High-precision map intersection virtual lane line adjustment method and device, equipment and medium

Abstract

Embodiments of the present application disclose a high-precision map intersection virtual lane line adjustment method, device, equipment and medium. The method comprises: obtaining initial high-precision map information of a target area; if it is determined that there is a virtual lane line to be deleted in the initial virtual lane line, deleting the virtual lane line to be deleted from the initial high-precision map information to obtain candidate high-precision map information; determining a candidate lane associated with the intersection area and a lane attribute of the candidate lane according to the candidate high-precision map information, determining a first target lane and a second target lane adapted to the first target lane from the candidate lane; generating a target virtual lane line passing through the intersection area between the first target lane and the second target lane; determining target high-precision map information according to the target virtual lane line and the candidate high-precision map information, and adjusting the initial high-precision map information according to the target high-precision map information. The technical solution can ensure the correctness and rationality of path planning in the intersection area.

Description

Technical Field

[0001] This invention relates to the field of high-precision map technology, and in particular to a method, device, equipment and medium for adjusting virtual lane lines at intersections in high-precision maps. Background Technology

[0002] With the gradual popularization of autonomous driving technology, high-precision maps, as the foundation for realizing autonomous driving, can provide complex road information as prior knowledge for modules such as localization, planning, and control. At the same time, in order to meet lane-level autonomous driving navigation requirements, high-precision maps need to include detailed road information such as lane lines.

[0003] In actual roads, intersection areas typically lack lane markings and other information. During the production of high-precision map data, lane markings are usually drawn manually or generated according to certain rules to ensure vehicles can pass through intersection areas safely and efficiently.

[0004] However, in actual autonomous driving tests, specific intersection scenarios are often encountered where path planning based on pre-generated virtual lane lines does not achieve ideal results. Therefore, to ensure the accuracy and rationality of path planning in intersection areas, it is usually necessary to adjust the virtual lane lines of high-precision maps. Summary of the Invention

[0005] This invention provides a method, device, equipment, and medium for adjusting virtual lane lines at intersections on high-precision maps. By reasonably adjusting the virtual lane lines at intersections on high-precision maps, the correctness and rationality of path planning in intersection areas can be effectively guaranteed, which helps vehicles drive safely.

[0006] According to one aspect of the present invention, a method for adjusting virtual lane lines at intersections using high-precision maps is provided, the method comprising:

[0007] Obtain initial high-precision map information of the target area; wherein, the target area includes at least one intersection area, and the initial high-precision map information includes initial virtual lane lines within the intersection area;

[0008] If it is determined that there are virtual lane lines to be deleted in the initial virtual lane lines, then the virtual lane lines to be deleted are removed from the initial high-precision map information to obtain candidate high-precision map information; wherein, the virtual lane lines to be deleted are virtual lane lines with unreasonable path planning;

[0009] Based on the candidate high-precision map information, the candidate lanes associated with the intersection area and the lane attributes of the candidate lanes are determined. From the candidate lanes, a first target lane and a second target lane adapted to the first target lane are determined. The lane attributes are either entering or exiting the intersection. The first target lane does not have any virtual lane lines connecting it to other candidate lanes in the intersection area. The second target lane is associated with the same intersection area as the first target lane but has different lane attributes.

[0010] A target virtual lane line passing through the intersection area is generated between the first target lane and the second target lane;

[0011] The target high-precision map information is determined based on the target virtual lane line and the candidate high-precision map information, and the initial high-precision map information is adjusted based on the target high-precision map information.

[0012] According to another aspect of the present invention, a device for adjusting virtual lane lines at intersections using high-precision maps is provided, comprising:

[0013] An initial high-precision map acquisition module is used to acquire initial high-precision map information of a target area; wherein, the target area includes at least one intersection area, and the initial high-precision map information includes initial virtual lane lines within the intersection area;

[0014] The candidate high-precision map determination module is used to delete the virtual lane lines to be deleted from the initial high-precision map information if it is determined that there are virtual lane lines to be deleted in the initial virtual lane lines to obtain candidate high-precision map information; wherein, the virtual lane lines to be deleted are virtual lane lines with unreasonable path planning;

[0015] The target lane determination module is used to determine the candidate lanes associated with the intersection area and the lane attributes of the candidate lanes based on the candidate high-precision map information, and to determine a first target lane and a second target lane adapted to the first target lane from the candidate lanes; wherein, the lane attribute is entering or exiting the intersection, the first target lane does not have any virtual lane lines connecting with other candidate lanes in the intersection area, and the second target lane is associated with the same intersection area as the first target lane but has different lane attributes;

[0016] The target virtual lane line generation module is used to generate a target virtual lane line passing through the intersection area between the first target lane and the second target lane;

[0017] The initial high-precision map adjustment module is used to determine the target high-precision map information based on the target virtual lane line and the candidate high-precision map information, and to adjust the initial high-precision map information based on the target high-precision map information.

