A method, device, medium and computing device for determining a virtual lane

Abstract

This specification provides a method, apparatus, medium, and computing device for determining virtual lanes. The method involves: determining lane number change points in a target area; determining an actual lane change point on a common lane line based on a preset distance between two lane lines in a second lane; calculating the longitudinal displacement of a vehicle during a lane change between the first and second lanes; determining a target lane change point on the common lane line based on the actual lane change point as a start or end point and the longitudinal displacement; determining a first reference point on the lane line corresponding to the common lane line in the first lane based on the lane number change points; determining a second reference point on the lane line corresponding to the common lane line in the second lane based on the target lane change point; and determining a target virtual lane based on the lane number change points, the target lane change point, the first reference point, and the second reference point.

Description

Technical Field

[0001] Several embodiments of this specification relate to the field of map production technology, and in particular to a method, apparatus, medium and computing device for determining virtual lanes. Background Technology

[0002] In autonomous or assisted driving scenarios, vehicle control systems can use high-precision maps to guide vehicles on roads, with the accuracy of these maps reaching the lane level. When a road has multiple lanes, the vehicle control system sometimes needs to move the vehicle from one lane to an adjacent lane, a maneuver known as lane changing.

[0003] To facilitate lane changes by vehicle control systems based on high-precision maps, virtual lanes for lane changes need to be determined within the high-precision map. However, in road scenarios where the number of lanes changes (increases or decreases), determining a comfortable and safe virtual lane for lane changes is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] According to a first aspect of several embodiments of this specification, a method for determining a virtual lane is provided, wherein the virtual lane is used for lane changing between a first lane and a second lane, the method comprising:

[0005] Determine the lane number change point in the target area, wherein the number of lanes in the target area increases from the first lane to the second lane, and the lane number change point is located on the common lane line of the first lane and the second lane;

[0006] Based on the fact that the distance between the two lane lines of the second lane reaches a preset distance, the actual lane change point is determined on the common lane line, wherein the actual lane change point includes the lane change start point or the lane change end point.

[0007] Calculate the longitudinal displacement of the vehicle during the lane change process between the first lane and the second lane;

[0008] Using the actual lane change point as the starting or ending point of the lane change, and based on the longitudinal displacement, determine the target lane change point on the common lane line.

[0009] Based on the lane number change point, a first reference point is determined on the lane line of the first lane corresponding to the common lane line; and based on the target lane change point, a second reference point is determined on the lane line of the second lane corresponding to the common lane line.

[0010] The target virtual lane is determined based on the lane number change point, the target lane change point, the first reference point, and the second reference point.

[0011] According to a second aspect of several embodiments of this specification, a method for drawing high-precision maps is proposed, comprising:

[0012] Obtain lane lines within the target area, where two adjacent lane lines define a lane;

[0013] Based on the first method, a target virtual lane is generated;

[0014] A high-precision map is generated based on the target virtual lane.

[0015] According to a third aspect of several embodiments of this specification, a virtual lane determination device is provided, wherein the virtual lane is used for lane changing between a first lane and a second lane, the device comprising:

[0016] The lane number change point determination module determines the lane number change point in the target area, wherein the number of lanes in the target area increases from the first lane to the second lane, and the lane number change point is located on the common lane line of the first lane and the second lane;

[0017] The actual lane change point determination module determines the actual lane change point on the common lane line based on the fact that the distance between the two lane lines of the second lane reaches a preset distance. The actual lane change point includes the lane change start point or the lane change end point.

[0018] The calculation module calculates the longitudinal displacement of the vehicle during the lane change process between the first lane and the second lane;

[0019] The target lane change point determination module uses the actual lane change point as the lane change start point or lane change end point, and determines the target lane change point on the common lane line based on the longitudinal displacement.

[0020] The reference point determination module determines a first reference point on the lane line corresponding to the common lane line in the first lane based on the lane number change point; and determines a second reference point on the lane line corresponding to the common lane line in the second lane based on the target lane change point.

[0021] The virtual lane determination module determines the target virtual lane based on the lane number change point, the target lane change point, the first reference point, and the second reference point.

[0022] According to a fourth aspect of several embodiments of this specification, a computing device is provided, including a memory and a processor; the memory is used to store computer instructions executable on the processor, and the processor is used to implement the method of the first aspect when executing the computer instructions.

