller range can be determined to reduce the number of lane lines to be selected, thereby improving the efficiency of contour line generation.

[0097] S302: In the generated high-precision map, determine a candidate lane line with at least one endpoint located within a geographical range corresponding to the lane line category.

[0098] After determining the geographical scope corresponding to the lane line category, at least one lane line to be selected can be determined in the generated high-precision map. It can be understood that the lane line has two endpoints, and at least one endpoint of the lane line to be selected is located within the geographical scope corresponding to the lane line category.

[0099] For example, you can combine Figure 4 To understand, such as Figure 4 As shown, it is assumed that the current initial contour line consists of 3 segments, namely Figure 4 Segment 401, segment 402 and segment 403 are shown in FIG. Where m is the starting point of the initial contour line, n is the end point of the initial contour line, and it is assumed that the end point n is determined. Figure 4 The geographical range corresponding to the lane line category is shown by the circular dashed line in .

[0100] Reference Figure 4 , the lane lines to be selected include Figure 4 Lane lines 404, 405, 406, 407, and 408 are shown in FIG. Figure 4 It can be determined that at least one endpoint of these lane lines to be selected is located within the geographical range.

[0101] S303 . Eliminate, from at least one lane line to be selected, lane lines that intersect with positions other than the end point of the initial contour line to obtain filtered lane lines.

[0102] After determining the candidate lane lines, the candidate lane lines can be screened. It is understood that the candidate lane lines in this embodiment may be determined as the next segment in the contour line, and therefore the candidate lane lines should not intersect with any other position in the initial contour line except the end point.

[0103] If the lane line to be selected intersects with the rest of the initial contour line except the end point, this will cause the contour line to self-intersect. However, the contour line is ultimately a single closed area, and the segments in the contour line should not self-intersect.

[0104] For example, you can combine Figure 5 Understand the self-intersection introduced here, such as Figure 5 As shown in 50, it is assumed that the current contour line includes 3 segments, namely segment 501, segment 502 and segment 503, and it is assumed that there is currently a lane line to be selected 504. Figure 4 It can be determined that the lane line to be selected 504 intersects with a position of the initial contour line except the end point n.

[0105] Assuming that the lane line 504 to be selected is determined as the target segment, then refer to Figure 5 As shown in FIG60, the lane line to be selected 504 and the end point of the initial contour line are connected in segments. Specifically, the starting point of the lane line to be selected 504 and the end point of the initial contour line are first connected to obtain the middle segment 505. Then, the lane line to be selected 504 and the middle segment 505 are connected to obtain Figure 5 The updated lane line shown in 60 in FIG. 5 includes segments 501, 502, 503, 505, and 506. Because the starting point and the end point of the contour line do not coincide, the contour line is not closed at this time, but the contour line appears Figure 5 The self-intersection case shown in the figure is incorrect.

[0106] Therefore, after determining the candidate lane lines, it is necessary to eliminate the candidate lane lines that intersect with the remaining positions of the initial contour line except the end point, so as to obtain the filtered lane lines. Through the elimination operation here, the number of candidate lane lines can be effectively reduced, and the self-intersection of the contour lines can be avoided, thereby improving the accuracy of the determination of the recommended segment.

[0107] There is also a special case in this embodiment. As mentioned above, the lane line to be selected cannot intersect with any position in the initial contour line except the end point, but the lane line to be selected and the end point of the initial contour line can intersect. In this case, it can be further determined whether the intersection point of the lane line and the end point of the initial contour line is located in the middle section of the lane line, where the middle section can be, for example, the length of the lane line from the starting point (or end point) of the lane line, which accounts for 30% to 80% of the length of the entire lane line, or the position percentage corresponding to the middle section can also be selected and set according to actual needs.

[0108] If the intersection point is in the middle of the lane line, the lane line can be divided into two sub-lane lines at the intersection point. These two sub-lane lines are then determined as filtered lane lines. In other words, each sub-lane line is determined as a separate filtered lane line. The starting point of these two sub-lane lines is the intersection point with the contour line, and the end point is the endpoint of the sub-lane line.

[0109] S304: Segment the end points of the initial contour line based on the filtered lane lines and determine recommended segments of the lane line categories.

[0110] After determining the filtered lane lines, a recommended lane line category can be determined for the endpoint segment of the initial contour line. In one possible implementation, for example, each filtered lane line can be directly used as a recommended lane line category for the endpoint segment of the initial contour line.

[0111] Alternatively, in another possible implementation, the filtered lane lines can be further filtered to reduce the number of recommended segments and improve user selection efficiency. It is understood that when determining the contour line of an intersection area, there is no single standard answer; as long as the contour line can represent the scope of the intersection area, it will be sufficient. Therefore, streamlining the recommended segments can effectively improve user selection efficiency while not affecting the accuracy of the boundary line.

[0112] For example, the three directional areas of left, right, and front can be determined for the end point of the initial contour line. Then, for each directional area, if there is a filtered lane line in the directional area, only one filtered lane line is retained to reduce the number of recommended segments.

[0113] For example, the orientation area corresponding to the end point of the initial contour line may be determined according to the coordinates of the end point of the initial contour line and the direction of the tail of the initial contour line, wherein the orientation area includes: a left area, a front area, and a right area.

[0114] For example, you can refer to Figure 6 Understand the location area, Figure 6 In the example, the end point of the initial contour line 601 is n, and the direction of the tail of the initial contour line is Figure 6 The direction indicated by the upward arrow 1 in the figure.

[0115] The end point of the initial contour line can be used as the vertex of the region, and then the conical region formed by deflecting the tail direction of the initial contour line 45 degrees to the left and 45 degrees to the right is determined as Figure 6 The front area shown in .

[0116] Also, the end point of the initial contour line can be used as the vertex of the region, and then the conical region formed by deflecting the tail direction of the initial contour line 145 degrees to the left and 45 degrees to the left is determined as Figure 6 The left area shown in .

