Method and apparatus for generating vehicle trajectory information

Abstract

The present disclosure provides a vehicle running track information generation method and device, which can be applied to the field of automatic driving technology. The method comprises: in response to a target vehicle about to drive into an intersection region along a target lane, obtaining target lane information and driving state information of the target lane, the target lane information comprising lane attribute information and first intersection point information of the target lane and the intersection region; obtaining candidate lane information from a plurality of lane information associated with the intersection region according to the lane attribute information and the driving state information, the candidate lane information comprising second intersection point information of a candidate lane and the intersection region; generating candidate driving region information according to the first intersection point information and the second intersection point information; and generating vehicle running track information for representing the target vehicle driving through the intersection region according to the driving state information and the candidate driving region information.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and more specifically, to a method, apparatus, electronic device, and program product for generating vehicle driving trajectory information. Background Technology

[0002] In related technologies, autonomous vehicles generally predict the trajectory of obstacle vehicles based on the direction of travel of the obstacle vehicle and the lane lines near the obstacle vehicle's location.

[0003] In the process of realizing the present invention, the inventors discovered that the related technology has at least the following problems: when an autonomous vehicle enters an intersection area, the driving environment in the intersection area is relatively complex, with multiple lane lines interacting or obstacle vehicles deviating from the lane lines, which reduces the accuracy of the autonomous vehicle's prediction of the obstacle vehicle's trajectory. Summary of the Invention

[0004] In view of this, the present disclosure provides a method and apparatus for generating vehicle driving trajectory information.

[0005] One aspect of this disclosure provides a method for generating vehicle trajectory information, comprising: in response to a target vehicle about to enter an intersection area along a target lane, acquiring target lane information and target lane driving state information, the target lane information including lane attribute information and first intersection point information between the target lane and the intersection area; obtaining candidate lane information from multiple lane information associated with the intersection area based on the lane attribute information and driving state information, the candidate lane information including second intersection point information between the candidate lane and the intersection area; generating candidate driving area information based on the first intersection point information and the second intersection point information; and generating vehicle trajectory information representing the target vehicle passing through the intersection area based on the driving state information and the candidate driving area information.

[0006] According to embodiments of this disclosure, vehicle trajectory information for characterizing a target vehicle passing through an intersection area is generated based on driving status information and candidate driving area information, including: obtaining time-series information of the target vehicle's driving position based on driving status information; and generating vehicle trajectory information based on the time-series information of the driving position and candidate driving area information.

[0007] According to embodiments of this disclosure, vehicle trajectory information is generated based on temporal information of driving location and candidate driving area information, including: obtaining the trend of overlapping area changes between driving location and candidate driving area based on temporal information of driving location and candidate driving area information; obtaining target driving area information from candidate driving area information based on the trend of overlapping area changes; and generating vehicle trajectory information based on target driving area information and temporal information of driving location.

[0008] According to embodiments of this disclosure, the trend of the overlapping area between the driving position and the candidate driving area is obtained based on the temporal information of the driving position and the candidate driving area information, including: obtaining the number of target points corresponding to each time moment based on the temporal information of the driving position and the candidate driving area information, wherein the target point represents the position point where the driving position of the target vehicle overlaps with the candidate driving area; and obtaining the trend of the overlapping area based on the number of target points corresponding to each time moment.

[0009] According to embodiments of this disclosure, the trend of the overlapping area between the driving position and the candidate driving area is obtained based on the temporal information of the driving position and the candidate driving area information, including: obtaining the area information of the target area corresponding to each time moment based on the temporal information of the driving position and the candidate driving area information, wherein the target area represents the overlapping area between the driving area of ​​the target vehicle and the candidate driving area; and obtaining the trend of the overlapping area based on the area information of the target area corresponding to each time moment.

[0010] According to embodiments of this disclosure, vehicle driving trajectory information is generated based on target driving area information and time-series information of driving position, including: obtaining standard driving trajectory information of the target driving area based on the target driving area information; constructing real-time driving trajectory information of the target vehicle based on the time-series information of driving position; obtaining driving deviation based on standard driving trajectory information and real-time driving trajectory information; and adjusting the standard driving trajectory information according to the driving deviation to generate vehicle driving trajectory information.

[0011] According to embodiments of this disclosure, candidate lane information is obtained from multiple lane information associated with an intersection area based on lane attribute information and driving status information, including: obtaining candidate driving direction information of a target vehicle based on lane attribute information; and obtaining candidate lane information from multiple lane information associated with an intersection area based on candidate driving direction information and driving status information.

