Lane data processing methods, devices, electronic equipment, vehicles and media

Abstract

This disclosure relates to a lane data processing method, apparatus, electronic device, vehicle, and medium. The method includes: determining that when both the first included angle between the lane to be detected and its corresponding preceding lane, and the second included angle between the lane to be detected and its corresponding following lane, are less than a first preset angle, acquiring a first changing direction between the lane to be detected and its corresponding preceding lane, and a second changing direction between the lane to be detected and its corresponding following lane; when the first changing direction and the second changing direction are different, calculating a first length of a target preceding lane that satisfies a first preset condition, and a second length of a target following lane that satisfies a second preset condition; when both the first length and the second length are greater than a preset length, outputting the position information and identification information of the lane to be detected. Embodiments of this disclosure can check for geometrical changes in lane groups, which is beneficial for ensuring the driving safety of autonomous vehicles.

Description

Technical Field

[0001] This disclosure relates to the field of data processing technology, and in particular to a lane data processing method, apparatus, electronic device, vehicle, and medium. Background Technology

[0002] With the rapid development of technology, autonomous driving is becoming increasingly widespread, and this technology often relies on standard or high-definition maps. Due to various factors such as data collection and synthesis, roads that should be straight may appear as distorted lanes on the map, a phenomenon known as lane geometric transitions. These lane geometric transitions can cause vehicles in autonomous driving systems to sway in their direction of travel, increasing the risk of accidents and, in severe cases, affecting driving safety. Current technologies primarily rely on manual inspection to detect lane geometric transitions. However, for high-definition maps with large datasets and frequent updates, manual detection is impractical. Therefore, automating the detection of lane geometric transitions has become a pressing issue. Summary of the Invention

[0003] To address the aforementioned technical problems, this disclosure provides a lane data processing method, apparatus, electronic device, vehicle, and medium.

[0004] In a first aspect, this disclosure provides a lane data processing method, including:

[0005] When the first angle between the lane to be detected and the corresponding front drive lane and the second angle between the lane to be detected and the corresponding follower lane are both less than a first preset angle, the first direction of change between the lane to be detected and the corresponding front drive lane, and the second direction of change between the lane to be detected and the corresponding follower lane are obtained.

[0006] When the first change direction and the second change direction are different, the first length of the target front drive lane that meets the first preset condition and the second length of the target follow-up lane that meets the second preset condition are calculated.

[0007] When both the first length and the second length are greater than the preset length, the location information and identification information of the lane to be detected are output.

[0008] Optionally, before determining that the first angle between the lane to be detected and the corresponding preceding lane, and the second angle between the lane to be detected and the corresponding following lane are both less than a first preset angle, and before obtaining the first direction of change of the lane to be detected and the corresponding preceding lane, and the second direction of change of the lane to be detected and the corresponding following lane, the method further includes:

[0009] Determine the target boundary line from the lane boundary lines included in the lane group to which the lane to be detected is located;

[0010] Obtain the front-wheel drive intersection point between the dividing line between the front-wheel drive lane corresponding to the lane to be detected and the target boundary line, the front-wheel drive adjacent point corresponding to the front-wheel drive intersection point, and the subsequent adjacent point corresponding to the front-wheel drive intersection point. The front-wheel drive adjacent point corresponding to the front-wheel drive intersection point is located on the lane boundary line of the front-wheel drive lane adjacent to the target boundary line, and the subsequent adjacent point corresponding to the front-wheel drive intersection point is located on the target boundary line.

[0011] Obtain the successor intersection point between the dividing line between the lane to be detected and the target boundary line, the preceding adjacent point corresponding to the successor intersection point, and the successor adjacent point corresponding to the successor intersection point. The preceding adjacent point corresponding to the successor intersection point is located on the target boundary line, and the successor adjacent point corresponding to the successor intersection point is located on the lane boundary line of the successor lane adjacent to the target boundary line.

[0012] The included angle formed between the predecessor adjacent point corresponding to the predecessor intersection point, the predecessor intersection point and the successor adjacent point corresponding to the predecessor intersection point is determined as the first included angle, and the included angle formed between the predecessor adjacent point corresponding to the successor intersection point, the successor intersection point and the successor adjacent point corresponding to the successor intersection point is determined as the second included angle.

[0013] Optionally, obtaining the first direction of change of the lane to be detected and the corresponding preceding lane, and the second direction of change of the lane to be detected and the corresponding following lane, includes:

[0014] The direction in which the line segment changes when traveling from the line segment formed by the predecessor's adjacent point corresponding to the predecessor's intersection point and the predecessor's intersection point to the line segment formed by the predecessor's intersection point and the successor's adjacent point corresponding to the predecessor's intersection point is determined as the first direction of change; and the direction in which the line segment changes when traveling from the line segment formed by the predecessor's adjacent point corresponding to the successor's intersection point and the successor's intersection point to the line segment formed by the successor's intersection point and the successor's adjacent point corresponding to the successor's intersection point is determined as the second direction of change.

[0015] Optionally, the statistical determination of the first length of the target front-drive lane that satisfies the first preset condition and the second length of the target follow-up lane that satisfies the second preset condition includes:

[0016] N consecutive target front-wheel drive lanes are obtained in the front-wheel drive direction, and the first length of the N target front-wheel drive lanes is obtained. The target front-wheel drive lanes satisfy a first preset condition, which is that the angle between the target front-wheel drive vehicle and the subsequent lane corresponding to the target front-wheel drive lane is greater than or equal to a second preset angle.

