A method, apparatus, and electronic device for determining lane paths.

Abstract

This application relates to a method, apparatus, and electronic device for determining a lane path. The method includes: acquiring all lane paths within a preset length range, as well as the start and end points of each lane path, based on the vehicle's current position; determining the main path length and total path length of each lane path; determining whether the total path length of the main lane paths is greater than or equal to the target main path length; and selecting, from the multiple main lane paths, a main lane path that meets preset requirements as the target lane path when the total path length of multiple main lane paths is greater than or equal to the target main path length. Based on the above method, the vehicle can anticipate the connectivity between distant roads and the current lane, determine the target lane path from multiple pre-planned lane paths, and reach the destination faster and more accurately by driving according to the target lane path.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to a method, apparatus and electronic device for determining lane path. Background Technology

[0002] Intelligent driving is a key focus for major OEMs in advancing next-generation automotive technologies. A more reliable, intelligent, and smoother assisted driving experience is a shared goal for both companies and customers.

[0003] Currently, most autonomous driving systems in China adopt a high-precision map plus positioning model. The EHP (Electronic Horizon Provider) reads global high-precision map data and outputs local map data around the vehicle based on the current vehicle position. The EHR (Electronic Horizon Reconstructor) is responsible for receiving the local map data around the vehicle output by the EHP, parsing and reconstructing the received local map data around the vehicle, and generating electronic horizon information that the vehicle can use. The electronic horizon information includes the road the vehicle is currently traveling on and the connecting roads, as well as lane edge lines, lane center lines and other markings.

[0004] Because the roads provided by electronic horizon information contain multiple lanes, and one of these lanes can be further divided into multiple sub-lanes, for example... Figure 1 Since all these lanes are passable, vehicles can easily choose the wrong lane, leading to longer journeys or even failure to reach their destination. Therefore, it is essential to plan ahead and receive recommendations for the shortest route to the destination from the road information provided by Electronic Horizons. Summary of the Invention

[0005] This application provides a method, apparatus, and electronic device for determining a lane path, which is used to determine a target lane path from multiple lane paths, enabling the vehicle to accurately reach its destination with the shortest travel path, thereby improving the accuracy of autonomous driving.

[0006] In a first aspect, this application provides a method for determining a lane path, the method comprising:

[0007] Based on the vehicle's current location, obtain all lane paths within a preset length range, as well as the start and end points of each lane path, wherein the lane path is composed of path segments of the main path or path segments of the sub-path.

[0008] Determine the main path length and total path length for each of the lane paths, wherein the main path length is the sum of the lengths of all the main path segments contained in the lane path, and the total path length is the sum of the lengths of all the path segments between the starting point and the corresponding ending point of the lane path;

[0009] Determine whether the total path length of the main lane path among all lane paths is greater than or equal to the target main path length, wherein the main lane path is the lane path whose endpoint is located on the path segment of the main path, and the target main path length is the main path length with the largest length value among all lane paths.

[0010] When there are multiple main lane paths whose total path length is greater than or equal to the target main path length, a main lane path that meets the preset requirements is selected from the multiple main lane paths as the target lane path.

[0011] In one possible design, before obtaining all lane paths within a preset range and the start and end points of each lane path based on the vehicle's current location, the method further includes: obtaining the main path, the sub-paths, and all lanes in the navigation path based on the vehicle's current location, wherein the main path and the sub-paths are each composed of multiple path segments; and generating all lane paths within the preset length range based on the path segments in the main path and the path segments in the sub-paths.

[0012] In one possible design, the method further includes: when there is no main lane path with a total path length greater than or equal to the target main path length, determining all sub-lane paths from all lane paths, wherein the sub-lane path is a lane path whose endpoint is located on a path segment of the sub-lane path; selecting multiple first sub-lane paths from all sub-lane paths whose main path length is equal to the target main path length; determining the first sub-lane path with the smallest lateral distance to the target main lane from the multiple first sub-lane paths as the target main lane path, wherein the target main lane is a main lane that includes the last path segment in the target main path length, and the main lane is a lane whose subsequent lanes still include path segments of the main path.