[0117] Also, the end point of the initial contour line can be used as the vertex of the region, and then the conical region formed by deflecting the tail direction of the initial contour line 145 degrees to the right and 45 degrees to the right can be determined as Figure 6 The right area shown in .

[0118] Afterwards, for any orientation area, among the filtered lane lines, the target lane lines whose starting points are located in the orientation area are obtained, and the angles between each target lane line and the center direction of the orientation area are obtained, and the target lane line with the smallest angle is determined as the recommended segment of the lane line category corresponding to the orientation area.

[0119] The center direction of the azimuth area is the direction that divides the angle of the azimuth area into two. Figure 6 According to the definition introduced, the center direction of the front area is the direction with an angle of 0 degrees with the tail direction of the initial contour line, that is, Figure 6 The direction indicated by the upward arrow 1 in the figure.

[0120] The center direction of the left area is the direction with an angle of 90 degrees to the left of the tail of the initial contour line, that is, Figure 6 The direction indicated by the upward arrow 2.

[0121] The center direction of the right area is the direction with an angle of 90 degrees to the right of the tail of the initial contour line, that is, Figure 6 The direction indicated by the upward arrow 3 in the figure.

[0122] For example, taking the left area as an example, assuming that there are three lane lines with their starting points located in the left area among the filtered lane lines, namely lane line 1, lane line 2, and lane line 3, then these three lane lines can be determined as the target lane lines corresponding to the left area. Then, the angles between these three lane lines and the center direction of the left area can be obtained, and then the target lane line with the smallest angle can be determined as the recommended segment of the lane line category corresponding to the left area.

[0123] Among them, if each azimuth area is screened according to the above-described method, one or zero recommended segments of the lane line category can be determined for each azimuth area, thereby effectively reducing the number of recommended segments.

[0124] The method for generating contour lines for intersection areas provided in an embodiment of the present application determines at least one candidate lane line within the geographic range corresponding to the lane line category, then eliminates candidate lane lines that intersect with the initial contour line at locations other than the endpoint, thereby obtaining filtered lane lines. This method can eliminate candidate lane lines that would cause self-intersections of the contour lines. This can reduce the number of candidate lane lines and improve processing efficiency, while also avoiding self-intersection errors and improving the accuracy of the contour lines. Furthermore, among the filtered lane lines, only one candidate lane line can be retained as a recommended segment in each azimuth region corresponding to the endpoint of the contour line, thereby effectively streamlining the number of recommended segments and improving the efficiency of selecting the recommended segments.

[0125] The above describes the method for determining the recommended segmentation for lane line categories. Figures 7 and 8 The following describes how to implement recommended segmentation for determining stop line categories. Figure 7 The process of the method for generating the contour line of the intersection area provided in the embodiment of the present application Figure 3 , Figure 8 A schematic diagram of an implementation of determining a stop line to be selected provided in an embodiment of the present application.

[0126] like Figure 7 As shown, the method includes:

[0127] S701: Determine, based on the coordinates of the end point of the initial contour line, a geographical range with the end point as the center point and a set radius value corresponding to the stop line category as the radius.

[0128] The implementation of S701 is similar to the implementation of S301 described above.

[0129] In one possible implementation, the radius corresponding to the stop line category is larger than the radius corresponding to the lane line category. Consequently, the geographic range corresponding to the stop line category is larger than the geographic range corresponding to the lane line category. Because lane lines are generally distributed over a relatively concentrated area, and when a lane line is selected as the next segment, the nearest lane line is selected as the next segment, rather than a lane line that is very far from the end point. Therefore, the geographic range set for the recommended segment for the lane line category is typically relatively small.

[0130] However, stop lines are generally distributed in a scattered manner, so determining a larger geographical range can effectively obtain some stop lines to be selected, thereby avoiding the situation where no stop lines to be selected can be obtained.

[0131] S702: In the generated high-precision map, determine a candidate stop line having at least one endpoint located within a geographical range corresponding to the stop line category.

[0132] After determining the geographical scope corresponding to the stop line category, at least one stop line to be selected can be determined in the generated high-precision map. It can be understood that the stop line also has two endpoints, and at least one endpoint of the stop line to be selected is located within the geographical scope corresponding to the stop line category.

[0133] For example, you can combine Figure 8 To understand, such as Figure 8 As shown, it is assumed that the current initial contour line consists of 3 segments, namely Figure 8 Segment 801, segment 802 and segment 803 are shown in FIG. Where m is the starting point of the initial contour line, n is the end point of the initial contour line, and it is assumed that the end point n is determined. Figure 8 The geographical range of the stop line categories shown by the circular dashed lines in the figure.

[0134] Among them, the stop lines to be selected include Figure 8 The stop lines 804 and 805 shown in FIG. Figure 8 It can be determined that at least one endpoint of the candidate stop lines is located within the geographical range.

[0135] S703 : For any stop line to be selected, expand the area covered by the outline of the stop line to obtain an expanded area, and acquire at least one lane line endpoint located in the expanded area.

[0136] Because the stop line is usually a large, thick line, and the area outside the stop line is usually considered part of the intersection, the stop line is not directly determined as the recommended segment. Instead, the line formed by the endpoints of the lane lines near the stop line is determined as the recommended segment.

[0137] However, refer to Figure 8 It is understandable that there is always some distance between the stop line and the nearby lane lines, and they will not intersect directly. Therefore, in order to determine the lane lines near the stop line, the outline of the selected stop line can be expanded in this embodiment. The following is an example of any selected stop line.

[0138] It is understood that the stop line to be selected is itself a solid area with an outline, so the area covered by the outline of the stop line to be selected can be expanded to obtain the expanded area corresponding to the stop line to be selected. When expanding, for example, the area covered by the outline of the stop line to be selected can be extended vertically by a preset length corresponding to the width, and the area covered by the outline of the stop line to be selected can be extended horizontally by a preset length corresponding to the length. The specific settings of the preset extension lengths in different directions can be selected according to actual needs, as long as the area covered by the outline of the stop line to be selected can be expanded.