[0023] According to a fifth aspect of several embodiments of this specification, a computer-readable storage medium is provided that stores a computer program, which, when executed by a processor, implements the method described in the first aspect.

[0024] In the scenario addressed in this disclosure, two lane lines can define one lane. Two adjacent lanes share a common lane line, and each lane also has a lane line corresponding to the common lane line. For the first and second lanes, there can be a target area where the number of lanes changes (increases or decreases), i.e., the number of lanes from the first lane to the second lane increases, or the number of lanes from the second lane to the first lane decreases. The purpose of the technical solution of this disclosure is to determine a virtual lane for changing lanes between the first and second lanes. The determined virtual lane can be used for vehicles changing lanes from the first lane to the second lane, or for vehicles changing lanes from the second lane to the first lane.

[0025] In the above technical solution, points on the common lane line within the target area are identified as lane change points. However, these lane change points are not used as the starting point (for lane changes from the first lane to the second lane) or the ending point (for lane changes from the second lane to the first lane). Instead, the actual lane change point is found on the common lane line based on the lane number change point, serving as the starting or ending point. Specifically, the actual lane change point is determined on the common lane line based on the distance between the two lane lines of the second lane reaching a preset distance. Then, using the actual lane change point as the starting or ending point, the target lane change point is determined on the common lane line based on the longitudinal displacement during the lane change process between the first and second lanes. It is easy to understand that when the actual lane change point is the starting point, the target lane change point is the ending point; conversely, when the actual lane change point is the ending point, the target lane change point is the starting point.

[0026] Then, based on the lane number change point, a first reference point can be determined on the lane line corresponding to the shared lane line in the first lane; and based on the target lane change point, a second reference point can be determined on the lane line corresponding to the shared lane line in the second lane. In this way, the target virtual lane can be determined based on the lane number change point, the target lane change point, the first reference point, and the second reference point.

[0027] By using the above technical solution, instead of using the lane change point between the first and second lanes as the starting or ending point of the lane change, the actual lane change point is determined. This means that the starting point of the lane change is delayed, or the ending point is advanced, which makes the arc of the virtual lane used for lane change smoother and improves the driving experience during the lane change process. Attached Figure Description

[0028] Figure 1a and Figure 1bAn example diagram is provided showing two lanes that require a lane change.

[0029] Figure 2 An example diagram of the first lane and the second lane is provided.

[0030] Figure 3 An example diagram of a virtual lane is provided.

[0031] Figure 4 An example diagram of another virtual lane is provided.

[0032] Figure 5 An exemplary flowchart illustrates a method for determining a virtual lane.

[0033] Figure 6 An exemplary schematic diagram for determining the actual lane change point is provided.

[0034] Figure 7 A schematic diagram of driving guide lines in a virtual lane provided as an example.

[0035] Figure 8 An example diagram of another virtual lane is provided.

[0036] Figure 9 This is a schematic diagram of the structure of a computing device provided in this disclosure.

[0037] In the accompanying drawings, identical or corresponding reference numerals denote identical or corresponding parts. Any number of elements in the drawings is for illustrative purposes only and not for limitation, and any naming is for distinction only and has no limiting meaning. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0039] It should be noted that the steps of the corresponding methods are not necessarily performed in the order shown and described in this specification in other embodiments. In some other embodiments, the methods may include more or fewer steps than described in this specification. Furthermore, a single step described in this specification may be broken down into multiple steps in other embodiments; and multiple steps described in this specification may be combined into a single step in other embodiments.

[0040] The user information (including but not limited to user device information, user personal information, user location information, user travel information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0041] In the scenario addressed in this disclosure, two lane lines can define one lane. Two adjacent lanes share a common lane line, and in addition, each of these two lanes has its own lane line corresponding to the common lane line. It should be noted that the lane line of the leftmost or rightmost lane is usually the road boundary line, and the concept of lane lines in this article also includes the case of road boundary lines. The following text will not conceptually distinguish between lane lines belonging to road boundary lines and lane lines within the road.

[0042] For both lanes one and two, there can be a target area where the number of lanes changes (increases or decreases). Specifically, the number of lanes moving from lane one to lane two increases, while the number of lanes moving from lane two to lane one decreases. It's easy to understand that lane one and lane two are relative concepts; the change in lane number within the target area can also mean a decrease in the number of lanes moving from lane one to lane two, or an increase in the number of lanes moving from lane two to lane one. For ease of description, the following explanation will use the example of an increase in the number of lanes moving from lane one to lane two (i.e., a decrease in the number of lanes moving from lane two to lane one).