[0012] According to embodiments of this disclosure, candidate lane information is obtained from multiple lane information associated with an intersection area based on candidate driving direction information and driving status information, including: obtaining target driving direction information based on candidate driving direction information and driving status information; and obtaining candidate lane information from multiple lane information associated with an intersection area based on target driving direction information.

[0013] According to an embodiment of this disclosure, generating candidate driving area information based on first intersection information and second intersection information includes: obtaining the relative position of the first intersection point and the second intersection point based on the first intersection point information and the second intersection point information; determining the target curve type for constructing the candidate driving area based on the relative position; and connecting the first intersection point and the second intersection point according to the target curve type to generate candidate driving area information.

[0014] According to an embodiment of this disclosure, the first intersection point includes a first sub-intersection point located to the left of the target vehicle's direction of travel within the target lane and a second sub-intersection point located to the right of the target vehicle's direction of travel; the second intersection point includes a third sub-intersection point located to the left of the target vehicle's direction of travel within the candidate lane and a fourth sub-intersection point located to the right of the target vehicle's direction of travel; connecting the first intersection point and the second intersection point according to the target curve type to generate candidate driving area information includes: connecting the first sub-intersection point and the third sub-intersection point according to the target curve type, and connecting the second sub-intersection point and the fourth sub-intersection point to generate candidate driving area information.

[0015] Another aspect of this disclosure provides a vehicle trajectory information generation apparatus, comprising: an acquisition module, a obtaining module, a first generation module, and a second generation module. The acquisition module is configured to acquire target lane information and target lane driving state information in response to a target vehicle about to enter an intersection area along a target lane. The target lane information includes lane attribute information and first intersection information between the target lane and the intersection area. The obtaining module is configured to obtain candidate lane information from multiple lane information associated with the intersection area based on the lane attribute information and driving state information. The candidate lane information includes second intersection information between the candidate lane and the intersection area. The first generation module is configured to generate candidate driving area information based on the first and second intersection information. The second generation module is configured to generate vehicle trajectory information representing the target vehicle's passage through the intersection area based on the driving state information and the candidate driving area information.

[0016] Another aspect of this disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed, are used to implement the method described above.

[0017] Another aspect of this disclosure provides a computer program product including computer-executable instructions that, when executed, are used to implement the method described above.

[0018] According to the embodiments of this disclosure, because a technical means is adopted to generate a vehicle trajectory information representing the target vehicle's passage through the intersection area based on lane attribute information and a candidate driving area generated by the first intersection point of the target lane and the intersection area and a second intersection point of the candidate lane and the intersection area, the technical problem of low vehicle trajectory prediction accuracy when lane lines interact or the vehicle deviates from the lane lines in the intersection area is at least partially overcome, thereby achieving the technical effect of more accurately predicting the vehicle's passage through the intersection area. Attached Figure Description

[0019] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0020] Figure 1 The illustration shows an application scenario in which the method or apparatus for generating vehicle trajectory information disclosed herein can be applied.

[0021] Figure 2 A flowchart illustrating a method for generating vehicle trajectory information according to an embodiment of the present disclosure is shown schematically.

[0022] Figure 3 A schematic diagram of a candidate driving area according to an embodiment of the present disclosure is shown;

[0023] Figure 4 This schematic diagram illustrates the determination of a target driving area from candidate driving areas according to an embodiment of the present disclosure;

[0024] Figure 5A This schematic diagram illustrates the determination of a target straight-ahead driving area within a candidate straight-ahead driving area according to an embodiment of the present disclosure.

[0025] Figure 5B This schematically illustrates a diagram of determining a target turning driving area within a candidate turning driving area according to an embodiment of the present disclosure;

[0026] Figure 6 The illustration shows a schematic diagram of generating a vehicle trajectory based on the driving state of the target vehicle and candidate driving areas according to an embodiment of the present disclosure;

[0027] Figure 7 A block diagram schematically illustrates a device for generating vehicle trajectory information according to an embodiment of the present disclosure; and

[0028] Figure 8 A block diagram of an electronic device 800 suitable for implementing a method for generating vehicle driving trajectory information according to an embodiment of the present disclosure is shown schematically. Detailed Implementation

[0029] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0030] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0031] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0032] When using expressions such as "at least one of A, B, and C", they should generally be interpreted in accordance with the meaning that is commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.).