[0017] M consecutive target follower lanes are obtained in the follower direction, and the second length of the M target follower lanes is obtained, wherein the target follower lanes satisfy a second preset condition, the second preset condition being: the angle between the target follower lane and the corresponding front drive lane is greater than or equal to a second preset angle.

[0018] Optionally, before determining the target boundary line from the lane boundary lines included in the lane group containing the lane to be detected, the method further includes:

[0019] It is determined that the lane to be detected is neither a separated lane nor a merged lane.

[0020] Optionally, the location information of the lane to be detected includes:

[0021] The coordinate information corresponding to the predecessor intersection or the coordinate information corresponding to the successor intersection.

[0022] Secondly, this disclosure provides a lane data processing apparatus, comprising:

[0023] The first acquisition module is used to determine that when the first included angle between the lane to be detected and the front drive lane corresponding to the lane to be detected and the second included angle between the lane to be detected and the subsequent lane corresponding to the lane to be detected are both less than a first preset angle, the module acquires the first change direction between the lane to be detected and the front drive lane corresponding to the lane to be detected, and the second change direction between the lane to be detected and the subsequent lane corresponding to the lane to be detected.

[0024] The statistics module is used to calculate the first length of the target front drive lane that meets the first preset condition and the second length of the target follower lane that meets the second preset condition when the first change direction and the second change direction are different.

[0025] The output module is used to output the position information and identification information of the lane to be detected when both the first length and the second length are greater than the preset length.

[0026] Optionally, the above-mentioned device further includes:

[0027] The first determining module is specifically used to: determine a target boundary line from the lane boundary lines included in the lane group to which the lane to be detected is located, before obtaining the first change direction of the lane to be detected and the first change direction of the lane to be detected and the second change direction of the lane to be detected and ...

[0028] The second acquisition module is specifically used to: acquire the front-drive lane corresponding to the lane to be detected and the front-drive intersection point between the dividing line between the lane to be detected and the target boundary line, the front-drive adjacent point corresponding to the front-drive intersection point and the subsequent adjacent point corresponding to the front-drive intersection point, wherein the front-drive adjacent point corresponding to the front-drive intersection point is located on the lane boundary line of the front-drive lane adjacent to the target boundary line, and the subsequent adjacent point corresponding to the front-drive intersection point is located on the target boundary line;

[0029] The third acquisition module is specifically used to: acquire the successor intersection point between the dividing line between the lane to be detected and the target boundary line, the preceding adjacent point corresponding to the successor intersection point, and the successor adjacent point corresponding to the successor intersection point, wherein the preceding adjacent point corresponding to the successor intersection point is located on the target boundary line, and the successor adjacent point corresponding to the successor intersection point is located on the lane boundary line of the successor lane adjacent to the target boundary line;

[0030] The second determining module is specifically used to: determine the included angle formed between the predecessor adjacent point corresponding to the predecessor intersection point, the predecessor intersection point and the successor adjacent point corresponding to the predecessor intersection point as the first included angle, and determine the included angle formed between the predecessor adjacent point corresponding to the successor intersection point, the successor intersection point and the successor adjacent point corresponding to the successor intersection point as the second included angle.

[0031] Optional, the first acquisition module is specifically used for:

[0032] When both the first included angle between the lane to be detected and the corresponding preceding lane and the second included angle between the lane to be detected and the corresponding following lane are less than a first preset angle, the direction in which the line segment changes when moving from the line segment formed by the preceding adjacent point corresponding to the preceding intersection and the preceding intersection to the line segment formed by the preceding intersection and the corresponding following adjacent point is determined as the first change direction, and the direction in which the line segment changes when moving from the line segment formed by the preceding adjacent point corresponding to the following intersection and the following following intersection to the line segment formed by the following intersection and the following following adjacent point is determined as the second change direction.

[0033] Optional, statistics module, specifically used for:

[0034] N consecutive target front-wheel drive lanes are obtained in the front-wheel drive direction, and the first length of the N target front-wheel drive lanes is obtained. The target front-wheel drive lanes satisfy a first preset condition, which is that the angle between the target front-wheel drive vehicle and the subsequent lane corresponding to the target front-wheel drive lane is greater than or equal to a second preset angle.

[0035] M consecutive target follower lanes are obtained in the follower direction, and the second length of the M target follower lanes is obtained, wherein the target follower lanes satisfy a second preset condition, the second preset condition being: the angle between the target follower lane and the corresponding front drive lane is greater than or equal to a second preset angle.

[0036] Optionally, the above-mentioned device further includes:

[0037] The third determining module is specifically used to: determine that the lane to be detected is neither a separated lane nor a merged lane before determining the target boundary line from the lane boundary lines included in the lane group to which the lane to be detected is located.

[0038] Optionally, the location information of the lane to be detected includes:

[0039] The coordinate information corresponding to the predecessor intersection or the coordinate information corresponding to the successor intersection.

[0040] Thirdly, this disclosure also provides an electronic device, including:

[0041] One or more processors;

[0042] Storage device for storing one or more programs.

[0043] When the one or more programs are executed by the one or more processors, the one or more processors implement any of the lane data processing methods described in the embodiments of this disclosure.

[0044] Fourthly, this disclosure also provides a vehicle including electronic equipment as described in the third aspect.

[0045] Fifthly, this disclosure also provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements any of the lane data processing methods described in the embodiments of this disclosure.