[0043] Figure 1a and Figure 1b An illustrative diagram of two lanes requiring a lane change is provided. If the road's direction of travel is right, the number of lanes from the first lane to the second lane increases, and the second lane becomes the newly added lane, allowing lane changes from the first lane to the second lane, as shown in 1a. Conversely, if the road's direction of travel is left, the number of lanes from the second lane to the first lane decreases, allowing lane changes from the second lane to the first lane. Figure 1b This is the situation illustrated. It's easy to understand that when the number of lanes from the first lane to the second lane increases, the virtual lane for changing lanes from the first lane to the second lane can also be considered as the virtual lane for changing lanes from the second lane to the first lane when the number of lanes from the second lane to the first lane decreases.

[0044] See also Figure 1a or Figure 1bIn high-definition maps, not only can the first and second lanes be drawn, but also virtual lanes can be drawn for changing lanes between the first and second lanes to meet the needs of autonomous or assisted driving. It's easy to understand that a human driver can change lanes between the first and second lanes based on experience and skill, without needing virtual lanes. However, autonomous or assisted driving systems are not human and lack human driving experience and skill; they are better suited to controlling the vehicle based on lane guidance. This necessitates drawing virtual lanes in high-definition maps for changing lanes between the first and second lanes, allowing the autonomous or assisted driving systems to control the vehicle based on the guidance of these virtual lanes.

[0045] The purpose of this technical solution is to determine a virtual lane for changing lanes between the first lane and the second lane. The same virtual lane can be used for vehicles to change lanes from the first lane to the second lane, or for vehicles to change lanes from the second lane to the first lane. Figure 2 An example diagram of the first lane and the second lane is provided.

[0046] In one alternative technical solution, the lane number change point is used as the actual lane change point, and then the virtual lane is determined using the following principle:

[0047] Using the actual lane-change point as the starting or ending point of the lane change, the target lane-change point is determined on the common lane line based on the longitudinal displacement during the lane-change process between the first and second lanes. It's easy to understand that if the actual lane-change point is the starting point, the target lane-change point is the ending point; conversely, if the actual lane-change point is the ending point, the target lane-change point is the starting point. Then, based on the lane number change point, a first reference point can be determined on the lane line corresponding to the common lane line in the first lane; and based on the target lane-change point, a second reference point can be determined on the lane line corresponding to the common lane line in the second lane. In this way, the target virtual lane can be determined based on the lane number change point, the target lane-change point, the first reference point, and the second reference point.

[0048] However, if the lane number change point is regarded as the actual lane change point, then the arc of the virtual lane determined for lane change will be relatively large, the lateral acceleration of the vehicle during the lane change process will be relatively large, and the riding experience will be poor. Figure 3 An example diagram of a virtual lane is provided. Figure 3 As shown, the virtual lane is relatively short and has a large curvature.

[0049] Therefore, in another technical solution provided in this disclosure, points on the common lane line within the target area are determined as lane change points. However, these lane change points are not used as the starting point (for lane changes from the first lane to the second lane) or the ending point (for lane changes from the second lane to the first lane). Instead, based on the lane number change point, an actual lane change point different from the lane number change point is found on the common lane line and used as the starting or ending point of the lane change. Specifically, the actual lane change point is determined on the common lane line based on the distance between the two lane lines of the second lane reaching a preset distance. Then, based on the above principle of determining virtual lanes, using the actual lane change point as the starting or ending point, the target lane change point is determined on the common lane line based on the longitudinal displacement during the lane change process between the first and second lanes. Then, based on the lane number change point, a first reference point can be determined on the lane line corresponding to the common lane line in the first lane; and based on the target lane change point, a second reference point can be determined on the lane line corresponding to the common lane line in the second lane. In this way, the target virtual lane can be determined based on the lane number change point, the target lane change point, the first reference point, and the second reference point.