[0018] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0019] At least one processor; and

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the method for adjusting virtual lane lines at intersections in high-precision maps according to any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the method for adjusting virtual lane lines at intersections in high-precision maps according to any embodiment of the present invention.

[0023] The technical solution of this invention involves obtaining initial high-precision map information of a target area; wherein the target area includes at least one intersection area, and the initial high-precision map information includes initial virtual lane lines within the intersection area; if it is determined that there are virtual lane lines to be deleted in the initial virtual lane lines, then the virtual lane lines to be deleted are deleted from the initial high-precision map information to obtain candidate high-precision map information; wherein the virtual lane lines to be deleted are virtual lane lines with unreasonable path planning; based on the candidate high-precision map information, candidate lanes associated with the intersection area and the lane attributes of the candidate lanes are determined, and a first target lane and a second target lane adapted to the first target lane are determined from the candidate lanes; wherein the lane attributes are entering or exiting the intersection, the first target lane does not have any virtual lane lines connected to other candidate lanes in the intersection area, and the second target lane is associated with the same intersection area as the first target lane but has different lane attributes; a target virtual lane line passing through the intersection area is generated between the first target lane and the second target lane; the target high-precision map information is determined based on the target virtual lane line and the candidate high-precision map information, and the initial high-precision map information is adjusted based on the target high-precision map information. This technical solution, by reasonably adjusting the virtual lane lines at intersections on high-precision maps, can effectively ensure the accuracy and rationality of route planning in intersection areas, thus contributing to safe vehicle driving.

[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a method for adjusting virtual lane lines at intersections using a high-precision map, according to Embodiment 1 of the present invention.

[0027] Figure 2A This is a schematic diagram of initial high-precision map information provided according to Embodiment 1 of the present invention;

[0028] Figure 2B This is a schematic diagram of a target high-precision map information provided in Embodiment 1 of the present invention;

[0029] Figure 3 This is a flowchart of a method for adjusting virtual lane lines at intersections using a high-precision map, according to Embodiment 2 of the present invention.

[0030] Figure 4 This is a schematic diagram of the structure of a high-precision map intersection virtual lane line adjustment device provided in Embodiment 3 of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of an electronic device that implements a method for adjusting virtual lane lines at intersections using a high-precision map, according to an embodiment of the present invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first," "second," "target," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Example 1

[0035] Figure 1 This is a flowchart illustrating a method for adjusting virtual lane lines at intersections using high-precision maps, provided in Embodiment 1 of the present invention. This embodiment is applicable to situations requiring reasonable adjustment of virtual lane lines at intersections using high-precision maps. The method can be executed by a device for adjusting virtual lane lines at high-precision map intersections. This device can be implemented in hardware and / or software and can be configured in an electronic device with data processing capabilities. Figure 1 As shown, the method includes:

[0036] S110: Obtain initial high-precision map information for the target area.

[0037] The target area includes at least one intersection area, and the initial high-precision map information includes the initial virtual lane lines within the intersection area. For example, the intersection area can be a crossroads, a T-junction, etc.

[0038] S120, if it is determined that there are virtual lane lines to be deleted in the initial virtual lane lines, then the virtual lane lines to be deleted are removed from the initial high-precision map information to obtain candidate high-precision map information.

[0039] In this embodiment, after obtaining the initial high-precision map information of the target area, it is first determined whether there are any virtual lane lines to be deleted in the initial virtual lane lines. These virtual lane lines are those with unreasonable path planning. If they exist, they need to be deleted from the initial high-precision map information to obtain candidate high-precision map information.

[0040] Figure 2A This is a schematic diagram of initial high-precision map information provided in Embodiment 1 of the present invention. Figure 2AThe intersection area shown is a T-junction. A1-A3, B1-B4, C1-C3, and D1-D3 represent different lanes, and each lane consists of a left lane line, a lane center line, and a right lane line. It should be noted that this diagram only illustrates the straight-ahead path in the intersection area and does not show left or right turn paths.