[0033] In the embodiments disclosed herein, the collection, updating, analysis, processing, use, transmission, provision, disclosure, and storage of data (e.g., including but not limited to user personal information) comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures have been taken to prevent unauthorized access to user personal information data and to safeguard user personal information security, network security, and national security.

[0034] In the embodiments disclosed herein, user authorization or consent is obtained before acquiring or collecting user personal information.

[0035] In the intersection areas of high-precision maps for autonomous driving, lane lines within the intersection area are typically drawn using the center lines of the entrance and exit intersections. Based on these lane lines and the speed and direction of obstacle vehicles, the trajectory of obstacle vehicles is predicted, allowing for timely updates to the autonomous vehicle's trajectory.

[0036] However, in real-world applications, the complex driving environment at intersections and lanes means that the actual trajectories of vehicles avoiding obstacles can deviate from the lane lines drawn on the map. Furthermore, multiple lane lines may intersect within an intersection. Therefore, the accuracy of the driving trajectory predicted by autonomous vehicles based on lane lines on the map and the speed and direction of obstacle vehicles is low, leading to incorrect driving decisions and posing a driving risk.

[0037] In view of this, embodiments of the present disclosure provide a method for generating vehicle trajectory information, comprising: in response to a target vehicle about to enter an intersection area along a target lane, acquiring target lane information and driving state information of the target lane, wherein the target lane information includes lane attribute information and first intersection information between the target lane and the intersection area; obtaining candidate lane information from multiple lane information associated with the intersection area based on the lane attribute information and the driving state information, wherein the candidate lane information includes second intersection information between the candidate lane and the intersection area; generating candidate driving area information based on the first intersection information and the second intersection information; and generating vehicle trajectory information characterizing the target vehicle passing through the intersection area based on the driving state information and the candidate driving area information. This achieves the technical effect of more accurately predicting the driving trajectory of a vehicle passing through an intersection area.

[0038] Figure 1 The illustrations depict application scenarios where the method or apparatus for generating vehicle trajectory information disclosed herein can be applied.

[0039] It is important to note that Figure 1 The examples shown are merely examples of system architectures that can be applied to the embodiments of this disclosure, in order to help those skilled in the art understand the technical content of this disclosure, but do not mean that the embodiments of this disclosure cannot be used in other devices, systems, environments or scenarios.

[0040] like Figure 1 As shown, the system architecture 100 according to this embodiment may include a vehicle 101, a network 102, a terminal device 103, and a server 104. The network 102 and the server 104 are used as a medium to provide a communication link between the terminal device 103 and the server 104. The network 104 may include various connection types, such as wired and / or wireless communication links, etc. The terminal device 103 can be used to collect the driving status information of the vehicle 101 and the lane information of the intersection area; the server 104 can obtain the driving status information of the vehicle 101 and the lane information of the intersection area, execute the vehicle trajectory information generation method provided in this embodiment, and obtain the driving trajectory prediction information of the vehicle 101.

[0041] Server 104 can be a server that provides various services, such as a backend management server that supports websites browsed by users using terminal device 103 (for example only). The backend management server can analyze and process data such as received user requests, and feed back the processing results (such as web pages, information, or data obtained or generated according to user requests) to the terminal device.

[0042] It should be noted that the vehicle trajectory information generation method provided in this embodiment can generally be executed by server 104. Correspondingly, the vehicle trajectory information generation device provided in this embodiment can generally be located in server 104. The vehicle trajectory information generation method provided in this embodiment can also be executed by a server or server cluster that is different from server 104 and capable of communicating with terminal device 103 and / or server 104. Correspondingly, the vehicle trajectory information generation device provided in this embodiment can also be located in a server or server cluster that is different from server 104 and capable of communicating with terminal device 103 and / or server 104. Alternatively, the vehicle trajectory information generation method provided in this embodiment can also be executed by terminal device 103, or by other terminal devices different from terminal device 103. Correspondingly, the vehicle trajectory information generation device provided in this embodiment can also be located in terminal device 103, or in other terminal devices different from terminal device 103.

[0043] For example, terminal device 103 can execute the vehicle driving trajectory information generation method provided in the embodiments of this disclosure locally, or send the vehicle driving status information and lane information to be processed to other terminal devices, servers, or server clusters, and have other terminal devices, servers, or server clusters that receive the vehicle driving status information and lane information execute the vehicle driving trajectory information generation method provided in the embodiments of this disclosure.

[0044] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0045] Figure 2 A flowchart illustrating a method for generating vehicle trajectory information according to an embodiment of the present disclosure is shown.