[0050] By using the other technical solution mentioned above, instead of using the lane change point between the first and second lanes as the actual lane change point (lane change start or lane change end), the lane change start point is delayed (when changing from the first lane to the second lane) or the lane change end point is advanced (when changing from the second lane to the first lane). This makes the arc of the virtual lane used for lane changing smoother, improving the driving experience during lane changing. Figure 4 An example diagram of another virtual lane is provided. It can be seen that compared to... Figure 3 The virtual lane shown Figure 4 The virtual lane shown is longer and has a gentler curve.

[0051] The technical solutions provided in this disclosure are described in detail below with reference to the accompanying drawings.

[0052] Figure 5 An exemplary flowchart of a method for determining a virtual lane is provided, including the following steps:

[0053] S500: Determine the points where the number of lanes changes in the target area.

[0054] Specifically, within the target area, the number of lanes increasing from the first lane to the second lane occurs at a point on the shared lane line of the first and second lanes. It is easy to understand that an increase in the number of lanes from the first lane to the second lane within the target area is equivalent to a decrease in the number of lanes from the second lane to the first lane within the target area.

[0055] S502: Based on the fact that the distance between the two lane lines of the second lane reaches a preset distance, determine the actual lane change point on the common lane line.

[0056] This is understandable; in practice, the point on the common lane line when the distance between the two lane lines of the second lane reaches the preset distance is determined as the actual lane change point.

[0057] Obviously, the preset distance value is not 0, and the specific value of the preset distance can be specified according to actual needs. It is easy to understand that the larger the preset distance value, the later the lane change start point (when changing lanes from the first lane to the second lane) or the earlier the lane change end point (when changing lanes from the second lane to the first lane). This means that the arc of the virtual lane determined for lane changing is more gentle, the virtual lane is longer, the lateral acceleration of the vehicle during the lane change process is smaller, and the ride experience during the lane change process is improved.

[0058] However, considering that if the virtual lane used for lane changing is too long (the lane change start point is too far back, or the lane change end point is too far forward), it means that the lane change process is too slow, and the vehicle is straddling the shared lane line of two lanes for too long. This is not only detrimental to the passenger experience but also violates road traffic regulations. Therefore, the aforementioned preset distance can be set to fall within a distance range (sm, s+m), where s is the standard width of the vehicle (e.g., 2 meters), and m can be a relatively small positive value. In other words, the aforementioned preset distance can be close to the standard width of the vehicle.

[0059] In some embodiments provided in this disclosure, multiple sampling points can be obtained on the lane line corresponding to the common lane line in the second lane (for example, a sampling point is determined every 0.1 meters). Starting from the sampling point closest to the lane number change point, the target distance from the sampling point to the common lane line is calculated sequentially until the target distance reaches a preset distance. The sampling point corresponding to the target distance reaching the preset distance is determined as the actual lane change point.

[0060] Figure 6 This is a schematic diagram illustrating the determination of the actual lane change point provided by this disclosure. For example... Figure 6 As shown, at the actual lane change point, the distance between the two lane lines of the second lane is 2 meters, which is the standard width of a vehicle.

[0061] It is understandable that determining the actual lane change point based on the preset distance as the standard width of the vehicle can effectively prevent the vehicle from crossing the lane line corresponding to the shared lane line in the second lane during the lane change process, which is more in line with driving regulations.

[0062] S504: Calculate the longitudinal displacement of the vehicle during the lane change process between the first lane and the second lane.

[0063] During a lane change, a vehicle undergoes both longitudinal and lateral displacement. Longitudinal displacement can be understood as displacement along the longitudinal direction of the road, and lateral displacement as displacement along the lateral direction. See also... Figure 4 Lateral displacement is displacement in the vertical direction, and longitudinal displacement is displacement in the left and right direction.

[0064] There are several ways to calculate the aforementioned longitudinal displacement. One approach that is readily apparent to those skilled in the art is to study and statistically analyze the longitudinal displacement generated by a manually driven vehicle during a lane change between the first and second lanes.

[0065] In addition, as another embodiment provided by this disclosure, the target time required for the vehicle to change lanes between the first lane and the second lane can be determined based on the preset standard lane width and the set lateral speed; and the longitudinal displacement during the lane change process between the first lane and the second lane can be calculated based on the target time and the set driving speed.

[0066] It's easy to understand that changing lanes involves simultaneous lateral and longitudinal movement. The lateral distance a vehicle moves is typically the standard width of the lane. Combining this with the lateral speed (usually a constant lateral speed), the duration of the lane-changing process can be calculated—this is the target duration. Using the target duration, combined with the vehicle's longitudinal speed (usually a constant longitudinal speed), which is commonly referred to as the driving speed, the longitudinal displacement of the vehicle (i.e., along the shared lane) can be estimated.