[0046] Compared with the prior art, the technical solution provided in this disclosure has the following advantages: When the first included angle between the lane to be detected and the corresponding front drive lane and the second included angle between the lane to be detected and the corresponding successor lane are both less than a first preset angle, the first change direction between the lane to be detected and the corresponding front drive lane, and the second change direction between the lane to be detected and the corresponding successor lane are obtained; when the first change direction and the second change direction are different, the first length of the target front drive lane that meets the first preset condition and the second length of the target successor lane that meets the second preset condition are calculated; when both the first length and the second length are greater than the preset length, the position information and identification information of the lane to be detected are output. Through the above technical solution, the geometric jump situation of the lane group can be checked, and the position information and identification information of the lane with geometric jump can be output, thereby enabling lane data to be processed in advance, ensuring the quality of high-precision map data, driving safety of autonomous vehicles, and driving experience. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0048] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic flowchart of a lane data processing method provided in an embodiment of this disclosure;

[0050] Figure 2A This is a schematic diagram of a first included angle and a second included angle provided in an embodiment of this disclosure;

[0051] Figure 2B This is a schematic diagram of a separated lane and a merged lane provided in an embodiment of this disclosure;

[0052] Figure 3This is a schematic diagram of the structure of a lane data processing device provided in an embodiment of this disclosure;

[0053] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0054] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0055] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0056] Figure 1 This is a schematic flowchart illustrating a lane data processing method provided in an embodiment of this disclosure. This embodiment is applicable to checking for geometrical changes in lane groups. The method in this embodiment can be executed by a lane data processing device, which can be implemented in hardware / software and configured in an electronic device. Figure 1 As shown, the method specifically includes the following:

[0057] S110, when the first included angle between the lane to be detected and the corresponding front drive lane and the second included angle between the lane to be detected and the corresponding follower lane are both less than the first preset angle, the first change direction between the lane to be detected and the corresponding front drive lane and the second change direction between the lane to be detected and the corresponding follower lane are obtained.

[0058] The lane to be detected can be understood as any lane in the lane group to be detected. The lane group to be detected can be understood as the group of lanes that need to be checked for geometric jumps. A lane group can be understood as a combination of lane boundaries, lane center lines, and road boundaries in the same direction of travel. The preceding lane to the lane to be detected can be understood as the lane before entering the lane to be detected in the direction of travel. The succeeding lane to the lane to be detected can be understood as the lane after exiting the lane to be detected in the direction of travel. The first preset angle can be a predetermined angle value, such as 177 degrees, 177.5 degrees, etc., or it can be determined according to specific circumstances, without specific limitations here. The first direction of change can be understood as the direction in which the boundary line changes when moving from the boundary line of the preceding lane to the boundary line of the lane to be detected, specifically one of clockwise and counterclockwise directions. The second direction of change can be understood as the direction in which the boundary line changes when moving from the boundary line of the lane to the boundary line of the succeeding lane to the lane to be detected, specifically one of clockwise and counterclockwise directions.

[0059] Specifically, to perform geometric transition checks on lane data, the lane to be detected needs to be determined from the group of lanes to be detected. Based on the vehicle's direction of travel and the travel process, the preceding and following lanes corresponding to the lane to be detected can be determined. After determining the preceding and following lanes corresponding to the lane to be detected, the first angle between the lane to be detected and its corresponding preceding lane can be determined based on the angle between the boundary line of the lane to be detected and the boundary line of the preceding lane (both boundary lines must be on the same side of the lane to be detected and its corresponding preceding lane, such as both being left boundary lines or both being right boundary lines). The second angle between the lane to be detected and its corresponding following lane can be determined based on the angle between the boundary line of the lane to be detected and the boundary line of the following lane (also on the same side of the lane to be detected and its corresponding following lane, such as both being left boundary lines or both being right boundary lines). After determining the first included angle and the second included angle, it is determined whether both the first included angle and the second included angle are less than a first preset angle. If so, the first change direction of the lane to be detected and the corresponding preceding lane, as well as the second change direction of the lane to be detected and the corresponding following lane, are obtained. If not, that is, if either the first included angle or the second included angle is less than or equal to the preset angle, the lane to be detected is redefined, and S110 is executed.

[0060] S120, when the first change direction and the second change direction are different, calculate the first length of the target front drive lane that meets the first preset condition and the second length of the target follow-up lane that meets the second preset condition.

[0061] The first preset condition can be understood as follows: taking the preceding lane of the lane to be detected as a reference, the angle between the preceding lane and the preceding lane is greater than or equal to the second preset angle. The second preset condition can be understood as follows: taking the following lane of the lane to be detected as a reference, the angle between the following lane and the following lane is greater than or equal to the second preset angle. The second preset angle can be a predetermined angle value, such as 179 degrees, 179.5 degrees, etc., or it can be determined according to specific circumstances, and is not specifically limited here.

[0062] Specifically, after obtaining the first and second change directions, if the first and second change directions are the same, it indicates that the lane group containing the lane to be detected has not undergone a geometric change (it may be a turning situation). In this case, the lane to be detected is redefined, and S110 is executed. If the first and second change directions are different, it is necessary to calculate the first length of the target front-wheel drive lane that meets the first preset condition and the second length of the target successor lane that meets the second preset condition. When determining the target front-wheel drive lane that meets the first preset condition and the target successor lane that meets the second preset condition, it is necessary to determine the angle between the front-wheel drive lane corresponding to the lane to be detected and the lane to be detected, and the angle between the successor lane corresponding to the lane to be detected and the lane to be detected. These two angles can refer to the determination method of the first and second angles in S110, and the principle is the same, so no specific limitation is made here. After determining the target front-wheel drive lane and the target successor lane, the lengths corresponding to them can be calculated.