[0041] like Figure 2A As shown on the right, assuming the vehicle is traveling from A to B, there are four straight paths in this direction: A1-B1, A2-B2, A3-B3, and A3-B4. Lanes A1 and B2, A2 and B3, and A3 and B4 are directly opposite each other. Based on the driver's usual driving habits and optimal driving path, traveling along the directly opposite lane is the optimal way for the vehicle to travel straight. Therefore, Figure 2A The path planning method on the right side clearly contains unreasonable virtual lane lines (i.e., virtual lane lines to be deleted), specifically A2-B2 and A3-B3. These need to be removed from the path. Figure 2A Delete it.

[0042] like Figure 2A As shown on the left, assuming the vehicle is traveling from C to D, there are 7 straight paths in this direction: C1-D1, C1-D2, C2-D2, C2-D3, C3-D1, C3-D2, and C3-D3. Among these, lanes C1 and D1, C2 and D2, and C3 and D3 are directly opposite each other. Similarly, based on the driver's usual driving habits and optimal driving paths, traveling along the directly opposite lane is the optimal way for the vehicle to travel straight. Therefore, Figure 2A The path planning method on the left side of the middle path clearly contains unreasonable virtual lane lines (i.e., virtual lane lines to be deleted), specifically C1-D2, C2-D3, C3-D1, and C3-D2. These lane lines need to be removed from the path. Figure 2A Delete it.

[0043] S130: Based on the candidate high-precision map information, determine the candidate lanes associated with the intersection area and the lane attributes of the candidate lanes, and determine the first target lane and the second target lane that matches the first target lane from the candidate lanes.

[0044] Here, the candidate lanes associated with the intersection area can refer to all lanes near the intersection area. For example, using... Figure 2A Taking the intersection area as an example, the associated candidate lanes are 13 lanes in total: A1-A3, B1-B4, C1-C3, and D1-D3. The lane attribute is either entering or exiting the intersection. The lane attribute is determined based on the vehicle's designated direction of travel within the lane. Figure 2AFor example, when a vehicle is traveling from A to B, A1-A3 are entry lanes, and B1-B4 are exit lanes; when a vehicle is traveling from C to D, C1-C3 are entry lanes, and D1-D3 are exit lanes. Entry lanes are the lanes near the intersection corresponding to the direction of entry into the intersection area, and exit lanes are the lanes near the intersection corresponding to the direction of exit from the intersection area.

[0045] The first target lane has no virtual lane lines connecting it to other candidate lanes in the intersection area, while the second target lane is associated with the same intersection area as the first target lane but has different lane attributes. Figure 2A For example, the virtual lane lines to be deleted (A2-B2, A3-B3, C1-D2, C2-D3, C3-D1, C3-D2) are moved from... Figure 2A After deletion, lanes A2 and B2 no longer have virtual lane lines connecting with other candidate lanes in the intersection area. Therefore, A2 and B2 are the first target lanes, with A2 being the entry lane and B2 being the exit lane. Based on drivers' typical driving habits and optimal driving paths, driving along the directly opposite lane is the optimal way for vehicles to go straight. Therefore, B3 (exit lane) can be considered the second target lane adapted to A2, and A1 (entry lane) can be considered the second target lane adapted to B2.

[0046] S140, generate a target virtual lane line passing through the intersection area between the first target lane and the second target lane.

[0047] In this embodiment, after determining the first target lane and the second target lane, a target virtual lane line passing through the intersection area can be generated between the first target lane and the second target lane. Optionally, generating the target virtual lane line passing through the intersection area between the first target lane and the second target lane includes the following steps S1-S5:

[0048] S1. Based on the lane attributes of the first target lane and the second target lane, determine the target entry lane and the target exit lane from the first target lane and the second target lane.

[0049] For example, with Figure 2A For example, assuming A1 (the second target lane) and B2 (the first target lane) are matched, based on the vehicle travel directions specified for A1 and B2, it can be determined that A1 is the target entry lane and B2 is the target exit lane. Similarly, assuming A2 (the first target lane) and B3 (the second target lane) are matched, based on the vehicle travel directions specified for A2 and B3, it can be determined that A2 is the target entry lane and B3 is the target exit lane.

[0050] S2. Obtain the first reference lane line of the target entering the intersection and the second reference lane line of the target exiting the intersection.

[0051] The reference lane line can be a left lane line, a right lane line, or a lane center line. The first reference lane line and the second reference lane line have the same lane line type. That is, when the first reference lane line is a lane center line, the corresponding second reference lane line is also a lane center line.

[0052] S3. Determine the end point location information of the first reference lane line and the start point location information of the second reference lane line, and determine the target reference distance based on the end point location information and the start point location information.