[0013] In one possible design, determining the first sub-lane path with the smallest lateral distance to the target main lane from the plurality of first sub-lane paths as the target lane path includes: obtaining the number value corresponding to each of the plurality of first sub-lane paths and the number value corresponding to the target main lane, wherein the number value is a value set in a preset order; calculating the absolute value of the difference between the number value corresponding to each of the plurality of first sub-lane paths and the number value corresponding to the target main lane respectively, obtaining a plurality of absolute difference values; selecting the target value with the smallest absolute difference value from the plurality of absolute difference values, and taking the first sub-lane path corresponding to the target value as the target lane path.

[0014] Secondly, this application provides an apparatus for determining a lane path, the apparatus comprising:

[0015] The acquisition module acquires all lane paths within a preset length range, as well as the start and end points of each lane path, based on the vehicle's current position. The lane path is composed of path segments of the main path or path segments of the sub-path.

[0016] The determination module determines the main path length and total path length of each of the lane paths, wherein the main path length is the sum of the lengths of all the main path segments contained in the lane path, and the total path length is the sum of the lengths of all the path segments between the starting point and the corresponding ending point of the lane path;

[0017] The judgment module determines whether the total path length of the main lane path among all lane paths is greater than or equal to the target main path length, wherein the main lane path is the lane path whose endpoint is located on the path segment of the main path, and the target main path length is the main path length with the largest length value among all lane paths.

[0018] The selection module selects a main lane path that meets preset requirements from multiple main lane paths when the total path length of each main lane path is greater than or equal to the target main path length.

[0019] In one possible design, the device is further configured to: obtain the main path, the sub-path, and all lanes in the navigation path based on the current position of the vehicle, wherein the main path and the sub-path are each composed of multiple path segments; and generate all lane paths within the preset length range based on the path segments in the main path and the path segments in the sub-path.

[0020] In one possible design, the device is further configured to: when there is no total path length of the main lane path greater than or equal to the target main path length, determine all sub-lane paths from all lane paths, wherein the sub-lane path is a lane path whose endpoint is located on a path segment of the sub-lane path; select multiple first sub-lane paths from all sub-lane paths whose main path length is equal to the target main path length; and determine the first sub-lane path with the smallest lateral distance to the target main lane from the multiple first sub-lane paths as the target main lane path, wherein the target main lane is the main lane that includes the last path segment in the target main path length, and the main lane is a lane whose subsequent lanes still include path segments of the main path.

[0021] In one possible design, the device is further configured to: obtain the number value corresponding to each of the plurality of first sub-lane paths and the number value corresponding to the target main lane, wherein the number value is a value set according to a preset order; calculate the absolute value of the difference between the number value corresponding to each of the plurality of first sub-lane paths and the number value corresponding to the target main lane, thereby obtaining a plurality of absolute difference values; select the target value with the smallest absolute difference value from the plurality of absolute difference values, and take the first sub-lane path corresponding to the target value as the target lane path.

[0022] Thirdly, this application provides an electronic device, the electronic device comprising:

[0023] Memory, used to store computer programs;

[0024] When a processor executes a computer program stored in the memory, it implements the above-described method steps for determining a lane path.

[0025] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method steps for determining a lane path.

[0026] For the various aspects of the second to fourth aspects mentioned above, and the technical effects that each aspect may achieve, please refer to the above description of the technical effects that can be achieved for the first aspect or the various possible solutions in the first aspect, which will not be repeated here. Attached Figure Description

[0027] Figure 1 A schematic diagram illustrating one possible application scenario provided by this application;

[0028] Figure 2 A schematic diagram illustrating a method for determining a lane path provided in this application;

[0029] Figure 3 A schematic diagram illustrating one possible application scenario provided by this application;

[0030] Figure 4 A schematic diagram illustrating one possible application scenario provided by this application;

[0031] Figure 5 A schematic diagram illustrating one possible application scenario provided by this application;

[0032] Figure 6 A schematic diagram illustrating a method for determining a lane path provided in this application;

[0033] Figure 7 A schematic diagram of a device for determining a lane path provided in this application;

[0034] Figure 8 A schematic diagram of the structure of an electronic device provided in this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The specific operating methods in the method embodiments can also be applied to the device embodiments or system embodiments.