[0063] S130: When both the first length and the second length are greater than the preset length, output the position information and identification information of the lane to be detected.

[0064] The preset length can be a predetermined value, such as 250 meters, 200 meters, etc., or it can be determined according to specific circumstances; no specific limitation is made here. The location information of the lane to be detected can be represented by the coordinates of one point in the lane, or by the position of the lane's boundary line; no specific limitation is made here. The identification information can be understood as information that can be used to distinguish and identify the lane to be detected, such as number information, name information, etc.; no specific limitation is made here.

[0065] Specifically, after calculating the first and second lengths, it is determined whether both the first and second lengths are greater than a preset length. If so, the location and labeling information of the lane to be detected are output. This location and labeling information facilitates the rapid identification of lane groups with geometrical jumps, allowing these data to be removed from the high-precision map data and preventing adverse effects on autonomous driving.

[0066] In this embodiment, when the first included angle between the lane to be detected and its corresponding preceding lane, and the second included angle between the lane to be detected and its corresponding following lane, are both less than a first preset angle, the first change direction between the lane to be detected and its corresponding preceding lane, and the second change direction between the lane to be detected and its corresponding following lane are obtained. When the first change direction and the second change direction are different, the first length of the target preceding lane that meets the first preset condition, and the second length of the target following lane that meets the second preset condition are calculated. When both the first length and the second length are greater than the preset length, the position information and identification information of the lane to be detected are output. Through the above technical solution, the geometric jump situation of the lane group can be checked, and the position information and identification information of the lane with geometric jump can be output, thereby enabling lane data to be processed in advance, ensuring the quality of high-precision map data, the driving safety of autonomous vehicles, and the driving experience.

[0067] In some embodiments, optionally, before determining that the first angle between the lane to be detected and the preceding lane corresponding to the lane to be detected, and the second angle between the lane to be detected and the following lane corresponding to the lane to be detected, are both less than a first preset angle, and before obtaining the first direction of change of the lane to be detected and the preceding lane corresponding to the lane to be detected, and the second direction of change of the lane to be detected and the following lane corresponding to the lane to be detected, the method further includes:

[0068] Determine the target boundary line from the lane boundary lines included in the lane group to which the lane to be detected is located;

[0069] Obtain the front-wheel drive intersection point between the dividing line between the front-wheel drive lane corresponding to the lane to be detected and the target boundary line (e.g., Figure 2A Point A in the diagram), and the predecessor adjacent point corresponding to the intersection point of the predecessor (e.g., point ...). Figure 2A Point C in the diagram) and the successor adjacent point corresponding to the predecessor intersection point (e.g., point ... Figure 2A Point B in the diagram, wherein the preceding adjacent point corresponding to the preceding intersection point is located on the lane boundary line of the preceding lane adjacent to the target boundary line, and the lane boundary line is the lane boundary line in the lane group to which the preceding lane belongs; the subsequent adjacent point corresponding to the preceding intersection point is located on the target boundary line.

[0070] Obtain the subsequent intersection point between the dividing line between the lane to be detected and the target boundary line of the lane to be detected and the subsequent lane to be detected (e.g., Figure 2A Point D in the diagram, and the predecessor adjacent point corresponding to the successor intersection point (e.g., point D in the diagram), Figure 2A Point E in the diagram) and the successor neighboring point corresponding to the intersection point (e.g., point ... Figure 2APoint F in the target boundary line, wherein the preceding adjacent point corresponding to the successor intersection point is located on the target boundary line, and the successor adjacent point corresponding to the successor intersection point is located on the lane boundary line of the successor lane adjacent to the target boundary line, and the lane boundary line is the lane boundary line in the lane group to which the successor lane belongs.

[0071] The included angle formed between the predecessor adjacent point corresponding to the predecessor intersection point, the predecessor intersection point and the successor adjacent point corresponding to the predecessor intersection point is determined as the first included angle, and the included angle formed between the predecessor adjacent point corresponding to the successor intersection point, the successor intersection point and the successor adjacent point corresponding to the successor intersection point is determined as the second included angle.

[0072] The dividing line can be understood as a line used to distinguish different lane groups. The lane boundary line may include a preset number of points, with a predetermined distance between these points. The preset number can be a pre-determined value, such as 20, 30, etc., or it can be determined according to specific circumstances; no specific limitation is made here. The predetermined distance can be a pre-determined value, such as 1 meter, 1.5 meters, etc., or it can be determined according to specific circumstances; no specific limitation is made here.