[0053] The endpoint location information of the first reference lane line can be used to characterize the location of the endpoint of the first reference lane line. The starting point location information of the second reference lane line can be used to characterize the location of the starting point of the second reference lane line. It is understood that since the first reference lane line is part of the target's entry lane at the intersection, it has an endpoint; similarly, since the second reference lane line is part of the target's exit lane at the intersection, it has a starting point. For example, the endpoint location information and the starting point location information can be determined based on the latitude and longitude information of a point or the coordinate information of a point in a road coordinate system. The target reference distance is the distance between the endpoint of the first reference lane line and the starting point of the second reference lane line.

[0054] S4. Determine the target control distance based on the target reference distance, and determine the target control point location information based on the endpoint location information, the starting point location information, and the target control distance.

[0055] In this embodiment, the target control distance is less than the target reference distance. For example, assuming the end point of the first reference lane line is M and the starting point of the second reference lane line is N, the target reference distance is the length of line segment MN. Further, the target control distance can be determined as half the length of line segment MN. It should be noted that this embodiment does not impose a specific limitation on the target control distance; as long as the target control distance is less than the target reference distance, it can be flexibly determined according to the actual application scenario.

[0056] In this embodiment, optionally, determining the target control point location information based on the end point location information, the start point location information, and the target control distance includes: taking the end point location information as the starting point, extending the target control distance along the direction of the first reference lane line to obtain the first target control point location information; and taking the start point location information as the starting point, extending the target control distance in the opposite direction of the second reference lane line to obtain the second target control point location information.

[0057] The target control points may include a first target control point and a second target control point. The first target control point can be a control point obtained by extending a target control distance along the direction of the first reference lane line, starting from the end point location information. The location information of the first target control point can be used to characterize its position. The second target control point can be a control point obtained by extending a target control distance in the opposite direction of the second reference lane line, starting from the start point location information. The location information of the second target control point can be used to characterize its position.

[0058] S5. Based on the endpoint location information, the starting point location information, and the target control point location information, generate a target virtual lane line passing through the intersection area between the first target lane and the second target lane.

[0059] In this embodiment, after determining the endpoint location information, the starting point location information, and the target control point location information, a target virtual lane line passing through the intersection area can be further generated between the first target lane and the second target lane. Optionally, generating the target virtual lane line passing through the intersection area between the first target lane and the second target lane based on the endpoint location information, the starting point location information, and the target control point location information includes: generating a Bézier curve based on the endpoint location information, the starting point location information, and the target control point location information; and determining the target virtual lane line passing through the intersection area between the first target lane and the second target lane based on the curve generation result.

[0060] For example, suppose the target entry lane is Lane 1 and the target exit lane is Lane 2. If we select the lane centerline as the reference lane line type, and assume the end point of the lane centerline of Lane 1 is M, the starting point of the lane centerline of Lane 2 is N, and the target reference distance is MN, and the target control distance is MN / 2. Specifically, first, starting from point M, extend MN / 2 along the direction of the lane centerline of Lane 1 to obtain the first target control point P; then, starting from point N, extend MN / 2 in the opposite direction of the lane centerline of Lane 2 to obtain the second target control point Q. Then, based on the four points M, N, P, and Q, construct a Bézier curve. The curve result can serve as the target virtual lane centerline between Lane 1 and Lane 2.

[0061] It should be noted that by selecting the left lane line, the center line of the lane, and the right lane line as reference lane line types respectively, and determining the target virtual lane lines that match the lane line types according to the above process, a complete target virtual lane can be obtained.

[0062] S150: Determine the target high-precision map information based on the target virtual lane lines and candidate high-precision map information, and adjust the initial high-precision map information based on the target high-precision map information.

[0063] In this embodiment, after determining the target virtual lane line, the target virtual lane line can be added to the candidate high-precision map information, thereby determining the target high-precision map information. Figure 2B This is a schematic diagram of a target high-precision map information provided in Embodiment 1 of the present invention. Figure 2B Is Figure 2A The target high-precision map information is obtained by adjusting the virtual lane lines based on the existing data. For example... Figure 2B As shown, the original virtual lanes A1-B1, A3-B4, C1-D1, C2-D2, and C3-D3 were retained, and the target virtual lanes A1-B2 and A2-B3 were generated.