[0067] The settings for lateral movement speed and driving speed can be set based on experience.

[0068] In some embodiments, the lateral movement speed can be set to any value within a lateral movement speed range, which is set based on ride comfort requirements. Ride comfort requirements here can be understood as explicit industry standards (e.g., autonomous driving industry standards), which testers can experimentally determine the range of lateral movement speeds required to ensure passenger comfort (e.g., no noticeable inertia) during vehicle lateral movement.

[0069] This means that the virtual lanes subsequently determined can prevent passengers from experiencing discomfort due to excessively fast or slow lateral movement during lane changes. Setting the lateral movement speed can be, for example, the maximum value within a certain range. In this case, while maintaining passenger comfort, the lateral movement process can be accelerated as quickly as possible to complete the lane change.

[0070] In some embodiments, the aforementioned set driving speed may be the maximum speed limit of the road to which the first lane and the second lane belong.

[0071] S506: Using the actual lane change point as the starting or ending point of the lane change, and based on the longitudinal displacement, determine the target lane change point on the common lane line.

[0072] It's easy to understand that when the actual lane change point is the starting point of the lane change, it means you need to change lanes from the first lane to the second lane. When the actual lane change point is the ending point of the lane change, it means you need to change lanes from the second lane to the first lane.

[0073] See Figure 4 It is easy to understand that the way to determine the target lane change point on a shared lane is to move the longitudinal displacement from the actual lane change point in the direction of the lane number change point towards the actual lane change point to find the target lane change point. In other words, the distance between the actual lane change point and the target lane change point is the aforementioned longitudinal displacement.

[0074] S508: Based on the lane number change point, determine a first reference point on the lane line corresponding to the common lane line of the first lane.

[0075] It is easy to understand that the first reference point can be the projection point of the lane number change point onto the lane line corresponding to the common lane line of the first lane. Specifically, the intersection point of the break line of the first lane passing through the lane number change point and the lane line corresponding to the common lane line of the first lane can be determined as the first reference point.

[0076] S510: Based on the target lane change point, determine a second reference point on the lane line of the second lane corresponding to the common lane line.

[0077] It is easy to understand that the second reference point can be the projection point of the target lane change point onto the lane line corresponding to the common lane line in the second lane. Specifically, the intersection point of the break line of the second lane passing through the target lane change point and the lane line corresponding to the common lane line in the second lane can be determined as the second reference point.

[0078] S512: Determine the target virtual lane based on the lane number change point, the target lane change point, the first reference point, and the second reference point.

[0079] In some embodiments, a first virtual lane line is established based on the lane number change point and the second reference point; and a second virtual lane line is established based on the target lane change point and the first reference point. The first virtual lane line and the second virtual lane line are parallel. A target virtual lane can be determined based on the first virtual lane line and the second virtual lane line.

[0080] See Figure 4As can be seen, the line connecting the lane number change point and the second reference point is a virtual lane line (i.e., the first virtual lane line), and the line connecting the target lane change point and the first reference point is another virtual lane line (i.e., the second virtual lane line). The first virtual lane line and the second virtual lane line have the same shape (i.e., they are parallel).

[0081] In some embodiments, the virtual lane lines can be smoothed. Furthermore, driving guide lines can be generated within the virtual lanes; these guide lines can also be considered as the centerline of the virtual lanes, used to guide the vehicle control system in controlling vehicle movement. Figure 7 This is a schematic diagram of a driving guide line in a virtual lane provided by example in this disclosure.

[0082] Finally, it should be noted that the above explanation uses the example of an increase in the number of lanes from the first lane to the second lane. Considering that the first and second lanes are relative concepts, the principle is the same for the case of a decrease in the number of lanes from the second lane to the first lane; the same method applies. Figure 5 The method and flow shown are for determining virtual lanes. (See also...) Figure 8 understand.

[0083] This disclosure provides a method for drawing high-precision maps, including:

[0084] Obtain lane lines within the target area, where two adjacent lane lines define a lane;

[0085] Generate the target virtual lane;

[0086] A high-precision map is generated based on the target virtual lane.