[0046] like Figure 2 As shown, the method 200 includes operations S210 to S240.

[0047] In operation S210, in response to the target vehicle about to enter the intersection area along the target lane, the target lane information and the driving status information of the target lane are obtained.

[0048] When operating S220, candidate lane information is obtained from multiple lane information associated with the intersection area based on lane attribute information and driving status information.

[0049] In operation S230, candidate driving area information is generated based on the first intersection information and the second intersection information.

[0050] In operation S240, based on driving status information and candidate driving area information, vehicle driving trajectory information is generated to characterize the target vehicle driving through the intersection area.

[0051] According to embodiments of this disclosure, the target lane information includes lane attribute information and first intersection information between the target lane and the intersection area. The lane attribute information can characterize the driving direction attribute of vehicles located in the lane, such as: straight lane, left-turn lane, mixed straight and right-turn lane, etc.

[0052] According to embodiments of this disclosure, when a vehicle is about to enter an intersection area along a target lane, there is usually a stop line perpendicular to the lane line of the target lane and the intersection area. The first intersection point information can be the intersection point of the lane line of the target lane and the stop line.

[0053] According to embodiments of this disclosure, driving status information may include driving speed, driving direction, or the status of turn signals during driving. For example, when a target vehicle is located in a mixed straight-ahead and right-turn lane, the target vehicle's driving direction is to travel straight through the intersection area along the target lane. In this case, the status of the right turn signal can represent the target vehicle's driving intention. For example, an on right turn signal indicates that the target vehicle's driving intention in the intersection area is to turn right. A off right turn signal indicates that the target vehicle's driving intention in the intersection area is to travel straight through the intersection area.

[0054] According to embodiments of this disclosure, the multiple lane information associated with the intersection area can be lanes that a target vehicle connected to the intersection area can enter after passing through the intersection area. For example: after a target vehicle turns right through the intersection area, it can enter a lane located on the right side of the intersection area; after a target vehicle turns left through the intersection area, it can enter a lane located on the left side of the intersection area; and after a target vehicle travels straight through the intersection area, it can enter a lane located in the intersection area that is in the same direction as the target vehicle's current travel.

[0055] For example, lane attribute information could be a mixed straight-ahead and right-turn lane, driving status information could be the target vehicle's right turn signal being on, and candidate lanes obtained from multiple lane information associated with the intersection area could be lanes located on the right side of the intersection area. It can be understood that there can be one or multiple candidate lanes.

[0056] According to embodiments of this disclosure, the candidate lane information includes second intersection information between the candidate lane and the intersection area. The candidate lane and the intersection area typically also have a stop line perpendicular to the lane line of the candidate lane; the second intersection information can be the intersection of the lane line of the candidate lane and the stop line.

[0057] According to embodiments of this disclosure, candidate driving areas that a target vehicle may travel in when passing through an intersection area can be generated based on the first intersection information and the second intersection information. For example, virtual lane lines can be constructed based on the first and second intersections to obtain candidate driving areas.

[0058] According to embodiments of this disclosure, the driving status information may also include the real-time driving trajectory of the target lane. For example, candidate driving areas may be selected or adjusted based on the real-time driving trajectory to obtain more accurate vehicle driving trajectory information of the target vehicle passing through the intersection area.

[0059] According to the embodiments of this disclosure, because a technical means is adopted to generate a vehicle trajectory information representing the target vehicle's passage through the intersection area based on lane attribute information and a candidate driving area generated by the first intersection point of the target lane and the intersection area and a second intersection point of the candidate lane and the intersection area, the technical problem of low vehicle trajectory prediction accuracy when lane lines interact or the vehicle deviates from the lane lines in the intersection area is at least partially overcome, thereby achieving the technical effect of more accurately predicting the vehicle's passage through the intersection area.

[0060] The following is for reference. Figures 3-6 In conjunction with specific embodiments, Figure 2 The method shown will be further explained.

[0061] Figure 3 A schematic diagram of a candidate driving area according to an embodiment of the present disclosure is shown.

[0062] like Figure 3 As shown, in embodiment 300, the target vehicle can be located in lane La, and there is a stop line Sa between lane La and the intersection area, which is perpendicular to the lane line of lane La. The first intersection point can be points a1 and a2, which are the intersection points of the lane line of lane La and the stop line Sa.