[0073] Specifically, the lane group containing the lane to be detected usually includes more than one lane; that is, there may be other lanes besides the lane to be detected. Correspondingly, the lane group contains at least two lane boundary lines. One lane boundary line is randomly selected from the boundary lines of the lane group as the target boundary line. For example, the left lane boundary line of the leftmost lane in the lane group can be used as the target boundary line, or it can be any other lane boundary line; no specific limitation is made here. After determining the target boundary line, the front-wheel drive intersection point (e.g., the dividing line between the lane group containing the front-wheel drive lane and the lane to be detected, i.e., the dividing line between the lane group containing the front-wheel drive lane and the lane group containing the lane to be detected) and the target boundary line is obtained. Figure 2A Point A in the diagram), and two points adjacent to the predecessor intersection, namely: the predecessor adjacent points corresponding to the predecessor intersection (e.g., Figure 2A Point C in the diagram and the successor adjacent point corresponding to the intersection with the predecessor (e.g., point C) ... Figure 2A Point B in the diagram), where the preceding adjacent point corresponding to the intersection with the preceding lane can be understood as the second-to-last point on the lane boundary line adjacent to the target boundary line within the lane boundary line of the lane group containing the preceding lane of the lane to be detected. Here, preceding adjacent can be understood as left adjacent (e.g., Figure 2A Midpoint C is the left adjacent point relative to point A; the successor adjacent point corresponding to the intersection with the predecessor can be understood as the second point on the target boundary line, and the successor adjacent point here can be understood as the right adjacent point (e.g., Figure 2AMidpoint B is the right adjacent point relative to point A. Simultaneously, obtain the subsequent intersection point (e.g., the dividing line between the lane group containing the lane to be detected and the lane group containing the lane corresponding to the lane to be detected) and the target boundary line. Figure 2A Point D in the diagram, and the two points adjacent to the successor intersection, i.e., the predecessor adjacent points corresponding to the successor intersection (such as...). Figure 2A Point E in the diagram) and the successor adjacent points corresponding to the intersection points (such as...) Figure 2A Point F in the diagram), where the predecessor neighbor point corresponding to the successor intersection point can be understood as the second to last point on the target boundary line, and the predecessor neighbor here can be understood as the left neighbor (e.g., Figure 2A Midpoint E is the left adjacent point relative to point D; the subsequent adjacent point corresponding to the subsequent intersection point can be understood as the second point on the lane boundary line adjacent to the target boundary line among the lane boundary lines contained in the lane group containing the lane corresponding to the lane to be detected. Here, the subsequent adjacent point can be understood as the right adjacent point (e.g., Figure 2A Midpoint F is the right neighbor relative to point D. Then, the angle formed between the predecessor's adjacent point corresponding to the predecessor's intersection point, the predecessor's intersection point, and the successor's adjacent point corresponding to the predecessor's intersection point (e.g., Figure 2A The first included angle is defined as ∠CAB, and the included angle formed between the predecessor adjacent point corresponding to the successor intersection point, the successor intersection point, and the successor adjacent point corresponding to the successor intersection point (e.g., ∠CAB) is defined as ∠CAB. Figure 2A The angle ∠EDF is determined as the second included angle.

[0074] In this embodiment, since each lane boundary line may include multiple points, the first included angle and the second included angle are determined by taking points on the target boundary line and the boundary lines of other lanes (front drive lane and follow-up lane) adjacent to the target boundary line, and the obtained points (the points closest to the dividing line). This method has high accuracy, making the determined angle values ​​of the first included angle and the second included angle more accurate.

[0075] For example, Figure 2A This is a schematic diagram of a first included angle and a second included angle provided in an embodiment of this disclosure. For example... Figure 2AAs shown: the line segments containing points A, B, E, and D are the target boundary lines; the straight lines containing points C and A are the lane boundary lines adjacent to the target boundary lines within the lane boundary lines of the lane group containing the preceding lane of the lane to be detected; the straight lines containing points D and F are the lane boundary lines adjacent to the target boundary lines within the lane boundary lines of the lane group containing the succeeding lane of the lane to be detected; point A is the preceding intersection point, point C is the preceding adjacent point corresponding to the preceding intersection point, point B is the succeeding adjacent point corresponding to the preceding intersection point, point D is the succeeding intersection point, point E is the preceding adjacent point corresponding to the succeeding intersection point, and point F is the succeeding adjacent point corresponding to the succeeding intersection point; the lane to the left of the lane to be detected is the preceding lane of the lane to be detected; the lane to the right of the lane to be detected is the succeeding lane of the lane to be detected; ∠CAB is the first included angle and ∠EDF is the second included angle.

[0076] In some embodiments, optionally, obtaining the first direction of change of the lane to be detected and the corresponding preceding lane, and the second direction of change of the lane to be detected and the corresponding following lane, includes:

[0077] The direction in which the line segment changes when traveling from the line segment formed by the predecessor's adjacent point corresponding to the predecessor's intersection point and the predecessor's intersection point to the line segment formed by the predecessor's intersection point and the successor's adjacent point corresponding to the predecessor's intersection point is determined as the first direction of change; and the direction in which the line segment changes when traveling from the line segment formed by the predecessor's adjacent point corresponding to the successor's intersection point and the successor's intersection point to the line segment formed by the successor's intersection point and the successor's adjacent point corresponding to the successor's intersection point is determined as the second direction of change.

[0078] Specifically, based on the determination of the precursor intersection point, the precursor adjacent point corresponding to the precursor intersection point, and the successor adjacent point corresponding to the precursor intersection point, the direction of change of the line segment between the precursor adjacent point and the precursor intersection point (e.g., line segment CA) and the line segment between the precursor intersection point and the successor adjacent point corresponding to the precursor intersection point (e.g., line segment AB) is determined as the first transformation direction. Furthermore, based on the determination of the successor intersection point, the precursor adjacent point corresponding to the successor intersection point, and the successor adjacent point corresponding to the successor intersection point, the direction of change of the line segment between the precursor adjacent point and the successor intersection point (e.g., line segment ED) and the line segment between the successor intersection point and the successor adjacent point corresponding to the successor intersection point (e.g., line segment DF) is determined as the second transformation direction.