[0036] In the description of this application, "multiple" is understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. A connected to B can represent: A and B directly connected, or A and B connected through C. Furthermore, in the description of this application, terms such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0037] See Figure 2 The diagram shown is a flowchart illustrating a method for determining a lane path according to an embodiment of this application. The specific implementation process of this method is as follows:

[0038] Step 201: Based on the vehicle's current location, obtain all lane paths within a preset length range, as well as the start and end points of each lane path;

[0039] Step 202: Determine the main path length and total path length for each lane path;

[0040] Step 203: Determine whether the total path length of the main lane path is greater than or equal to the target main path length among all lane paths;

[0041] Step 204: When there are multiple main lane paths whose total path length is greater than or equal to the target main path length, select the main lane path that meets the preset requirements from the multiple main lane paths as the target lane path.

[0042] In this embodiment of the application, before obtaining all lane paths within a preset length range and the start and end points of each lane path based on the vehicle's current location, it is also necessary to generate all lane paths within the preset length range based on the main path and sub-paths in the navigation path. The specific process is as follows:

[0043] Step 301: Based on the vehicle's current location, obtain the main path, sub-paths, and all lanes in the navigation route;

[0044] In this embodiment of the application, the main path is the path recommended by the navigation based on the input destination, and the sub-path is another path on the map besides the main path. Both the main path and the sub-path are road-level paths. The main path and the sub-path are each composed of multiple path segments. The main path and the sub-path can have the same K path segments, where K is an integer greater than 1.

[0045] For example, such as Figure 3 As shown, the main path is formed by connecting path segments L1, L2, L3, L4, L5, and L6, and the sub-path is formed by connecting path segments L1, L2, L3, L4, and L7.

[0046] After acquiring all lanes, each lane is numbered sequentially according to a preset order. For example, numbering starts with the first lane on the left, which is designated as lane 1, and then each lane is numbered sequentially; or numbering starts with the first lane on the right, which is designated as lane 1, and then each lane is numbered sequentially. Figure 3 In the middle, from bottom to top, they are lane 1, lane 2, lane 3, lane 4, and lane 5.

[0047] Step 302: Generate all lane paths within a preset length range based on the path segments in the main path and the path segments in the sub-paths;

[0048] In this embodiment, the lane in which the vehicle is located uses the vehicle's current position as the starting point of the lane path, while other lanes use points on the same horizontal line as the vehicle's current position as their starting points, for example... Figure 4In this process, the starting point of each lane is on the same horizontal line as the current position of the vehicle. When generating all lane paths, starting from the starting point of each lane, the system extends forward sequentially along the path segment in which each lane is located. If the extension reaches the next path segment that is a main path segment, the system continues to extend forward until the sum of the lengths of the extended path segments reaches a preset threshold, or the lane reaches its end, at which point the extension ends and the endpoint and lane path are generated. If the extension reaches the next path segment that is a sub-path segment, the system simply extends forward on that sub-path segment by the first preset threshold, then the extension ends and the endpoint and lane path are generated.

[0049] For example, such as Figure 4 As shown, lanes 1, 2, and 3 start from their respective starting points and extend forward along path segment L1 for 300-80=220 meters to reach the next path segment L2. They continue to extend forward to reach path segment L3, and so on. Lane 3 reaches its end at path segment L5. Therefore, the lane path and endpoint of lane 3 are generated, with the endpoint at the end of L5. The total length of this lane path is the sum of the lengths of all path segments from the starting point to the endpoint: 220+400+350+300+600=1870 meters. The lane path of lane 3 can be represented as NO.3L13->L23->L33->L43->L53, length3=1870. Lane 1 and Lane 2 extend forward sequentially until they extend 130 meters along path segment L6. The total length of the extended path segment is then 220 + 400 + 350 + 300 + 600 + 130 = 2000 meters, reaching the preset threshold of 2000 meters. The extension then ends, generating the lane path and endpoint for both Lane 1 and Lane 2. The lane path for Lane 1 can be represented as NO.1L11->L21->L31->L41->L51->L61, with length1 = 2000; the lane path for Lane 2 can be represented as NO.2L12->L22->L32->L42->L52->L62, with length2 = 2000.