[0139] For example, Figure 8 The stop line 804 in FIG is taken as an example to illustrate, wherein the black stroke of the stop line 804 itself can be understood as the outline of the stop line 804. After expanding the area covered by its outline, for example, Figure 8 The expansion area 1 shown in FIG. and for example Figure 8 The stop line 805 in ,determines the corresponding expansion area 2.

[0140] After determining the expansion area for the stop line to be selected, the lane line endpoints located in the expansion area can be further obtained. For example, Figure 8 For understanding, for the expansion area 1 corresponding to the stop line 804 , the lane line endpoints located in the expansion area 1 include the endpoint p1 of the lane line 806 , the endpoint p2 of the lane line 807 , and the endpoint p3 of the lane line 808 .

[0141] Furthermore, for the expanded area 2 corresponding to the stop line 805 , the lane line endpoints in the expanded area 2 include the endpoint p4 of the lane line 809 , the endpoint p5 of the lane line 810 , and the endpoint p6 of the lane line 811 .

[0142] S704 , connecting the endpoints of each lane line in sequence according to the distance between the endpoint of each lane line and the end point of the initial contour line to obtain a connecting line of the stop line category corresponding to the stop line to be selected.

[0143] After determining multiple lane line breakpoints located in the expanded area, taking any candidate stop line as an example, the lane line breakpoints can be connected in sequence according to the distance from each lane line breakpoint to the end point of the initial contour line from near to far, so as to obtain a connecting line of the stop line category corresponding to the candidate stop line.

[0144] For example, Figure 8 In the example, for stop line 804, the distances between its three lane line breakpoints p1, p2, and p3 and the end point n of the initial contour line are arranged from near to far as p1→p2→p3. Then, the three lane line endpoints can be connected in sequence according to the order of p1→p2→p3 to obtain the connection line of the stop line category corresponding to the selected stop line 804.

[0145] Also, for stop line 805, the distances between its three lane line breakpoints p4, p5, and p6 and the end point n of the initial contour line are arranged from near to far as p6→p5→p4. Then, these three lane line endpoints can be connected in sequence in the order of p6→p5→p4 to obtain the connecting line of the stop line category corresponding to the selected stop line 805.

[0146] S705 : If the connecting line of the stop line category does not intersect with other positions of the initial contour line except the end point, segment the end point of the initial contour line according to the connecting line of the stop line category, and determine the recommended segment of the stop line category.

[0147] After determining the stop line category connecting line, it may be the next segment of the contour line. To prevent self-intersections of the contour line, it is necessary to determine whether the stop line category connecting line intersects with the rest of the initial contour line, excluding the endpoint. If so, this stop line category connecting line cannot be retained. If not, this stop line category connecting line can be used to segment the endpoint of the initial contour line and determine the recommended stop line category segment. For example, the non-intersecting stop line category connecting line can be directly determined as the recommended segment.

[0148] Or similar to the above introduction, in order to reduce the number of recommended segments and improve the user's selection efficiency, for example, the three orientation areas of the left area, the right area and the front area can be determined for the end point of the initial contour line. Then, for each orientation area, if there is a connecting line of the stop line category in the orientation area, only one connecting line is retained as the recommended segment of the stop line category to reduce the number of recommended segments.

[0149] For example, the azimuth region corresponding to the end point of the initial contour line can be determined based on the coordinates of the end point of the initial contour line and the direction of the tail of the initial contour line, where the azimuth region includes: a left region, a front region, and a right region. The implementation method is similar to that described above and will not be repeated here.

[0150] Next, for each orientation region, among at least one stop line category link, a target link whose starting point lies within the orientation region is obtained. The starting point of the link is the endpoint closest to the end point of the contour line. The angle between each target link and the center of the orientation region is then obtained. The target link with the smallest angle is determined as the recommended stop line category segment for that orientation region.

[0151] The implementation is similar to the above-described method for determining recommended segments for lane line categories, so I will not repeat it here. By filtering each azimuth region in the same manner as described above, you can determine a recommended segment for the stop line category for each azimuth region, effectively reducing the number of recommended segments.

[0152] The method for generating the contour line of an intersection area provided in an embodiment of the present application determines at least one candidate stop line within the geographic range corresponding to the stop line category, then expands the contour of the candidate stop line to obtain an expanded area, obtains the lane line endpoints located in the expanded area, and connects the lane line endpoints to obtain a number of candidate connecting lines. These connecting lines correspond to the recommended segments of the stop line category. However, because they are formed by connecting the lane line endpoints located in the expanded area of ​​the stop line, they can effectively ensure that some intersection areas outside the stop line are also included in the contour line range, thereby effectively improving the accuracy of the intersection area contour line. In addition, for the connecting lines of the stop line category in this embodiment, connecting lines that intersect with the initial contour line at locations other than the end point are also eliminated, thereby filtering out connecting lines that may cause the contour line to self-intersect. This can reduce the number of connecting lines and improve processing efficiency, and can also avoid the error of self-intersection of the contour line and improve the accuracy of the contour line. Furthermore, among the connection lines after removal, only one connection line of the stop line category can be retained as a recommended segment in each orientation area corresponding to the end point of the contour line, thereby effectively streamlining the number of recommended segments and improving the selection efficiency of the recommended segments.

[0153] The lane line and stop line categories described above both use lines consisting of multiple points as recommended segments. During the contour line determination process, it is also possible to determine only an isolated map point and then determine the line connecting this isolated point and the end point of the contour line as the next recommended segment.

[0154] Therefore, the following further combines Figures 9 and 10 The implementation method of the recommended segmentation for determining the isolated point category is introduced. Figure 9 The process of the method for generating the contour line of the intersection area provided in the embodiment of the present application Figure 4 , Figure 10 A schematic diagram of the implementation of connecting lines for determining isolated point categories provided in an embodiment of the present application.