[0079] In this embodiment, the above method can accurately determine the first and second change directions, which facilitates the execution of subsequent steps and avoids errors.

[0080] For example, based on Figure 2A The point in the equation can determine that the first direction of change is counterclockwise and the second direction of change is clockwise.

[0081] In some embodiments, optionally, the location information of the lane to be detected includes:

[0082] The coordinate information corresponding to the predecessor intersection or the coordinate information corresponding to the successor intersection.

[0083] Specifically, when outputting the location information of the lane to be detected, the coordinates of the preceding intersection point or the subsequent intersection point can be output to locate the position of the lane to be detected.

[0084] In this embodiment, the method described above is simple and efficient for locating the lane to be detected.

[0085] In some embodiments, optionally, before determining the target boundary line from the lane boundary lines included in the lane group containing the lane to be detected, the method further includes:

[0086] It is determined that the lane to be detected is neither a separated lane nor a merged lane.

[0087] In this context, a separating lane can be understood as a lane that is separated from an existing lane. A merging lane can be understood as a lane that is merged into an existing lane.

[0088] Specifically, before performing geometric transition checks on lane data, it is necessary to determine whether the lane to be detected is a separated lane or a merged lane. If the lane to be detected is a separated lane or a merged lane, it is necessary to redetermine the lane to be detected. If the lane to be detected is neither a separated lane nor a merged lane, the steps of determining the target boundary line from the lane boundary lines included in the lane group to which the lane to be detected is located, and determining the first included angle and the second included angle are performed.

[0089] In this embodiment, the above method can avoid false checks of lane group geometric jumps.

[0090] For example, Figure 2B This is a schematic diagram of a separated lane and a merging lane provided in an embodiment of this disclosure. Figure 2B As shown, based on the lane groups containing lanes 1 and 2, lane 3 is the merged lane; based on the lane groups containing lanes 4 and 5, lane 6 is the separated lane.

[0091] In some embodiments, optionally, the statistical determination of the first length of the target front-drive lane that satisfies a first preset condition and the second length of the target follow-drive lane that satisfies a second preset condition includes:

[0092] N consecutive target front-wheel drive lanes are obtained in the front-wheel drive direction, and the first length of the N target front-wheel drive lanes is obtained. The target front-wheel drive lanes satisfy a first preset condition, which is that the angle between the target front-wheel drive vehicle and the subsequent lane corresponding to the target front-wheel drive lane is greater than or equal to a second preset angle.

[0093] M consecutive target follower lanes are obtained in the follower direction, and the second length of the M target follower lanes is obtained, wherein the target follower lanes satisfy a second preset condition, the second preset condition being: the angle between the target follower lane and the corresponding front drive lane is greater than or equal to a second preset angle.

[0094] Where N and M are both positive integers, and their values ​​can be the same or different, depending on the specific situation. No specific restrictions are imposed here.

[0095] Specifically, when the first and second change directions are different, N consecutive target front-wheel drive lanes satisfying the first preset condition are obtained in the front-wheel drive direction. The first preset condition is that the angle between the target front-wheel drive lane and the corresponding subsequent lane (the specific method can refer to the determination method of ∠CAB) is greater than or equal to the second preset angle. Based on this, N target front-wheel drive lanes are obtained. Then, the lengths of the N target front-wheel drive lanes are accumulated to obtain the first length. In the subsequent direction, M consecutive target subsequent lanes satisfying the second preset condition are obtained. The second preset condition is that the angle between the target subsequent lane and the corresponding front-wheel drive lane (the specific method can refer to the determination method of ∠EDF) is greater than or equal to the second preset angle. Based on this, M target front-wheel drive lanes are obtained. Then, the lengths of the M target subsequent lanes are accumulated to obtain the second length.

[0096] Correspondingly, in the front-wheel drive direction, if the angle between a front-wheel drive lane and the corresponding rear lane is less than the second preset angle, then the front-wheel drive lane does not meet the first preset condition, and / or, in the rear-wheel drive direction, if the angle between a rear lane and the corresponding front-wheel drive lane is less than the second preset angle, then the rear-wheel drive lane does not meet the second preset condition. In this case, it is necessary to continue to acquire the target front-wheel drive lane and / or the target rear-wheel drive lane.

[0097] In this embodiment, by using the above method to calculate the first length and the second length, false detections of lane group geometric jumps can be avoided when the first length and the second length are insufficient.

[0098] Figure 3This is a schematic diagram of a lane data processing device provided in an embodiment of this disclosure; the device is configured in an electronic device and can implement the lane data processing method described in any embodiment of this application. The device specifically includes the following:

[0099] The first acquisition module 310 is used to determine that when the first angle between the lane to be detected and the front drive lane corresponding to the lane to be detected and the second angle between the lane to be detected and the subsequent lane corresponding to the lane to be detected are both less than a first preset angle, the first change direction between the lane to be detected and the front drive lane corresponding to the lane to be detected, and the second change direction between the lane to be detected and the subsequent lane corresponding to the lane to be detected are obtained.

[0100] The statistics module 320 is used to calculate the first length of the target front drive lane that meets the first preset condition and the second length of the target follower lane that meets the second preset condition when the first change direction and the second change direction are different.

[0101] The output module 330 is used to output the position information and identification information of the lane to be detected when both the first length and the second length are greater than the preset length.