[0050] Since lanes 4 and 5 share the same starting point as lane 3, they extend sequentially along path segment L1 until reaching path segment L4. The next path segment for lanes 4 and 5 is path segment L7 of a sub-path. At this point, extending path segment L7 forward by a first preset threshold, such as 100 meters, generates the lane path and endpoint for both lanes 4 and 5. The sum of the extended path segment lengths for lanes 4 and 5 is 220 + 400 + 350 + 300 + 100 = 1370 meters. The lane path for lane 4 can be represented as NO.4L13->L24->L34->L44->L74, length4 = 1370; the lane path for lane 5 can be represented as NO.5L13->L24->L35->L45->L75, length5 = 1370.

[0051] Using the above method, all lane paths within a preset length range are generated. This preset length range is greater than or equal to a preset threshold. For example, if the extension length of the main path segment needs to reach a preset threshold of 2km when generating lane paths, then the preset length range is greater than or equal to 2km. Based on the main path and sub-paths provided by the navigation system, all lane paths within the preset length range are pre-planned and generated for the vehicle, allowing the vehicle to anticipate the connectivity between distant roads and the current lane.

[0052] It is worth noting that the purpose of extending the sub-path segment forward by a first preset threshold when generating the lane path is to: when the user does not choose to drive along the main lane path but chooses to drive along the sub-lane path, when driving to the last main path segment, the travel time of the first preset threshold segment is reserved so that the vehicle can generate subsequent lane paths based on high-precision map data.

[0053] In this embodiment of the application, after generating all lane paths, the operation of step 201 is performed.

[0054] Step 201: Based on the vehicle's current location, obtain all lane paths within a preset length range, as well as the start and end points of each lane path;

[0055] In this embodiment of the application, after obtaining all lane paths and the start and end points of each lane path, the main lane path and sub-lane path in all lane paths can be determined. The main lane path is the lane path whose end point is located on the path segment of the main path, and the lane path whose end point is located on the path segment of the sub-path is the sub-lane path.

[0056] For example Figure 4In the diagram, the endpoints of NO.1 and NO.2 are located on path segment L6 of the main path, and the endpoints of NO.3 are located on path segment L5 of the main path. Therefore, NO.1, NO.2, and NO.3 are all main lane routes. The endpoints of NO.4 and NO.5 are located on path segment L7 of the sub-paths, therefore, NO.4 and NO.5 are sub-lane routes.

[0057] Step 202: Determine the main path length and total path length for each lane path;

[0058] In this embodiment, the main path length is the sum of the lengths of all main path segments contained in the lane path, and the total path length is the sum of the lengths of all path segments between the starting point and the corresponding ending point of the lane path. The main path length and total path length of each lane path are determined based on the path segments they contain.

[0059] For example, such as Figure 4 In the diagram, lane paths NO.1 and NO.2 both contain main path segments L1, L2, L3, L4, L5, and L6. The main path lengths of both NO.1 and NO.2 are 220 + 400 + 350 + 300 + 600 + 130 = 2000 meters, and the total path lengths of both NO.1 and NO.2 are 2000 meters, represented as naviLength1 = 2000, length1 = 2000; naviLength2 = 2000, length2 = 2000, respectively. Lane path NO.3 contains main path segments L1, L2, L3, L4, and L5. The main path length of NO.3 is 220 + 400 + 350 + 300 + 600 = 1870 meters, and the total path length of NO.3 is also 1870 meters, represented as naviLength3 = 1870, length3 = 1870. Lane paths NO.4 and NO.5 contain main path segments with L1, L2, L3, and L4. Therefore, the main path lengths of NO.4 and NO.5 are 220 + 400 + 350 + 300 = 1270 meters, and the total path lengths of NO.4 and NO.5 are 220 + 400 + 350 + 300 + 100 = 1370 meters, which are represented as naviLength4 = 1270, length4 = 1370; naviLength5 = 1270, length5 = 1370, respectively.

[0060] Step 203: Determine whether the total path length of the main lane path is greater than or equal to the target main path length among all lane paths;

[0061] In this embodiment of the application, the target main path length is the main path length with the largest length value among all lane paths, for example... Figure 4 In the given table, the main path length naviLength1 = 2000 for NO.1, naviLength2 = 2000 for NO.2, naviLength3 = 1870 for NO.3, naviLength4 = 1270 for NO.4, and naviLength5 = 1270 for NO.5. The maximum value is 2000, so the target main path length is 2000.