[0064] The technical solution of this invention involves obtaining initial high-precision map information of a target area; wherein the target area includes at least one intersection area, and the initial high-precision map information includes initial virtual lane lines within the intersection area; if it is determined that there are virtual lane lines to be deleted in the initial virtual lane lines, then the virtual lane lines to be deleted are deleted from the initial high-precision map information to obtain candidate high-precision map information; wherein the virtual lane lines to be deleted are virtual lane lines with unreasonable path planning; based on the candidate high-precision map information, candidate lanes associated with the intersection area and the lane attributes of the candidate lanes are determined, and a first target lane and a second target lane adapted to the first target lane are determined from the candidate lanes; wherein the lane attributes are entering or exiting the intersection, the first target lane does not have any virtual lane lines connected to other candidate lanes in the intersection area, and the second target lane is associated with the same intersection area as the first target lane but has different lane attributes; a target virtual lane line passing through the intersection area is generated between the first target lane and the second target lane; the target high-precision map information is determined based on the target virtual lane line and the candidate high-precision map information, and the initial high-precision map information is adjusted based on the target high-precision map information. This technical solution, by reasonably adjusting the virtual lane lines at intersections on high-precision maps, can effectively ensure the accuracy and rationality of route planning in intersection areas, thus contributing to safe vehicle driving.

[0065] Example 2

[0066] Figure 3This is a flowchart of a method for adjusting virtual lane lines at intersections using a high-precision map, provided in Embodiment 2 of the present invention. This embodiment is an optimization based on the above embodiment. Specifically, the optimization includes: after obtaining initial high-precision map information for the target area, the method further includes: parsing road elements in the initial high-precision map information to obtain a set of road elements for the target area; wherein the set of road elements includes road element objects and their attribute information and relationships; loading the set of road elements into the target visualization interface to obtain reference high-precision map information; determining whether there are any virtual lane lines to be deleted in the initial virtual lane lines based on the reference high-precision map information; and accordingly, deleting the virtual lane lines to be deleted from the initial high-precision map information to obtain candidate high-precision map information, including: deleting the virtual lane lines to be deleted and their related relationships from the reference high-precision map information to obtain candidate high-precision map information.

[0067] like Figure 3 As shown, the method in this embodiment specifically includes the following steps:

[0068] S210, Obtain initial high-precision map information for the target area.

[0069] The target area includes at least one intersection area, and the initial high-precision map information includes the initial virtual lane lines within the intersection area.

[0070] S220: Parse the road elements of the initial high-precision map information to obtain the set of road elements for the target area.

[0071] The road element set includes road element objects, their attribute information, and relationships. For example, road element objects may include lanes, pedestrian crossings, intersections, roads, and traffic lights. Lane attribute information may include front-drive lanes, successor lanes, left and right neighboring lanes, and lane ID; intersection attribute information may include crossroads and T-junctions; road attribute information may include urban roads and highways; and traffic light attribute information may include lane control direction (straight, left turn, or right turn), arrangement (horizontal or vertical, number of lights), and the number of lights.

[0072] S230 loads the road element set into the target visualization interface to obtain reference high-precision map information.

[0073] For example, the target visualization interface can be a web interface provided by a browser or a visualization interface provided by a system. The reference high-precision map information can refer to the high-precision map information obtained by loading parameter information from the road element set into the target visualization interface.

[0074] S240, determine whether there are any virtual lane lines to be deleted in the initial virtual lane lines based on the reference high-precision map information.

[0075] Understandably, since the reference high-precision map information is obtained by parsing road elements from the initial high-precision map information and reloading it into the target visualization interface, it's possible to determine whether any virtual lane lines to be deleted exist in the initial virtual lane lines of the initial high-precision map information based on the reference high-precision map information. Specifically, if there are virtual lane lines with unreasonable path planning in the reference high-precision map information, it can be determined that there are virtual lane lines to be deleted in the initial virtual lane lines; conversely, if there are no such lines, it can be determined that there are virtual lane lines to be deleted in the initial virtual lane lines.

[0076] S250, if so, then the virtual lane lines to be deleted and their related relationships are removed from the reference high-precision map information to obtain candidate high-precision map information.

[0077] In this embodiment, if it is determined that there is a virtual lane line to be deleted in the initial virtual lane line, while deleting the virtual lane line to be deleted in the reference high-precision map information, the association relationship related to the virtual lane line to be deleted should also be deleted from the reference high-precision map information.

[0078] Among them, the virtual lane lines to be deleted are those with unreasonable path planning.

[0079] S260: Based on the candidate high-precision map information, determine the candidate lanes associated with the intersection area and the lane attributes of the candidate lanes, and determine the first target lane and the second target lane that matches the first target lane from the candidate lanes.