[0155] like Figure 9 As shown, the method includes:

[0156] S901: Determine, based on the coordinates of the end point of the initial contour line, a geographical range with the end point as the center point and a set radius value corresponding to the isolated point category as the radius.

[0157] The implementation of S901 is similar to the implementation of S301 described above, and will not be described in detail here.

[0158] In one possible implementation, the set radius value corresponding to the isolated point category is larger than the set radius value corresponding to the lane line category. Correspondingly, the geographical range corresponding to the isolated point category is larger than the geographical range corresponding to the lane line category. Similar to the above-mentioned S701, the geographical range set for the recommended segmentation of the lane line category is usually relatively small. However, when determining an isolated point, it may be necessary to determine a map point that is very far away from the end point as a connection point. Therefore, in this case, determining a larger geographical range can effectively obtain the required isolated point.

[0159] The above describes the geographical scope corresponding to the lane line category, the geographical scope corresponding to the stop line category, and the geographical scope corresponding to the isolated point category. In one possible implementation, the size relationship between these three geographical scopes can be: the geographical scope corresponding to the isolated point category > the geographical scope corresponding to the stop line category > the geographical scope corresponding to the lane line category.

[0160] S902: In the generated high-precision map, determine a candidate lane line having at least one endpoint located within a geographical range corresponding to an isolated point category.

[0161] S903 . Eliminate, from at least one lane line to be selected, lane lines that intersect with positions other than the end point of the initial contour line to obtain filtered lane lines.

[0162] The implementation of S902 and S903 is similar to the implementation of S302 and S303 described above, and will not be repeated here.

[0163] For example, you can combine Figure 10 To understand, such as Figure 10 As shown, it is assumed that the current initial contour line consists of 3 segments, namely Figure 10 Segments 1001, 1002, and 1003 are shown in FIG. Where m is the starting point of the initial contour line, and n is the end point of the initial contour line. Assume that the end point n is determined. Figure 10 The geographical range is shown by the circular dashed line.

[0164] And, assuming that the lane lines to be selected after screening include Figure 8 Lane lines 1004 to 1010 are shown in FIG. Figure 8 It can be determined that at least one endpoint of these candidate lane lines is located within the geographical range and is not connected to other positions of the initial contour line except the end point.

[0165] S904: For any selected lane line after screening, determine a connecting line of an isolated point category connecting a target point in the selected lane line and an end point of the initial contour point, where the target point is an end point in the selected lane line that is closer to the end point of the initial contour line.

[0166] After the selected lane lines are determined, similar processing is performed on each selected lane line. Therefore, any lane line to be selected is used as an example for explanation below.

[0167] Among them, the target point can be determined in the lane line to be selected. There will be two endpoints in the lane line to be selected. The target point is the endpoint of the two endpoints of the lane line to be selected, which is closer to the end point of the initial contour line.

[0168] For example, Figure 10 Take the lane line 1008 to be selected as an example. The two endpoints of the lane line 1008 are d1 and d2 respectively. The endpoint d1 is closer to the end point n of the initial contour line, so the endpoint d1 can be determined as the target point in the lane line 1008 to be selected.

[0169] The target point in this embodiment is the required isolated point, so the target point in the lane line to be selected and the end point of the initial contour point can be connected to obtain a connecting line of the isolated point category, for example, Figure 10 In the example, the target point d1 in candidate lane line 1008 is connected to the end point n of the initial contour point to obtain a connecting line 1011 of the isolated point category. Similar processing is performed on the remaining candidate lane lines, so that a corresponding connecting line of the isolated point category can be determined for each selected candidate lane line.

[0170] S905: If the connecting line of the isolated point category does not intersect with the remaining lane lines except the lane line to be selected, determine the target point corresponding to the connecting line of the isolated point category as the target point to be selected.

[0171] Because the connecting line of the isolated point category may be used as the next contour line, because the connecting line of the isolated point category is the line connecting the target point of the lane line to be selected and the end point of the initial contour line, the connecting line of the isolated point category itself intersects with the lane line to be selected. In addition, the connecting line of the isolated point category should not intersect with the remaining lane lines again, because this may cause the final contour line to connect with some lane lines.

[0172] Based on the analysis of the contour lines of the intersection surface, it can be seen that the lane lines are either used as part of the contour lines to identify the intersection area, or they are not connected to the contour lines. Otherwise, the contour lines of the intersection area will cover areas outside the intersection area (for example, covering the lanes). Therefore, in this embodiment, it is necessary to filter out the connecting lines of the isolated point category that intersect with the remaining lane lines other than the lane lines to be selected.

[0173] That is to say, if the connecting line of the isolated point category does not intersect with the remaining lane lines except the lane line to be selected, the target point corresponding to the connecting line of the isolated point category can be determined as the target point to be selected. Figure 10 In the example, the connecting line 1011 of the isolated point category is not connected to the other lane lines, and the target point d1 corresponding to the connecting line 1011 of the isolated point category can be determined as the target point to be selected.

[0174] S906 : Determine the orientation area corresponding to the end point of the initial contour line according to the coordinates of the end point of the initial contour line and the direction of the tail of the initial contour line. The orientation area includes: a left area, a front area, and a right area.

[0175] Similar to the above introduction, because the number of target points to be selected may be relatively large, the number of recommended segments of the corresponding isolated point category will also be relatively large. In order to reduce the number of recommended segments and improve the user's selection efficiency, for example, the three orientation areas of the left area, the right area and the front area can be determined for the end point of the initial contour line. Then, for each orientation area, if there is a target point to be selected in the orientation area, only one target point to be selected is retained to reduce the number of recommended segments.

[0176] The method for determining the orientation area is similar to that described above and will not be described again here.

[0177] S907 . For any orientation area, among at least one candidate target point located in the orientation area, determine a candidate target point closest to the end point of the initial contour line as a reserved target point.