[0062] Specifically, determine whether the total path length of the main lane path is greater than or equal to the target main path length among all lane paths.

[0063] In one possible implementation, when there are multiple main lane paths whose total path length is greater than or equal to the target main path length, step 204 is executed.

[0064] Step 204: When there are multiple main lane paths whose total path length is greater than or equal to the target main path length, select the main lane path that meets the preset requirements from the multiple main lane paths as the target lane path.

[0065] Specifically, from multiple main lane paths whose total path length is greater than or equal to the target main path length, the main lane path whose corresponding main lane is a drivable lane is selected as the target lane path.

[0066] by Figure 4 For example, if the target main path length is 2000 meters, the main lane paths with a total path length greater than or equal to the target main path length are NO.1 length1 = 2000 and NO.2 length2 = 2000. The lane corresponding to NO.1 is a non-drivable emergency lane, so NO.1 cannot be recommended as a target lane path. The lane corresponding to NO.2 is a drivable normal motor vehicle lane, so NO.2 is recommended as a target lane path.

[0067] The above method selects a main lane path whose total path length is greater than or equal to the target main path length and meets preset requirements as the target path. Traveling along this target path will allow you to reach your destination faster and more accurately.

[0068] Furthermore, in one possible implementation, when the total path length of no main lane path is greater than or equal to the target main path length, then all sub-lane paths are determined from all lane paths, and the target lane path is determined from all sub-lane paths. For example... Figure 5In the middle, the main lane route is NO.1, and the sub-lane routes are NO.2, NO.3, NO.4, NO.5, and NO.6. The main path length of NO.1 is naviLength1 = 200 + 250 + 300 = 750, and the total path length is length1 = 200 + 250 + 300 = 750; the main path length of NO.2 is naviLength2 = 200 + 250 + 300 + 250 + 300 + 400 = 1700, and the total path length is length2 = 200 + 250 + 300 + 250 + 300 + 400 + 100 = 1800; the main path length of NO.3 is naviLength3 = 200 + 250 + 300 + 250 + 300 + 400 = 1700, and the total path length is length3 = 200 + 250 + 300 + 250 + 300 + 400 + 100 = 1800; the main path length of NO.4 is... The path length of NO.5 is naviLength4 = 200 + 250 + 300 + 250 + 300 + 400 = 1700, and the total path length is length4 = 200 + 250 + 300 + 250 + 300 + 400 + 100 = 1800; the main path length of NO.5 is naviLength5 = 200 + 250 + 300 + 250 + 300 = 1300, and the total path length is length5 = 200 + 250 + 300 + 250 + 300 + 100 = 1400; the main path length of NO.6 is naviLength5 = 200 + 250 + 300 + 250 + 300 = 1300, and the total path length is length6 = 200 + 250 + 300 + 250 + 300 + 100 = 1400. Among the main path lengths of each lane path mentioned above, the maximum main path length is 1700, so the target main path length is 1700. However, the main path length of main lane path NO.1 is 750, which is less than the target main path length of 1700, so the target lane path needs to be determined from the sub-lane paths.

[0069] For the specific process of determining the target lane path from the sub-lane path, please refer to [link / reference]. Figure 6 The details are as follows:

[0070] Step 601: When the total path length of the non-main lane path is greater than or equal to the target main path length, determine all sub-lane paths from all lane paths;

[0071] In this embodiment of the application, the sub-lane path is a lane path whose endpoint is located on a path segment of the sub-path, for example... Figure 5The endpoints of routes NO.2, NO.3, and NO.4 are located on route segment L9 of the sub-path, and the endpoints of routes NO.5 and NO.6 are located on route segment L10 of the sub-path. Therefore, NO.2, NO.3, NO.4, NO.5, and NO.6 are all sub-lane routes. The endpoint of route NO.1 is located on route segment L3 of the main path, so NO.1 is the main lane route.

[0072] Step 602: From all sub-lane paths, select multiple first sub-lane paths whose main path length is equal to the target main path length;

[0073] Specifically, for example Figure 5 In the given scenario, the target main path length is 1700. Among sub-lane paths NO.2 to NO.6, only NO.2, NO.3, and NO.4 have a main path length of 1700, which is equal to the target main path length of 1700. Therefore, NO.2, NO.3, and NO.4 are selected as the first sub-lane paths.