[0087] This disclosure provides a device for determining a virtual lane, wherein the virtual lane is used for changing lanes between a first lane and a second lane, and the device includes:

[0088] The lane number change point determination module determines the lane number change point in the target area, wherein the number of lanes in the target area increases from the first lane to the second lane, and the lane number change point is located on the common lane line of the first lane and the second lane;

[0089] The actual lane change point determination module determines the actual lane change point on the common lane line based on the fact that the distance between the two lane lines of the second lane reaches a preset distance. The actual lane change point includes the lane change start point or the lane change end point.

[0090] The calculation module calculates the longitudinal displacement of the vehicle during the lane change process between the first lane and the second lane;

[0091] The target lane change point determination module uses the actual lane change point as the lane change start point or lane change end point, and determines the target lane change point on the common lane line based on the longitudinal displacement.

[0092] The reference point determination module determines a first reference point on the lane line corresponding to the common lane line in the first lane based on the lane number change point; and determines a second reference point on the lane line corresponding to the common lane line in the second lane based on the target lane change point.

[0093] The virtual lane determination module determines the target virtual lane based on the lane number change point, the target lane change point, the first reference point, and the second reference point.

[0094] This disclosure also provides a computer program product that executes the methods of embodiments of this disclosure when running.

[0095] This disclosure also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of embodiments of this disclosure.

[0096] This disclosure also provides a computing device, including a memory and a processor; the memory is used to store computer instructions that can be executed on the processor, and the processor is used to implement the methods of the embodiments of this disclosure when executing the computer instructions.

[0097] Figure 9 This is a schematic diagram of the structure of a computing device provided in this disclosure. The computing device 15 may include, but is not limited to, a processor 151, a memory 152, and a bus 153 connecting different system components (including the memory 152 and the processor 151).

[0098] The memory 152 stores computer instructions that can be executed by the processor 151, enabling the processor 151 to perform the methods of any embodiment of this disclosure. The memory 152 may include a random access memory (RAM) 1521, a cache memory 1522, and / or a read-only memory (ROM) 1523. The memory 152 may also include a program tool 1525 having a set of program modules 1524, including but not limited to: an operating system, one or more application programs, other program modules, and program data. One or more combinations of these program modules may include an implementation of a network environment.

[0099] Bus 153 may include, for example, a data bus, an address bus, and a control bus. The computing device 15 can also communicate with external devices 155 via I / O interface 154, such as a keyboard or a Bluetooth device. The computing device 150 can also communicate with one or more networks via network adapter 156, such as a local area network (LAN), a wide area network (WAN), or a public network. As shown, network adapter 156 can also communicate with other modules of the computing device 15 via bus 153.

[0100] Furthermore, although the operations of the methods disclosed herein are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0101] While the spirit and principles of this disclosure have been described with reference to several specific embodiments, it should be understood that this disclosure is not limited to the disclosed specific embodiments, and the division of aspects does not imply that features in these aspects cannot be combined for benefit; such division is merely for convenience of expression. This disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

[0102] The methods described in the above embodiments can be implemented by a computer chip or physical entity, or by a product with a certain function. A typical implementing device is a computer. Specifically, the computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0103] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this specification, the functions of each module can be implemented in one or more software and / or hardware.

[0104] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0106] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0107] The terminology used in the various embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this specification. The singular forms “a,” “described,” and “the” as used in the various embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0108] It should be understood that although the terms first, second, third, etc., may be used to describe various information in various embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of various embodiments of this specification, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0109] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the method embodiments are basically similar to the method embodiments and are therefore described simply; relevant parts can be referred to the descriptions of the method embodiments. The method embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. When implementing the embodiments of this specification, the functions of each module can be implemented in one or more software and / or hardware. Alternatively, some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0110] The above description is merely a preferred embodiment of the various embodiments of this specification and is not intended to limit the various embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the various embodiments of this specification should be included within the protection scope of the various embodiments of this specification.