[0178] When determining the candidate target points to be retained in the orientation area, for example, the distance between each candidate target point and the end point of the initial contour line can be determined among at least one candidate target point located in the orientation area, and then the candidate target point closest to the end point of the initial contour line is determined as the retained target point.

[0179] S908: retaining the connecting line of the isolated point category corresponding to the target point as a recommended segment of the isolated point category determined for the end segment of the initial contour line.

[0180] Afterwards, only the connecting lines of the isolated point category corresponding to the target point are retained and determined as the recommended segments of the isolated point category determined by the end segment of the initial contour line, thereby effectively reducing the number of recommended segments.

[0181] The present invention provides a method for generating contour lines for intersection areas. This method determines at least one candidate lane line within the geographic range corresponding to an isolated point category and then removes any candidate lane lines that intersect the initial contour line at locations other than the endpoint, thereby obtaining filtered lane lines. This method eliminates candidate lane lines that could cause self-intersections in the contour line. This reduces the number of candidate lane lines and improves processing efficiency, while also preventing self-intersection errors and improving contour line accuracy. Furthermore, within the filtered lane lines, a target point is further determined within the lane line, and the line connecting the target point and the contour line endpoint is used as a connecting line for the isolated point category. Connecting lines for the isolated point category that intersect with other lane lines are then removed to prevent the intersection contour line from intersecting with the lane line, thereby preventing the contour line from encompassing the lane area and effectively improving contour line accuracy. Furthermore, within each azimuth region corresponding to the contour line endpoint, only one connecting line for the isolated point category is retained as a recommended segment, effectively streamlining the number of recommended segments and improving the efficiency of selecting recommended segments.

[0182] Based on the above introduction, Figure 11 and Figure 12 This section introduces how to implement the recommended segmentation method for determining the end category. Figure 11 The process of the method for generating the contour line of the intersection area provided in the embodiment of the present application Figure 5 , Figure 12 A schematic diagram of determining recommended segments of an end category provided in an embodiment of the present application.

[0183] like Figure 11 As shown, the method includes:

[0184] S1101 : Determine the distance between the starting point and the end point according to the coordinates of the starting point and the end point of the initial contour line.

[0185] In this embodiment, the recommended segment of the end category is the last segment of the contour line, which means that the starting point and the end point of the contour line are connected to make the road contour line closed. Therefore, when determining the recommended segment of the end category, it is necessary to judge whether the starting point and the end point of the contour line meet the conditions for closure.

[0186] For example, the distance between the starting point and the end point may be determined based on the coordinates of the starting point of the initial contour line and the coordinates of the end point of the initial contour line.

[0187] S1102: Determine the angle between the line connecting the starting point and the end point and the direction of the tail of the initial contour line.

[0188] In this embodiment, the angle between the line connecting the starting point of the initial contour line and the end point of the initial contour line and the direction of the tail of the initial contour line can also be determined.

[0189] S1103: If the distance is less than the preset distance and the angle is less than the preset angle, determine the line connecting the start point and the end point as the recommended segment of the end category.

[0190] The distance determined above is then compared with the preset distance, and the angle determined above is compared with the preset angle. If the distance is less than the preset distance and the angle is less than the preset angle, it can be determined that the starting point and end point of the contour line meet the closing condition, and then the line connecting the starting point and the end point can be determined as the recommended segment of the end category.

[0191] Or in an optional implementation, the specific implementation of the closing condition can be selected and set according to actual needs.

[0192] For example, Figure 12 As shown, assuming that the current initial contour line includes Figure 12 For the eight segments 1201 to 1208 shown in the figure, assuming that the starting point m of the initial contour line and the end point n of the initial contour line meet the distance and angle conditions introduced above, for example, the line 1209 connecting the starting point m and the end point n can be determined as the recommended segment of the end category. When the user selects the recommended segment of the end category as the segment of the next contour line, the wheel contour line can be closed.

[0193] The above describes the method for determining multiple categories of recommended segments in this embodiment. Each category of recommended segments is processed independently, and the processing of multiple categories can be performed in parallel or in series. If the processing is performed in series, the order of execution can be selected and set according to actual needs, and this embodiment does not impose any restrictions on this.

[0194] Furthermore, another possible scenario is that, after the recommended segments for each category are processed, no more recommended segments are found. In this case, a prompt message can be displayed on the screen to inform the user that no next segment is currently available. The user can then manually edit the next segment of the contour line using conventional methods. The system then continues the above processing based on the edited contour line until the contour line is closed.

[0195] Below is combined Figure 13 After determining the recommended segment, further details are given on how to select the recommended target segment within the recommended segment. Figure 13 A schematic diagram of an implementation of displaying recommended segments provided in an embodiment of the present application.

[0196] In a possible implementation, after the recommended segments are determined, each recommended segment may be displayed, for example, in a target map displayed on a screen, so that a user can quickly determine the actual situation of each recommended segment.

[0197] For example, you can refer to Figure 13 To determine, assume that 3 recommended segments are currently determined, namely Figure 13 The recommended segmentation of the isolated point category marked as 1, the recommended segmentation of the lane line category marked as 2, and the recommended segmentation of the isolated point category marked as 3. Figure 13 As shown, in addition to displaying the recommended segment itself in a preset style, you can also display the digital identification of the recommended segment, the category of the recommended segment, etc. The specific content displayed for the recommended segment can also be selected and set according to actual needs. For example, you can also display the location area where the recommended segment is located, etc.

[0198] Afterwards, the user can perform a selection operation on the recommended segment, where the user's selection operation can be to enter the numerical identifier corresponding to the recommended segment on the keyboard. For example, if the user enters the number 1 on the keyboard, the recommended segment of the isolated point category identified as 1 can be determined as the recommended target segment.