[0074] Step 603: From multiple first sub-lane paths, determine the first sub-lane path with the smallest lateral distance to the target main lane as the target lane path.

[0075] In this embodiment of the application, the target main lane is the main lane that includes the last path segment in the target main path length, and the main lane is the lane that is a subsequent lane that still includes a path segment of the main path. For example Figure 7 In the target main path length, the path segments are L1, L2, L3, L4, L5, and L6, with the last path segment being L6. The lanes containing path segment L6 are lane 1, lane 2, lane 3, and lane 4. The subsequent lanes of lane 1 still contain path segments L7 and L9 of the main path, meaning that the subsequent lanes of lane 1 are still on the main path. Therefore, the target main lane is lane 1.

[0076] Specifically, this involves obtaining the ID values ​​corresponding to each of the multiple first sub-lane paths and the ID value corresponding to the target main lane. For example... Figure 5 In the diagram, the first sub-lane path has three sub-lanes: NO.2, NO.3, and NO.4. The lane path number corresponds to the lane number. Therefore, the number of sub-lane path NO.2 is 2, the number of sub-lane path NO.3 is 3, and the number of sub-lane path NO.4 is 4. The target main lane is lane 1, so the target main lane number is 1.

[0077] Calculate the absolute value of the difference between the ID value corresponding to each of the multiple first sub-lane paths and the ID value corresponding to the target main lane, resulting in multiple absolute difference values. For example, Figure 5The absolute values ​​of the differences between the target lane 1 and the number values ​​of NO.2, NO.3 and NO.4 are |1-2|=1, |1-3|=2 and |1-4|=3 respectively, which can be recorded as (NO.2, 1), (NO.3, 2) and (NO.4, 3) respectively.

[0078] The target value with the smallest absolute difference among multiple differences is selected, and the first sub-lane path corresponding to the target value is recommended as the target lane path. Among the absolute values ​​of the above three differences, the smallest target value is 1, so the sub-lane path NO.2 corresponding to the target value of 1 is recommended as the target lane path.

[0079] By selecting the sub-lane path corresponding to the target value with the smallest absolute difference, the sub-lane path closest to the target main lane is determined as the target lane path. The number of lane changes from the target lane path to the target main lane is minimized. This target lane path is recommended, which allows vehicles to change lanes to the main lane path in advance, travel to the destination more accurately, and with the shortest travel distance.

[0080] The method described above pre-plans and generates all lane paths within a preset length range for the vehicle based on the main path and sub-paths provided by the navigation system. When multiple main lane paths exist, each with a total path length greater than or equal to the target main path length, a target lane path that meets the preset requirements is selected from these main lane paths for recommendation. When no main lane path exists with a total path length greater than or equal to the target main path length, the first sub-lane path that is the furthest from the main path and has the smallest lateral distance to the target main lane is selected from the sub-lane paths as the target lane path for recommendation. This allows the vehicle to anticipate the connectivity between distant roads and the current lane, and by following the target lane path, it can reach its destination faster and more accurately, thus improving the accuracy of autonomous driving.

[0081] Based on the same inventive concept, this application also provides a device for determining a lane path, used to determine and recommend a target lane path, enabling the vehicle to travel to its destination faster and more accurately. See [link to related document]. Figure 7 The device includes:

[0082] The acquisition module 701 acquires all lane paths within a preset length range and the start and end points of each lane path based on the current position of the vehicle, wherein the lane path is composed of path segments of the main path or path segments of the sub-path.

[0083] The determining module 702 determines the main path length and total path length of each of the lane paths, wherein the main path length is the sum of the lengths of all the main path segments contained in the lane path, and the total path length is the sum of the lengths of all the path segments between the starting point and the corresponding ending point of the lane path;

[0084] The judgment module 703 determines whether the total path length of the main lane path among all lane paths is greater than or equal to the target main path length, wherein the main lane path is the lane path whose endpoint is located on the path segment of the main path, and the target main path length is the main path length with the largest length value among all lane paths.