[0063] According to embodiments of this disclosure, the arrow within lane La can indicate the lane attribute of lane La, i.e., a mixed straight-ahead and right-turn lane. It is understood that a target vehicle can proceed straight through the intersection area to reach lane Lc1 or lane Lc2, or it can turn right through the intersection area to reach lanes Lb1 and Lb2. That is, candidate lanes can include lanes Lc1, Lc2, Lb1, and Lb2.

[0064] According to embodiments of this disclosure, for lanes Lc1 and Lc2, there is a stop line Sc between the intersection area and lanes Lc1 and Lc2, perpendicular to the lane lines of lanes Lc1 and Lc2. The second intersection point can be the intersection points c1, c2, and c3 of the lane lines of lanes Lc1 and Lc2 and the stop line Sc.

[0065] According to embodiments of this disclosure, for lanes Lb1 and Lb2, there is a stop line Sb between the intersection area and lanes Lb1 and Lb2, perpendicular to the lane lines of lanes Lb1 and Lb2. The second intersection point can be the intersection points b1, b2, and b3 of lanes Lb1 and Lb2 with the stop line Sb.

[0066] According to embodiments of this disclosure, generating candidate driving area information based on first intersection information and second intersection information may include the following operations: obtaining the relative positions of the first intersection point and the second intersection point based on the first intersection point information and the second intersection point information; determining the target curve type for constructing the candidate driving area based on the relative positions; and connecting the first intersection point and the second intersection point according to the target curve type to generate candidate driving area information.

[0067] According to embodiments of this disclosure, the first intersection point includes a first sub-intersection point (e.g., a1) located to the left of the target vehicle's direction of travel within the target lane and a second sub-intersection point (e.g., a2) located to the right of the target vehicle's direction of travel within the target lane; the second intersection point includes a third sub-intersection point (e.g., b1) located to the left of the target vehicle's direction of travel within the candidate lane and a fourth sub-intersection point (e.g., b2) located to the right of the target vehicle's direction of travel within the candidate lane.

[0068] For example, according to the target curve type, the first sub-intersection point can be connected to the third sub-intersection point, and the second sub-intersection point can be connected to the fourth sub-intersection point to generate candidate driving area information.

[0069] like Figure 3 As shown, the relative position of the first and second intersection points can be that the second intersection point is located perpendicular to the first intersection point. Based on the relative position, the target curve type used to construct the candidate driving region can be determined to be a curve. Connecting a1 and b1, and a2 and b2 using curves, generates a loop-shaped candidate driving region a1a2b2b1. Similarly, candidate driving regions a1a2b3b2 can be obtained.

[0070] According to embodiments of this disclosure, the first intersection point includes a first sub-intersection point (e.g., a1) located to the left of the target vehicle's direction of travel within the target lane and a second sub-intersection point (e.g., a2) located to the right of the target vehicle's direction of travel within the target lane; the second intersection point includes a third sub-intersection point (e.g., c1) located to the left of the target vehicle's direction of travel within the candidate lane and a fourth sub-intersection point (e.g., c2) located to the right of the target vehicle's direction of travel within the candidate lane.

[0071] like Figure 3 As shown, the relative position of the first and second intersection points can be such that the second intersection point is located horizontally from the first intersection point. Based on the relative position, the target curve type used to construct the candidate driving region can be determined to be a straight line. Connecting a1 and c1, and a2 and c2 with straight lines, generates a parallelogram-shaped candidate driving region a1a2c2c1. Similarly, candidate driving regions a1a2c3c2 can be obtained.

[0072] According to embodiments of this disclosure, by constructing a virtual candidate driving area, an effective reference can be provided for the trajectory of a target vehicle traveling through an intersection area, so as to narrow down the range of the candidate driving area and quickly adjust the vehicle's driving trajectory within the effective driving area based on the real-time driving status of the vehicle.

[0073] According to embodiments of this disclosure, obtaining candidate lane information from multiple lane information associated with an intersection area based on lane attribute information and driving status information may include the following operations: obtaining candidate driving direction information of a target vehicle based on lane attribute information; and obtaining candidate lane information from multiple lane information associated with an intersection area based on candidate driving direction information and driving status information.

[0074] like Figure 3 As shown, the target vehicle can be located in lane Le. Based on the direction of the arrow in lane Le, it can be determined that the lane attribute of lane Le is a left-turn lane, that is, the candidate driving direction of the target vehicle can be the left-turn direction.

[0075] When the target vehicle is in a driving state where its left turn signal is on, candidate lanes Ld1, Ld2, and Ld3 can be obtained from multiple lane information associated with the intersection area.