[0199] Alternatively, you can use the arrow keys on the keyboard to select recommended segments in a specified direction. Based on the above description, it can be determined that in this embodiment, some recommended segments will be filtered out in the right area, left area, and front area of ​​the end point of the initial contour line. For example, the user can click the left arrow key on the keyboard to select a recommended segment in the left area. Alternatively, the user can click the right arrow key on the keyboard to select a recommended segment in the right area. Alternatively, the user can click the forward arrow key on the keyboard to select a recommended segment in the front area.

[0200] For example, if the user clicks the left arrow key on the keyboard, the recommended segment of the isolated point category identified as 1 in the left area may be determined as the recommended target segment.

[0201] If the user selects a certain direction area using the arrow keys, but there are multiple recommended segments in the direction area, the system may, for example, select a recommended segment from the multiple recommended segments in the direction area for further confirmation or correction by the user. The system may, for example, select the recommended segment with the smallest angle between the multiple recommended segments in the direction area and the tail of the initial contour line as the recommended segment, or may randomly select the recommended segment, which is not limited in this embodiment.

[0202] In one possible implementation, when displaying each recommended segment on the screen, in order to make it easier for the user to determine the left side, right side, and front corresponding to the end point of the initial contour line, for example, before each recommended segment is displayed, the direction of the virtual camera can be adjusted according to the direction of the tail of the initial contour line so that the direction of the tail of the initial contour line is toward the top of the screen, so that the left side, right side, and front are the appropriate directions for the user.

[0203] It can be understood that whether it is the implementation method of selecting a digital identification on the keyboard or the implementation method of selecting a direction area on the keyboard, the operation is very convenient and fast. Therefore, the contour line generation method of the intersection area provided in this application can effectively improve the generation efficiency of the contour line of the intersection area.

[0204] The final outline of the intersection area can be referenced, for example Figure 14 To understand, Figure 14 This is a schematic diagram of a target contour line provided in an embodiment of the present application, wherein contour line 1401 can effectively indicate the range of the target intersection area.

[0205] Figure 15 This is a schematic diagram of the structure of the device for generating the contour line of the intersection area provided in the embodiment of the present application. Figure 15 As shown, the device 150 includes: an acquisition module 1501 , a determination module 1502 , a processing module 1503 and a judgment module 1504 .

[0206] An acquisition module 1501 is configured to acquire a current initial contour line of a target intersection area, wherein the initial contour line includes at least one segment connected in sequence;

[0207] A determination module 1502 is configured to determine, in the generated high-precision map, at least one recommended segment for the target segment including the target endpoint of the initial contour line;

[0208] The determining module 1502 is further configured to determine a recommended target segment in the at least one recommended segment;

[0209] A processing module 1503 is configured to connect the recommended target segment with the target segment of the initial contour line to obtain an updated contour line;

[0210] A judging module 1504 is configured to judge whether the updated contour line is closed;

[0211] The determining module 1502 is further configured to: if yes, determine the updated contour line as the target contour line corresponding to the target area.

[0212] In one possible design, the target endpoint is the end point of the initial contour line, and the target segment is the end point segment. The determination module 1502 is specifically used to: determine at least one recommended segment for the end point segment of the initial contour line in the generated high-precision map based on the coordinates of the end point included in the initial information of the initial contour line.

[0213] In one possible design, the category of the recommended segment includes at least one of a lane line category, a stop line category, and an isolated point category. The determining module 1502 is specifically configured to: determine, based on the coordinates of the end point of the initial contour line, a geographical range with the end point as the center point and a set radius value corresponding to the category as the radius;

[0214] Based on the initial information of the initial contour line and the geographical range corresponding to each of the categories, in the generated high-precision map, for the end segment of the initial contour line, at least one of the recommended segments of the lane line category, the recommended segment of the stop line category, or the recommended segment of the isolated point category is determined.

[0215] In one possible design, the categories of the recommended segments include: an end category, and the determination module 1502 is specifically used to: determine the recommended segment of the end category for the end segment of the initial contour line in the generated high-precision map based on the initial information of the initial contour line, including the coordinates of the starting point of the initial contour line, the coordinates of the end point of the initial contour line, and the direction of the tail of the initial contour line.

[0216] In one possible design, the determining module 1502 is specifically configured to: determine, in the generated high-precision map, a candidate lane line having at least one endpoint located within a geographical range corresponding to the lane line category;

[0217] Eliminate, from the at least one lane line to be selected, lane lines that intersect with positions other than the end point of the initial contour line to obtain filtered lane lines;

[0218] Based on the filtered lane lines, a recommended segment of the lane line category is determined for the end segment of the initial contour line.

[0219] In one possible design, the determining module 1502 is specifically configured to: determine, based on the coordinates of the end point of the initial contour line and the direction of the tail of the initial contour line, an azimuth area corresponding to the end point of the initial contour line, the azimuth area including: a left area, a front area, and a right area;

[0220] For any of the orientation areas, among the filtered lane lines, obtain a target lane line whose starting point is located in the orientation area;

[0221] The angle between each target lane line and the center direction of the azimuth area is obtained, and the target lane line with the smallest angle is determined as the recommended segment of the lane line category corresponding to the azimuth area.

[0222] In one possible design, the determining module 1502 is specifically configured to: determine, in the generated high-precision map, a candidate stop line having at least one endpoint located within a geographical range corresponding to the stop line category;

[0223] For any of the stop lines to be selected, expanding the area covered by the outline of the stop line to be selected to obtain an expanded area, and acquiring at least one lane line endpoint located in the expanded area;

[0224] Connecting the lane line endpoints in sequence according to the distance between the lane line endpoints and the end point of the initial contour line to obtain a connecting line of the stop line category corresponding to the stop line to be selected;

[0225] If the connecting line of the stop line category does not intersect with the remaining positions of the initial contour line except the end point, the end point of the initial contour line is segmented according to the connecting line of the stop line category to determine the recommended segment of the stop line category.