[0085] The selection module 704 selects a main lane path that meets preset requirements from the multiple main lane paths when the total path length of each of the multiple main lane paths is greater than or equal to the target main path length.

[0086] In one possible design, the device is further configured to: obtain the main path, the sub-path, and all lanes in the navigation path based on the current position of the vehicle, wherein the main path and the sub-path are each composed of multiple path segments; and generate all lane paths within the preset length range based on the path segments in the main path and the path segments in the sub-path.

[0087] In one possible design, the device is further configured to: when there is no total path length of the main lane path greater than or equal to the target main path length, determine all sub-lane paths from all lane paths, wherein the sub-lane path is a lane path whose endpoint is located on a path segment of the sub-lane path; select multiple first sub-lane paths from all sub-lane paths whose main path length is equal to the target main path length; and determine the first sub-lane path with the smallest lateral distance to the target main lane from the multiple first sub-lane paths as the target main lane path, wherein the target main lane is the main lane that includes the last path segment in the target main path length, and the main lane is a lane whose subsequent lanes still include path segments of the main path.

[0088] In one possible design, the device is further configured to: acquire the number values ​​corresponding to each of the plurality of first sub-lane paths and the number value corresponding to the target main lane, wherein the number values ​​are values ​​set in a preset order; calculate the absolute values ​​of the differences between the number values ​​corresponding to each of the plurality of first sub-lane paths and the number value corresponding to the target main lane, obtaining a plurality of absolute difference values; select the target value with the smallest absolute difference value from the plurality of absolute difference values, and take the first sub-lane path corresponding to the target value as the target lane path. Based on the above device, a target lane path can be determined from multiple lane paths, enabling the vehicle to accurately reach its destination with the shortest travel path, thus improving the accuracy of autonomous driving.

[0089] Based on the same inventive concept, this application also provides an electronic device that can perform the function of the aforementioned device for determining lane paths. (Refer to...) Figure 8 The electronic device includes:

[0090] At least one processor 801 and a memory 802 connected to at least one processor 801. In this embodiment, the specific connection medium between the processor 801 and the memory 802 is not limited. Figure 8 The example shown is the connection between processor 801 and memory 802 via bus 800. Bus 800 is... Figure 8 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The 800 bus can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 8 The term is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, the processor 801 can also be called a controller; there is no restriction on the name.

[0091] In this embodiment, memory 802 stores instructions executable by at least one processor 801. By executing the instructions stored in memory 802, at least one processor 801 can perform the lane path determination method described above. Processor 801 can implement... Figure 7 The functions of each module in the device shown.

[0092] The processor 801 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 802 and calling data stored in memory 802, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0093] In one possible design, processor 801 may include one or more processing units. Processor 801 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 801. In some embodiments, processor 801 and memory 802 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0094] The processor 801 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method for determining the lane path disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0095] Memory 802, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 802 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 802 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 802 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0096] By designing and programming the processor 801, the code corresponding to the lane path determination method described in the foregoing embodiments can be embedded into the chip, enabling the chip to execute it during runtime. Figure 2The steps of the method for determining a lane path in the illustrated embodiment are described below. How to design and program the processor 801 is a technique well-known to those skilled in the art and will not be elaborated upon here.

[0097] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the lane path determination method described above.

[0098] In some possible implementations, various aspects of the lane path determination method provided in this application may also be implemented in the form of a program product, which includes program code that, when the program product is run on a device, causes the control device to perform the steps in the lane path determination method according to the various exemplary embodiments of this application described above.