Claims

1. A method for determining a virtual lane, wherein, The virtual lane is used for lane changing between the first lane and the second lane, and the method includes: Determine the lane number change point in the target area, wherein the number of lanes in the target area increases from the first lane to the second lane, and the lane number change point is located on the common lane line of the first lane and the second lane; Based on the fact that the distance between the two lane lines of the second lane reaches a preset distance, the actual lane change point is determined on the common lane line, wherein the actual lane change point includes the lane change start point or the lane change end point. Calculate the longitudinal displacement of the vehicle during the lane change process between the first lane and the second lane; Using the actual lane change point as the starting or ending point of the lane change, and based on the longitudinal displacement, determine the target lane change point on the common lane line. Based on the lane number change point, a first reference point is determined on the lane line of the first lane corresponding to the common lane line; and based on the target lane change point, a second reference point is determined on the lane line of the second lane corresponding to the common lane line. The target virtual lane is determined based on the lane number change point, the target lane change point, the first reference point, and the second reference point.

2. The method as described in claim 1, wherein, The determination of the actual lane change point on the common lane line when the distance between the two lane lines of the second lane reaches a preset distance includes: Multiple sampling points were obtained by sampling on the lane line corresponding to the common lane line in the second lane; Starting from the sampling point closest to the point of change in the number of lanes, calculate the target distance from the sampling point to the common lane line sequentially until the target distance reaches the preset distance; The sampling point corresponding to the target distance reaching the preset distance is determined as the actual lane change point.

3. The method as described in claim 1, wherein, The calculation of the longitudinal displacement of the vehicle during the lane change process between the first lane and the second lane includes: Based on the preset standard lane width and the set lateral movement speed, determine the target time required for the vehicle to change lanes between the first lane and the second lane; Based on the target duration and the set driving speed, the longitudinal displacement during the lane change process between the first lane and the second lane is calculated.

4. The method as described in claim 3, wherein, The set lateral movement speed is any value within the lateral movement speed range, which is set based on ride comfort requirements.

5. The method as described in claim 3, wherein, The set driving speed includes: the maximum speed limit corresponding to the roads to which the first lane and the second lane belong.

6. The method of claim 1, wherein determining a first reference point on the lane line corresponding to the common lane line of the first lane based on the lane number change point includes: The intersection point of the first lane's break line that passes through the lane number change point and intersects with the lane line corresponding to the common lane line is determined and used as the first reference point; The step of determining a second reference point on the lane line corresponding to the common lane line in the second lane based on the target lane change point includes: The intersection point of the break line of the second lane that passes through the target lane change point and the lane line corresponding to the common lane line of the second lane is determined and used as the second reference point.

7. The method according to any one of claims 1-6, wherein determining the target virtual lane based on the lane number change point, the target lane change point, the first reference point, and the second reference point comprises: Based on the lane number change points and the second reference point, a first virtual lane line is established; Furthermore, based on the target lane change point and the first reference point, a second virtual lane line is established; the first virtual lane line is parallel to the second virtual lane line. The target virtual lane is determined based on the first virtual lane line and the second virtual lane line.

8. A method for creating a high-precision map, comprising: Obtain lane lines within the target area; two adjacent lane lines define one lane. A target virtual lane is generated based on the method described in any one of claims 1-7; A high-precision map is generated based on the target virtual lane.

9. A device for determining a virtual lane, wherein, The virtual lane is used for changing lanes between the first lane and the second lane, and the device includes: The lane number change point determination module determines the lane number change point in the target area, wherein the number of lanes in the target area increases from the first lane to the second lane, and the lane number change point is located on the common lane line of the first lane and the second lane; The actual lane change point determination module determines the actual lane change point on the common lane line based on the fact that the distance between the two lane lines of the second lane reaches a preset distance. The actual lane change point includes the lane change start point or the lane change end point. The calculation module calculates the longitudinal displacement of the vehicle during the lane change process between the first lane and the second lane; The target lane change point determination module uses the actual lane change point as the lane change start point or lane change end point, and determines the target lane change point on the common lane line based on the longitudinal displacement. The reference point determination module determines a first reference point on the lane line corresponding to the common lane line in the first lane based on the lane number change point; and determines a second reference point on the lane line corresponding to the common lane line in the second lane based on the target lane change point. The virtual lane determination module determines the target virtual lane based on the lane number change point, the target lane change point, the first reference point, and the second reference point.

10. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for determining a virtual lane as described in any one of claims 1-7 or the method for drawing a high-precision map as described in claim 8.

11. A computing device, comprising a memory and a processor; the memory being used to store computer instructions executable on the processor, the processor being used to implement, when executing the computer instructions, the method for determining a virtual lane as described in any one of claims 1-7 or the method for drawing a high-precision map as described in claim 8.

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