[0080] Among them, the lane attribute is entering or exiting the intersection. The first target lane does not have any virtual lane lines connecting with other candidate lanes in the intersection area. The second target lane is associated with the same intersection area as the first target lane but has different lane attributes.

[0081] S270 generates a target virtual lane line passing through the intersection area between the first target lane and the second target lane.

[0082] S280: Determine the target high-precision map information based on the target virtual lane lines and candidate high-precision map information, and adjust the initial high-precision map information based on the target high-precision map information.

[0083] The specific implementation of S260-S280 can be found in the detailed description of S130-S150 in Embodiment 1, and will not be repeated here.

[0084] The technical solution of this invention, by reasonably adjusting the virtual lane lines at intersections in a high-precision map, can effectively ensure the correctness and rationality of the route planning in the intersection area, which helps vehicles drive safely.

[0085] Example 3

[0086] Figure 4 This is a schematic diagram of a device for adjusting virtual lane lines at intersections using high-precision maps, provided in Embodiment 3 of the present invention. This device can execute the method for adjusting virtual lane lines at intersections using high-precision maps provided in any embodiment of the present invention, and possesses the corresponding functional modules and beneficial effects for executing the method. For example... Figure 4 As shown, the device includes:

[0087] The initial high-precision map acquisition module 310 is used to acquire initial high-precision map information of a target area; wherein, the target area includes at least one intersection area, and the initial high-precision map information includes initial virtual lane lines within the intersection area;

[0088] The candidate high-precision map determination module 320 is used to delete the virtual lane lines to be deleted from the initial high-precision map information if it is determined that there are virtual lane lines to be deleted in the initial virtual lane lines to obtain candidate high-precision map information; wherein, the virtual lane lines to be deleted are virtual lane lines with unreasonable path planning;

[0089] The target lane determination module 330 is used to determine the candidate lanes associated with the intersection area and the lane attributes of the candidate lanes based on the candidate high-precision map information, and to determine a first target lane and a second target lane adapted to the first target lane from the candidate lanes; wherein, the lane attribute is entering or exiting the intersection, the first target lane does not have any virtual lane lines connecting with other candidate lanes in the intersection area, and the second target lane is associated with the same intersection area as the first target lane but has different lane attributes;

[0090] The target virtual lane line generation module 340 is used to generate a target virtual lane line passing through the intersection area between the first target lane and the second target lane;

[0091] The initial high-precision map adjustment module 350 is used to determine the target high-precision map information based on the target virtual lane line and the candidate high-precision map information, and to adjust the initial high-precision map information based on the target high-precision map information.

[0092] Optionally, the target virtual lane line generation module 340 includes:

[0093] The target intersection lane determination unit is used to determine the target entry lane and the target exit lane from the first target lane and the second target lane based on the lane attributes of the first target lane and the second target lane.

[0094] The reference lane line acquisition unit is used to acquire a first reference lane line of the target entering the intersection lane and a second reference lane line of the target exiting the intersection lane; wherein, the lane line type of the reference lane line is a left lane line, a right lane line or a lane center line, and the first reference lane line and the second reference lane line have the same lane line type;

[0095] A target reference distance determination unit is used to determine the end position information of the first reference lane line and the start position information of the second reference lane line, and to determine a target reference distance based on the end position information and the start position information; wherein, the target reference distance is the distance between the end point of the first reference lane line and the start point of the second reference lane line;

[0096] A target control point location determination unit is used to determine a target control distance based on the target reference distance, and to determine target control point location information based on the endpoint location information, the starting point location information, and the target control distance; wherein the target control distance is less than the target reference distance;

[0097] The target virtual lane line determination unit is used to generate a target virtual lane line passing through the intersection area between the first target lane and the second target lane based on the end point location information, the start point location information and the target control point location information.

[0098] Optionally, the target control point location determination unit is specifically used for:

[0099] Starting from the endpoint location information, the target control distance is extended along the direction of the first reference lane line to obtain the first target control point location information;

[0100] Starting from the starting point location information, the target control distance is extended in the opposite direction of the second reference lane line to obtain the second target control point location information.

[0101] Optionally, the target virtual lane line determination unit is specifically used for:

[0102] Generate a Bézier curve based on the endpoint location information, the starting point location information, and the target control point location information;

[0103] Based on the curve generation results, the target virtual lane line passing through the intersection area between the first target lane and the second target lane is determined.