[0226] In one possible design, the determining module 1502 is specifically configured to: determine, based on the coordinates of the end point of the initial contour line and the direction of the tail of the initial contour line, an azimuth area corresponding to the end point of the initial contour line, the azimuth area including: a left area, a front area, and a right area;

[0227] For any of the azimuth areas, obtaining, from at least one of the stop line type connecting lines, a target connecting line whose starting point is located in the azimuth area;

[0228] An included angle between each target connecting line and the center direction of the azimuth area is obtained, and a target connecting line with the smallest included angle is determined as a recommended segment of the stop line category corresponding to the azimuth area.

[0229] In one possible design, the determining module 1502 is specifically configured to: determine, in the generated high-precision map, a candidate lane line having at least one endpoint located within a geographical range corresponding to the isolated point category;

[0230] Eliminate, from the at least one lane line to be selected, lane lines that intersect with positions other than the end point of the initial contour line to obtain filtered lane lines;

[0231] For any lane line to be selected after the screening, determining a connecting line of an isolated point category connecting a target point in the lane line to be selected and an end point of the initial contour point, wherein the target point is an end point in the lane line to be selected that is closer to the end point of the initial contour line;

[0232] If the connecting line of the isolated point category does not intersect with the remaining lane lines except the lane line to be selected, the target point corresponding to the connecting line of the isolated point category is determined as the target point to be selected;

[0233] According to the target point to be selected, a recommended segment of the isolated point category is determined for the end segment of the initial contour line.

[0234] In one possible design, the determining module 1502 is specifically configured to: determine, based on the coordinates of the end point of the initial contour line and the direction of the tail of the initial contour line, an azimuth area corresponding to the end point of the initial contour line, the azimuth area including: a left area, a front area, and a right area;

[0235] For any of the azimuth areas, among at least one candidate target point located in the azimuth area, a candidate target point closest to an end point of the initial contour line is determined as a reserved target point;

[0236] The connecting line of the isolated point category corresponding to the retained target point is used as a recommended segment of the isolated point category determined for the end segment of the initial contour line.

[0237] In one possible design, the determining module 1502 is specifically configured to: determine a distance between the starting point and the end point according to the coordinates of the starting point of the initial contour line and the coordinates of the end point of the initial contour line;

[0238] Determine the angle between the line connecting the starting point and the end point and the direction of the tail of the initial contour line;

[0239] If the distance is smaller than the preset distance and the included angle is smaller than the preset included angle, a line connecting the start point and the end point is used as a recommended segment of an end category determined for the end point segment of the initial contour line.

[0240] In one possible design, the processing module 1503 is further configured to: after determining at least one recommended segment for the target segment including the target endpoint of the initial contour line in the generated high-precision map, display each of the recommended segments in the high-precision map displayed on the screen;

[0241] The determining module 1502 is specifically configured to: in response to a selection operation on the recommended segment, determine the recommended segment corresponding to the selection operation as the recommended target segment.

[0242] In one possible design, the processing module 1503 is also used to: if the updated contour line is not closed, use the updated contour line as the current initial contour line of the target intersection area, return to the target segment containing the target endpoint of the initial contour line in the generated high-precision map, and determine at least one recommended segment.

[0243] The device provided in this embodiment can be used to execute the technical solution of the above method embodiment. Its implementation principle and technical effects are similar and will not be described in detail in this embodiment.

[0244] Figure 16 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 16 As shown, the electronic device 160 of this embodiment includes: a processor 1601 and a memory 1602;

[0245] The memory 1602 is used to store computer-executable instructions; the processor 1601 is used to execute the computer-executable instructions stored in the memory to implement the various steps of the method for generating the contour line of the intersection area in the above embodiment. For details, please refer to the relevant description in the above method embodiment.

[0246] Optionally, the memory 1602 may be independent or integrated with the processor 1601. When the memory 1602 is independently provided, the electronic device further includes a bus 1603 for connecting the memory 1602 and the processor 1601.

[0247] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method for generating a contour line of an intersection area as performed by the above electronic device is implemented.

[0248] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0249] In the several embodiments provided in this 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 merely illustrative. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules 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 an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0250] The above-mentioned integrated module implemented in the form of a software functional module can be stored in a computer-readable storage medium. The above-mentioned software functional module is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some steps of the method described in various embodiments of the present application.

[0251] It should be understood that the processor described above may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), or application-specific integrated circuits (ASICs). A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules within the processor.

[0252] The memory may include a high-speed RAM memory, and may also include non-volatile storage NVM, such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk.

[0253] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0254] The storage medium may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0255] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0256] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for generating a contour line of an intersection area, characterized in that: include: Acquire a current initial contour line of the target intersection area, wherein the initial contour line includes at least one segment connected in sequence; In the generated high-precision map, determining at least one recommended segment for the target segment including the target endpoint of the initial contour line; Determining a recommended target segment in the at least one recommended segment; Connecting the recommended target segment with the target segment of the initial contour line to obtain an updated contour line; Determining whether the updated contour line is closed; If so, the updated contour line is determined as the target contour line corresponding to the target intersection area.

2. The method according to claim 1, characterized in that The target endpoint is the end point of the initial contour line, the target segment is the end point segment, and determining at least one recommended segment for the target segment containing the target endpoint of the initial contour line in the generated high-precision map includes: According to the coordinates of the end point included in the initial information of the initial contour line, at least one recommended segment is determined for the end point segment of the initial contour line in the generated high-precision map.

3. The method according to claim 2, characterized in that The recommended segment category includes at least one of a lane line category, a stop line category, and an isolated point category. The determining of at least one recommended segment for the endpoint segment of the initial contour line in the generated high-precision map based on at least the coordinates of the endpoint included in the initial information of the initial contour line includes: Determine, based on the coordinates of the end point of the initial contour line, a geographical range with the end point as the center point and a set radius value corresponding to the category as the radius; Based on the initial information of the initial contour line and the geographical range corresponding to each of the categories, in the generated high-precision map, for the end segment of the initial contour line, at least one of the recommended segments of the lane line category, the recommended segment of the stop line category, or the recommended segment of the isolated point category is determined.