[0102] In this embodiment, optionally, the above-mentioned device further includes:

[0103] The first determining module is specifically used to: determine a target boundary line from the lane boundary lines included in the lane group to which the lane to be detected is located, before obtaining the first change direction of the lane to be detected and the first change direction of the lane to be detected and the second change direction of the lane to be detected and ...

[0104] The second acquisition module is specifically used to: acquire the front-drive lane corresponding to the lane to be detected and the front-drive intersection point between the dividing line between the lane to be detected and the target boundary line, the front-drive adjacent point corresponding to the front-drive intersection point and the subsequent adjacent point corresponding to the front-drive intersection point, wherein the front-drive adjacent point corresponding to the front-drive intersection point is located on the lane boundary line of the front-drive lane adjacent to the target boundary line, and the subsequent adjacent point corresponding to the front-drive intersection point is located on the target boundary line;

[0105] The third acquisition module is specifically used to: acquire the successor intersection point between the dividing line between the lane to be detected and the target boundary line, the preceding adjacent point corresponding to the successor intersection point, and the successor adjacent point corresponding to the successor intersection point, wherein the preceding adjacent point corresponding to the successor intersection point is located on the target boundary line, and the successor adjacent point corresponding to the successor intersection point is located on the lane boundary line of the successor lane adjacent to the target boundary line;

[0106] The second determining module is specifically used to: determine the included angle formed between the predecessor adjacent point corresponding to the predecessor intersection point, the predecessor intersection point and the successor adjacent point corresponding to the predecessor intersection point as the first included angle, and determine the included angle formed between the predecessor adjacent point corresponding to the successor intersection point, the successor intersection point and the successor adjacent point corresponding to the successor intersection point as the second included angle.

[0107] Optional, the first acquisition module is specifically used for:

[0108] When both the first included angle between the lane to be detected and the corresponding preceding lane and the second included angle between the lane to be detected and the corresponding following lane are less than a first preset angle, the direction in which the line segment changes when moving from the line segment formed by the preceding adjacent point corresponding to the preceding intersection and the preceding intersection to the line segment formed by the preceding intersection and the corresponding following adjacent point is determined as the first change direction, and the direction in which the line segment changes when moving from the line segment formed by the preceding adjacent point corresponding to the following intersection and the following following intersection to the line segment formed by the following intersection and the following following adjacent point is determined as the second change direction.

[0109] Optional, statistics module, specifically used for:

[0110] N consecutive target front-wheel drive lanes are obtained in the front-wheel drive direction, and the first length of the N target front-wheel drive lanes is obtained. The target front-wheel drive lanes satisfy a first preset condition, which is that the angle between the target front-wheel drive vehicle and the subsequent lane corresponding to the target front-wheel drive lane is greater than or equal to a second preset angle.

[0111] M consecutive target follower lanes are obtained in the follower direction, and the second length of the M target follower lanes is obtained, wherein the target follower lanes satisfy a second preset condition, the second preset condition being: the angle between the target follower lane and the corresponding front drive lane is greater than or equal to a second preset angle.

[0112] Optionally, the above-mentioned device further includes:

[0113] The third determining module is specifically used to: determine that the lane to be detected is neither a separated lane nor a merged lane before determining the target boundary line from the lane boundary lines included in the lane group to which the lane to be detected is located.

[0114] Optionally, the location information of the lane to be detected includes:

[0115] The coordinate information corresponding to the predecessor intersection or the coordinate information corresponding to the successor intersection.

[0116] The lane data processing device provided in this embodiment determines that when the first included angle between the lane to be detected and the corresponding front drive lane and the second included angle between the lane to be detected and the corresponding subsequent lane are both less than a first preset angle, it acquires the first change direction between the lane to be detected and the corresponding front drive lane, and the second change direction between the lane to be detected and the corresponding subsequent lane. When the first change direction and the second change direction are different, it calculates the first length of the target front drive lane that meets the first preset condition and the second length of the target subsequent lane that meets the second preset condition. When both the first length and the second length are greater than the preset length, it outputs the position information and identification information of the lane to be detected. Through the above technical solution, it is possible to check for geometric jumps in lane groups and output the position information and identification information of lanes with geometric jumps, thereby enabling early processing of lane data to ensure the quality of high-precision map data, driving safety of autonomous vehicles, and driving experience.

[0117] The lane data processing device provided in this disclosure can execute the lane data processing method provided in any embodiment of this disclosure, and has the corresponding functional modules and beneficial effects of executing the method.

[0118] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. For example... Figure 4 As shown, the electronic device includes a processor 410 and a storage device 420; the number of processors 410 in the electronic device can be one or more. Figure 4 Taking a processor 410 as an example; the processor 410 and the storage device 420 in the electronic device can be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0119] Storage device 420, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the lane data processing method in the embodiments of this disclosure. Processor 410 executes various functional applications and data processing of electronic devices by running the software programs, instructions, and modules stored in storage device 420, thereby implementing the lane data processing method provided in the embodiments of this disclosure.

[0120] Storage device 420 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, storage device 420 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, storage device 420 may further include memory remotely located relative to processor 410, which can be connected to electronic devices via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0121] The electronic device provided in this embodiment can be used to execute the lane data processing method provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0122] This disclosure also provides a vehicle equipped with the electronic equipment provided in this disclosure.

[0123] This disclosure also provides a computer-readable storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to implement the lane data processing method provided in this disclosure.