[0104] Optionally, the device further includes:

[0105] The road element set determination module is used to parse the road elements of the initial high-precision map information of the target area after obtaining the initial high-precision map information of the target area, so as to obtain the road element set of the target area; wherein, the road element set includes road element objects and the attribute information and association relationship of the road element objects;

[0106] The reference high-precision map determination module is used to load the set of road elements into the target visualization interface to obtain reference high-precision map information;

[0107] The module for determining virtual lane lines to be deleted is used to determine whether there are virtual lane lines to be deleted in the initial virtual lane lines based on the reference high-precision map information.

[0108] Accordingly, the candidate high-precision map determination module 320 is used for:

[0109] The virtual lane lines to be deleted and their associated relationships are removed from the reference high-precision map information to obtain candidate high-precision map information.

[0110] The high-precision map intersection virtual lane line adjustment device provided in this embodiment of the invention can execute the high-precision map intersection virtual lane line adjustment method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0111] Example 4

[0112] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0113] like Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0114] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0115] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for adjusting virtual lane lines at high-precision map intersections.

[0116] In some embodiments, the method for adjusting virtual lane lines at high-precision map intersections can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for adjusting virtual lane lines at high-precision map intersections described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for adjusting virtual lane lines at high-precision map intersections by any other suitable means (e.g., by means of firmware).

[0117] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0118] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0119] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0120] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0121] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0122] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0123] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0124] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for adjusting virtual lane lines at intersections using high-precision maps, characterized in that, The method includes: Obtain initial high-precision map information of the target area; wherein, the target area includes at least one intersection area, and the initial high-precision map information includes initial virtual lane lines within the intersection area; If it is determined that there are virtual lane lines to be deleted in the initial virtual lane lines, then the virtual lane lines to be deleted are removed from the initial high-precision map information to obtain candidate high-precision map information; wherein, the virtual lane lines to be deleted are virtual lane lines with unreasonable path planning; Based on the candidate high-precision map information, the candidate lanes associated with the intersection area and the lane attributes of the candidate lanes are determined. From the candidate lanes, a first target lane and a second target lane adapted to the first target lane are determined. The lane attributes are either entering or exiting the intersection. The first target lane does not have any virtual lane lines connecting it to other candidate lanes in the intersection area. The second target lane is associated with the same intersection area as the first target lane but has different lane attributes. A target virtual lane line passing through the intersection area is generated between the first target lane and the second target lane; The target high-precision map information is determined based on the target virtual lane lines and the candidate high-precision map information, and the initial high-precision map information is adjusted based on the target high-precision map information; The process of generating a target virtual lane line passing through the intersection area between the first target lane and the second target lane includes: Based on the lane attributes of the first target lane and the second target lane, determine the target entry lane and the target exit lane from the first target lane and the second target lane; Obtain a first reference lane line for the target entering the intersection and a second reference lane line for the target exiting the intersection; wherein, the lane line type of the reference lane line is a left lane line, a right lane line, or a lane center line, and the first reference lane line and the second reference lane line have the same lane line type; The endpoint position information of the first reference lane line and the starting position information of the second reference lane line are determined, and a target reference distance is determined based on the endpoint position information and the starting position information; wherein, the target reference distance is the distance between the endpoint of the first reference lane line and the starting point of the second reference lane line. The target control distance is determined based on the target reference distance, and the target control point location information is determined based on the endpoint location information, the starting point location information, and the target control distance; wherein, the target control distance is less than the target reference distance. Based on the endpoint location information, the starting point location information, and the target control point location information, a target virtual lane line passing through the intersection area is generated between the first target lane and the second target lane.

2. The method according to claim 1, characterized in that, Determining the target control point location information based on the endpoint location information, the starting point location information, and the target control distance includes: Starting from the endpoint location information, the target control distance is extended along the direction of the first reference lane line to obtain the first target control point location information; Starting from the starting point location information, the target control distance is extended in the opposite direction of the second reference lane line to obtain the second target control point location information.

3. The method according to claim 1 or 2, characterized in that, Based on the endpoint location information, the starting point location information, and the target control point location information, a target virtual lane line passing through the intersection area is generated between the first target lane and the second target lane, including: Generate a Bézier curve based on the endpoint location information, the starting point location information, and the target control point location information; Based on the curve generation results, the target virtual lane line passing through the intersection area between the first target lane and the second target lane is determined.