[0099] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0101] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0102] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0103] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method of determining a lane path, characterized by, The method includes: Based on the vehicle's current location, obtain all lane paths within a preset length range, as well as the start and end points of each lane path, wherein the lane path consists of path segments of the main path and / or path segments of the sub-path. Determine the main path length and total path length for each of the lane paths, wherein the main path length is the sum of the lengths of all the main path segments contained in the lane path, and the total path length is the sum of the lengths of all the path segments between the starting point and the corresponding ending point of the lane path; Determine whether the total path length of the main lane path among all lane paths is greater than or equal to the target main path length, wherein the main lane path is the lane path whose endpoint is located on the path segment of the main path, and the target main path length is the main path length with the largest length value among all lane paths. When there are multiple main lane paths whose total path length is greater than or equal to the target main path length, a main lane path that meets a preset requirement is selected from the multiple main lane paths as the target lane path, wherein the preset requirement is a lane for motor vehicles that can be driven normally. When there is no main lane path whose total path length is greater than or equal to the target main path length, all sub-lane paths are determined from all lane paths, and the sub-lane path is the lane path whose destination is located on the path segment of the sub-path. From all the sub-lane paths, select a plurality of first sub-lane paths whose main path length is equal to the target main path length; From the plurality of first sub-lane paths, the first sub-lane path with the smallest lateral distance to the target main lane is determined as the target lane path, wherein the target main lane is the main lane that includes the last path segment in the length of the target main lane, and the main lane is the lane in which the subsequent lane still includes the path segment of the main lane.

2. The method of claim 1, wherein, Before obtaining all lane paths within a preset range based on the vehicle's current location, as well as the start and end points of each lane path, the process further includes: Based on the current location of the vehicle, the main path, the sub-path, and all lanes in the navigation path are obtained, wherein the main path and the sub-path are each composed of multiple path segments; Based on the path segments in the main path and the path segments in the sub-path, generate all lane paths within the preset length range.

3. The method of claim 1, wherein, The step of determining the first sub-lane path with the smallest lateral distance to the target main lane from the plurality of first sub-lane paths as the target lane path includes: Obtain the number value corresponding to each of the plurality of first sub-lane paths and the number value corresponding to the target main lane, wherein the number value is a value set in a preset order; Calculate the absolute value of the difference between the number value corresponding to each of the multiple first sub-lane paths and the number value corresponding to the target main lane, and obtain multiple absolute difference values; Select the target value with the smallest absolute difference from the plurality of absolute difference values, and take the first sub-lane path corresponding to the target value as the target lane path.

4. An apparatus for determining a lane path, characterized by The device includes: The acquisition module acquires all lane paths within a preset length range, as well as the start and end points of each lane path, based on the vehicle's current position. The lane path is composed of path segments of the main path or path segments of the sub-path. The determination module determines the main path length and total path length of each of the lane paths, wherein the main path length is the sum of the lengths of all the main path segments contained in the lane path, and the total path length is the sum of the lengths of all the path segments between the starting point and the corresponding ending point of the lane path; The judgment module determines whether the total path length of the main lane path among all lane paths is greater than or equal to the target main path length, wherein the main lane path is the lane path whose endpoint is located on the path segment of the main path, and the target main path length is the main path length with the largest length value among all lane paths. The selection module selects a main lane path that meets a preset requirement as the target lane path when the total path length of each of the multiple main lane paths is greater than or equal to the target main path length. The preset requirement is a lane that is normally drivable for motor vehicles. The device further includes: when the total path length of the main lane path is not greater than or equal to the target main path length, determining all sub-lane paths from all lane paths, wherein the sub-lane path is a lane path whose endpoint is located on a path segment of the sub-path; From all the sub-lane paths, select a plurality of first sub-lane paths whose main path length is equal to the target main path length; From the plurality of first sub-lane paths, the first sub-lane path with the smallest lateral distance to the target main lane is determined as the target lane path, wherein the target main lane is the main lane that includes the last path segment in the length of the target main lane, and the main lane is the lane in which the subsequent lane still includes the path segment of the main lane.

5. The apparatus of claim 4, wherein, The device is also used for: Based on the current location of the vehicle, the main path, the sub-path, and all lanes in the navigation path are obtained, wherein the main path and the sub-path are each composed of multiple path segments; Based on the path segments in the main path and the path segments in the sub-path, generate all lane paths within the preset length range.

6. The apparatus of claim 4, wherein, The device is also used for: Obtain the number value corresponding to each of the plurality of first sub-lane paths and the number value corresponding to the target main lane, wherein the number value is a value set in a preset order; Calculate the absolute value of the difference between the number value corresponding to each of the multiple first sub-lane paths and the number value corresponding to the target main lane, and obtain multiple absolute difference values; Select the target value with the smallest absolute difference from the plurality of absolute difference values, and take the first sub-lane path corresponding to the target value as the target lane path.

7. An electronic device, comprising: include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the method steps of any one of claims 1-3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-3.

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