[0124] Of course, the computer-readable storage medium containing computer-executable instructions provided in the embodiments of this disclosure is not limited to the method operations described above, but can also perform related operations in the lane data processing method provided in any embodiment of this disclosure.

[0125] Based on the above description of the implementation methods, those skilled in the art will clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0126] It is worth noting that in the embodiments of the lane data processing device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of this disclosure.

[0127] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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 limitations, 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.

[0128] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lane data processing method, characterized in that, include: When the first angle between the lane to be detected and the corresponding front drive lane and the second angle between the lane to be detected and the corresponding follower lane are both less than a first preset angle, the first direction of change between the lane to be detected and the corresponding front drive lane, and the second direction of change between the lane to be detected and the corresponding follower lane are obtained. When the first change direction and the second change direction are different, the first length of the target front drive lane that meets the first preset condition and the second length of the target follow-up lane that meets the second preset condition are calculated. When both the first length and the second length are greater than the preset length, the location information and identification information of the lane to be detected are output.

2. The method according to claim 1, characterized in that, Before obtaining the first direction of change of the lane to be detected and the first direction of change of the lane to be detected and the second direction of change of the lane to be detected and the second direction of change of the lane to be detected and the lane to be detected and the corresponding preceding lane when both the first angle between the lane to be detected and the preceding lane is less than a first preset angle, the method further includes: Determine the target boundary line from the lane boundary lines included in the lane group to which the lane to be detected is located; Obtain the front-wheel drive intersection point between the dividing line between the front-wheel drive lane corresponding to the lane to be detected and the target boundary line, the front-wheel drive adjacent point corresponding to the front-wheel drive intersection point, and the subsequent adjacent point corresponding to the front-wheel drive intersection point. The front-wheel drive adjacent point corresponding to the front-wheel drive intersection point is located on the lane boundary line of the front-wheel drive lane adjacent to the target boundary line, and the subsequent adjacent point corresponding to the front-wheel drive intersection point is located on the target boundary line. Obtain the successor intersection point between the dividing line between the lane to be detected and the target boundary line, the preceding adjacent point corresponding to the successor intersection point, and the successor adjacent point corresponding to the successor intersection point. The preceding adjacent point corresponding to the successor intersection point is located on the target boundary line, and the successor adjacent point corresponding to the successor intersection point is located on the lane boundary line of the successor lane adjacent to the target boundary line. The included angle formed between the predecessor adjacent point corresponding to the predecessor intersection point, the predecessor intersection point and the successor adjacent point corresponding to the predecessor intersection point is determined as the first included angle, and the included angle formed between the predecessor adjacent point corresponding to the successor intersection point, the successor intersection point and the successor adjacent point corresponding to the successor intersection point is determined as the second included angle.

3. The method according to claim 2, characterized in that, The step of obtaining the first direction of change of the lane to be detected and the corresponding preceding lane, and the second direction of change of the lane to be detected and the corresponding following lane, includes: The direction in which the line segment changes when traveling from the line segment formed by the predecessor's adjacent point corresponding to the predecessor's intersection point and the predecessor's intersection point to the line segment formed by the predecessor's intersection point and the successor's adjacent point corresponding to the predecessor's intersection point is determined as the first direction of change; and the direction in which the line segment changes when traveling from the line segment formed by the predecessor's adjacent point corresponding to the successor's intersection point and the successor's intersection point to the line segment formed by the successor's intersection point and the successor's adjacent point corresponding to the successor's intersection point is determined as the second direction of change.

4. The method according to claim 1, characterized in that, The statistical analysis includes the first length of the target front-drive lane that meets the first preset condition and the second length of the target follow-up lane that meets the second preset condition, including: N consecutive target front-wheel drive lanes are obtained in the front-wheel drive direction, and the first length of the N target front-wheel drive lanes is obtained. The target front-wheel drive lanes satisfy a first preset condition, which is that the angle between the target front-wheel drive vehicle and the subsequent lane corresponding to the target front-wheel drive lane is greater than or equal to a second preset angle. M consecutive target follower lanes are obtained in the follower direction, and the second length of the M target follower lanes is obtained, wherein the target follower lanes satisfy a second preset condition, the second preset condition being: the angle between the target follower lane and the corresponding front drive lane is greater than or equal to a second preset angle.

5. The method according to claim 2, characterized in that, Before determining the target boundary line from the lane boundary lines included in the lane group to be detected, the method further includes: It is determined that the lane to be detected is neither a separated lane nor a merged lane.

6. The method according to claim 2, characterized in that, The location information of the lane to be detected includes: The coordinate information corresponding to the predecessor intersection or the coordinate information corresponding to the successor intersection.

7. A lane data processing device, characterized in that, The device includes: The first acquisition module is used to determine that when the first included angle between the lane to be detected and the front drive lane corresponding to the lane to be detected and the second included angle between the lane to be detected and the subsequent lane corresponding to the lane to be detected are both less than a first preset angle, the module acquires the first change direction between the lane to be detected and the front drive lane corresponding to the lane to be detected, and the second change direction between the lane to be detected and the subsequent lane corresponding to the lane to be detected. The statistics module is used to calculate the first length of the target front drive lane that meets the first preset condition and the second length of the target follower lane that meets the second preset condition when the first change direction and the second change direction are different. The output module is used to output the position information and identification information of the lane to be detected when both the first length and the second length are greater than the preset length.

8. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-6.

9. A vehicle, characterized in that, Includes the electronic device as described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-6.

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