4. The method according to claim 1, characterized in that, After obtaining the initial high-precision map information of the target area, the method further includes: The initial high-precision map information is parsed to obtain a set of road elements for the target area; wherein, the set of road elements includes road element objects and the attribute information and relationships of the road element objects; The set of road elements is loaded into the target visualization interface to obtain reference high-precision map information; Determine whether there are any virtual lane lines to be deleted in the initial virtual lane lines based on the reference high-precision map information; Accordingly, deleting the virtual lane lines to be deleted from the initial high-precision map information to obtain candidate high-precision map information includes: The virtual lane lines to be deleted and their associated relationships are removed from the reference high-precision map information to obtain candidate high-precision map information.

5. A device for adjusting virtual lane lines at intersections using high-precision maps, characterized in that, The device includes: An initial high-precision map acquisition module is used to acquire initial high-precision map information of a target area; wherein, the target area includes at least one intersection area, and the initial high-precision map information includes initial virtual lane lines within the intersection area; The candidate high-precision map determination module is used to delete the virtual lane lines to be deleted from the initial high-precision map information if it is determined that there are virtual lane lines to be deleted in the initial virtual lane lines to obtain candidate high-precision map information; wherein, the virtual lane lines to be deleted are virtual lane lines with unreasonable path planning; The target lane determination module is used to determine the candidate lanes associated with the intersection area and the lane attributes of the candidate lanes based on the candidate high-precision map information, and to determine a first target lane and a second target lane adapted to the first target lane from the candidate lanes; wherein, the lane attribute is entering or exiting the intersection, the first target lane does not have any virtual lane lines connecting with other candidate lanes in the intersection area, and the second target lane is associated with the same intersection area as the first target lane but has different lane attributes; The target virtual lane line generation module is used to generate a target virtual lane line passing through the intersection area between the first target lane and the second target lane; The initial high-precision map adjustment module is used to determine the target high-precision map information based on the target virtual lane line and the candidate high-precision map information, and to adjust the initial high-precision map information based on the target high-precision map information; The target virtual lane line generation module includes: The target intersection lane determination unit is used to determine the target entry lane and the target exit lane from the first target lane and the second target lane based on the lane attributes of the first target lane and the second target lane. The reference lane line acquisition unit is used to acquire a first reference lane line of the target entering the intersection lane and a second reference lane line of the target exiting the intersection lane; wherein, the lane line type of the reference lane line is a left lane line, a right lane line or a lane center line, and the first reference lane line and the second reference lane line have the same lane line type; A target reference distance determination unit is used to determine the end position information of the first reference lane line and the start position information of the second reference lane line, and to determine a target reference distance based on the end position information and the start position information; wherein, the target reference distance is the distance between the end point of the first reference lane line and the start point of the second reference lane line; A target control point location determination unit is used to determine a target control distance based on the target reference distance, and to determine target control point location information based on the endpoint location information, the starting point location information, and the target control distance; wherein the target control distance is less than the target reference distance; The target virtual lane line determination unit is used to generate a target virtual lane line passing through the intersection area between the first target lane and the second target lane based on the end point location information, the start point location information and the target control point location information.

6. The apparatus according to claim 5, characterized in that, The target control point location determination unit is specifically used for: Starting from the endpoint location information, the target control distance is extended along the direction of the first reference lane line to obtain the first target control point location information; Starting from the starting point location information, the target control distance is extended in the opposite direction of the second reference lane line to obtain the second target control point location information.

7. The apparatus according to claim 5 or 6, characterized in that, The target virtual lane line determination unit is specifically used for: Generate a Bézier curve based on the endpoint location information, the starting point location information, and the target control point location information; Based on the curve generation results, the target virtual lane line passing through the intersection area between the first target lane and the second target lane is determined.

8. The apparatus according to claim 5, characterized in that, The device further includes: The road element set determination module is used to parse the road elements of the initial high-precision map information of the target area after obtaining the initial high-precision map information of the target area, so as to obtain the road element set of the target area; wherein, the road element set includes road element objects and the attribute information and association relationship of the road element objects; The reference high-precision map determination module is used to load the set of road elements into the target visualization interface to obtain reference high-precision map information; The module for determining virtual lane lines to be deleted is used to determine whether there are virtual lane lines to be deleted in the initial virtual lane lines based on the reference high-precision map information. Accordingly, the candidate high-precision map determination module is used for: The virtual lane lines to be deleted and their associated relationships are removed from the reference high-precision map information to obtain candidate high-precision map information.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that is executed by the at least one processor, which enables the at least one processor to perform the method for adjusting virtual lane lines at high-precision map intersections as described in any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for adjusting virtual lane lines at intersections in any one of claims 1-4.

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