4. The method according to claim 2, characterized in that The recommended segment categories include an end category, and the initial information of the initial contour line includes at least the coordinates of the end point, and in the generated high-precision map, at least one recommended segment is determined for the end point segment of the initial contour line, including: According to the initial information of the initial contour line, including the coordinates of the starting point of the initial contour line, the coordinates of the end point of the initial contour line and the direction of the tail of the initial contour line, in the generated high-precision map, the end point of the initial contour line is segmented and the recommended segment of the end category is determined.

5. The method according to claim 3, characterized in that Based on the initial information of the initial contour line and the geographical range corresponding to the lane line category, determining a recommended lane line category segment for the end segment of the initial contour line in the generated high-precision map, including: In the generated high-precision map, determining a candidate lane line having at least one endpoint located within a geographical range corresponding to the lane line category; Eliminate, from the at least one lane line to be selected, lane lines that intersect with positions other than the end point of the initial contour line to obtain filtered lane lines; Based on the filtered lane lines, a recommended segment of the lane line category is determined for the end segment of the initial contour line.

6. The method according to claim 3, characterized in that The step of determining, based on the initial information of the initial contour line and the geographical range corresponding to the stop line category, a recommended segment of the stop line category for the end segment of the initial contour line in the generated high-precision map includes: In the generated high-precision map, determining a candidate stop line having at least one endpoint located within a geographical range corresponding to the stop line category; For any of the stop lines to be selected, expanding the area covered by the outline of the stop line to be selected to obtain an expanded area, and acquiring at least one lane line endpoint located in the expanded area; Connecting the lane line endpoints in sequence according to the distance between the lane line endpoints and the end point of the initial contour line to obtain a connecting line of the stop line category corresponding to the stop line to be selected; If the connecting line of the stop line category does not intersect with the remaining positions of the initial contour line except the end point, the end point of the initial contour line is segmented according to the connecting line of the stop line category to determine the recommended segment of the stop line category.

7. The method according to claim 3, characterized in that The step of determining a recommended segmentation for the isolated point category for the end point segment of the initial contour line based on the initial information of the initial contour line and the geographical range corresponding to the isolated point category in the generated high-precision map includes: In the generated high-precision map, determining a candidate lane line having at least one endpoint located within a geographical range corresponding to the isolated point category; Eliminate, from the at least one lane line to be selected, lane lines that intersect with positions other than the end point of the initial contour line to obtain filtered lane lines; For any lane line to be selected after the screening, determining a connecting line of an isolated point category connecting a target point in the lane line to be selected and an end point of the initial contour point, wherein the target point is an end point in the lane line to be selected that is closer to the end point of the initial contour line; If the connecting line of the isolated point category does not intersect with the remaining lane lines except the lane line to be selected, the target point corresponding to the connecting line of the isolated point category is determined as the target point to be selected; According to the target point to be selected, a recommended segment of the isolated point category is determined for the end segment of the initial contour line.

8. The method according to claim 7, characterized in that The step of determining a recommended segment of the isolated point category based on the target point to be selected as the endpoint segment of the initial contour line includes: Determining, according to the coordinates of the end point of the initial contour line and the direction of the tail of the initial contour line, an azimuth area corresponding to the end point of the initial contour line, the azimuth area including: a left area, a front area, and a right area; For any of the azimuth areas, among at least one candidate target point located in the azimuth area, a candidate target point closest to an end point of the initial contour line is determined as a reserved target point; The connecting line of the isolated point category corresponding to the retained target point is used as a recommended segment of the isolated point category determined for the end segment of the initial contour line.

9. The method according to claim 4, characterized in that The step of determining a recommended segment of the end category for the end point segment of the initial contour line in the generated high-precision map based on the initial information of the initial contour line, including the coordinates of the starting point of the initial contour line, the coordinates of the end point of the initial contour line, and the direction of the tail of the initial contour line, comprises: Determining a distance between the starting point and the end point according to the coordinates of the starting point of the initial contour line and the coordinates of the end point of the initial contour line; Determine the angle between the line connecting the starting point and the end point and the direction of the tail of the initial contour line; If the distance is smaller than the preset distance and the included angle is smaller than the preset included angle, a line connecting the start point and the end point is used as a recommended segment of an end category determined for the end point segment of the initial contour line.

10. The method according to any one of claims 1 to 9, characterized in that After determining at least one recommended segment for the target segment including the target endpoint of the initial contour line in the generated high-precision map, the method further includes: Displaying each of the recommended segments on the high-precision map displayed on the screen; Determining a recommended target segment in the at least one recommended segment includes: In response to a selection operation on the recommended segment, the recommended segment corresponding to the selection operation is determined as the recommended target segment.

11. The method according to any one of claims 1 to 9, characterized in that The method further comprises: If the updated contour line is not closed, the updated contour line is used as the current initial contour line of the target intersection area, and the step of determining at least one recommended segment for the target segment containing the target endpoint of the initial contour line in the generated high-precision map is returned.

12. A device for generating a contour line of an intersection area, characterized in that: include: An acquisition module, configured to acquire a current initial contour line of a target intersection area, wherein the initial contour line includes at least one segment connected in sequence; a determination module, configured to determine, in the generated high-precision map, at least one recommended segment for the target segment containing the target endpoint of the initial contour line; The determining module is further configured to determine a recommended target segment in the at least one recommended segment; a processing module, configured to connect the recommended target segment with the target segment of the initial contour line to obtain an updated contour line; A judging module, configured to judge whether the updated contour line is closed; The determining module is further configured to: if yes, determine the updated contour line as the target contour line corresponding to the target intersection area.

13. A computer-readable storage medium, characterized in that The method comprises instructions which, when executed on a computer, cause the computer to perform the method according to any one of claims 1 to 11.

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