[0076] According to embodiments of this disclosure, target driving direction information can be obtained based on candidate driving direction information and driving status information; and candidate lane information can be obtained from multiple lane information associated with the intersection area based on the target driving direction information.

[0077] For example, if the target vehicle is located in lane La, based on the direction of the arrows within lane La, we can determine that lane La is a mixed straight-ahead and right-turn lane, meaning the target vehicle's candidate travel direction can be either straight or right-turn. In this case, we can combine the status of the target vehicle's turn signal to determine the target travel direction. For example, if the target vehicle's right turn signal is on, we can determine that the target travel direction is to the right, and the candidate lanes can be Lb1 and Lb2. If the target vehicle's right turn signal is off, we can determine that the target travel direction is straight, and the candidate lanes can be Lc1, Lc2, Lc3, and Lc4.

[0078] According to embodiments of this disclosure, the driving intention of a target vehicle can be accurately determined based on lane attributes and driving status. This allows for the targeted selection of candidate lanes corresponding to the target vehicle's driving intention to construct candidate driving areas, reducing the processing of redundant information and improving information processing efficiency.

[0079] According to embodiments of this disclosure, vehicle trajectory information representing a target vehicle passing through an intersection area is generated based on driving status information and candidate driving area information, including the following operations: obtaining the temporal information of the target vehicle's driving position based on the driving status information; and generating vehicle trajectory information based on the temporal information of the driving position and candidate driving area information.

[0080] According to embodiments of this disclosure, the temporal information of the target vehicle's driving position can be the real-time collected driving trajectory of the target vehicle. Based on the real-time collected driving trajectory, a driving area matching the actual driving trajectory of the target vehicle can be selected from candidate driving areas, and vehicle driving trajectory information can be further generated.

[0081] According to embodiments of this disclosure, generating vehicle trajectory information based on temporal information of the driving location and candidate driving area information may include the following operations: obtaining the trend of overlapping area changes between the driving location and candidate driving areas based on the temporal information of the driving location and candidate driving area information; obtaining target driving area information from the candidate driving area information based on the trend of overlapping area changes; and generating vehicle trajectory information based on the target driving area information and the temporal information of the driving location.

[0082] Figure 4 A schematic diagram illustrating the determination of a target driving area from candidate driving areas according to an embodiment of the present disclosure is shown.

[0083] like Figure 4As shown, in embodiment 400, the target vehicle 432 is about to enter the intersection area, and the terminal device 431 can collect the driving status information and lane information of the target vehicle 432. The candidate driving area generated according to the method described above in the embodiments of this disclosure may include candidate driving area HL1 and candidate driving area HL2.

[0084] The terminal device 431 can collect the time-series information of the target vehicle 432's driving position. Based on the time-series information of the driving position, it can be determined that the overlap between the real-time driving trajectory of the target vehicle 432 and the candidate driving area HL1 gradually increases, while the overlap between the real-time driving trajectory of the target vehicle 432 and the candidate driving area HL2 gradually decreases. The candidate driving area HL1 can be determined as the target driving area.

[0085] According to embodiments of this disclosure, the trend of overlapping areas between the driving position and the candidate driving area is obtained based on the temporal information of the driving position and the candidate driving area information, which can be determined based on the change in the number of overlapping points between the driving position and the candidate driving area.

[0086] For example, based on the temporal information of the driving position and the candidate driving area information, the number of target points corresponding to each time moment is obtained, where the target point represents the position where the driving position of the target vehicle coincides with the candidate driving area; and based on the number of target points corresponding to each time moment, the trend of the overlapping area is obtained.

[0087] Figure 5A This illustration schematically shows a diagram of determining a target straight-ahead driving area within a candidate straight-ahead driving area according to an embodiment of the present disclosure.

[0088] like Figure 5A As shown, in embodiment 500A, the points where the position of the target vehicle 531 coincides with the first candidate driving area 532 at time t1 may include T1 and T3, meaning the number of coinciding points is 2. The points where the position of the target vehicle 531 coincides with the second candidate driving area 533 at time t1 may include T2 and T4, meaning the number of coinciding points is 2. The points where the position of the target vehicle 531 coincides with the second candidate driving area 533 at time t2 may include T11, T22, T33, and T44, meaning the number of coinciding points is 4. There are no points where the position of the target vehicle 531 coincides with the first candidate driving area 532 at time t2, meaning the number of coinciding points is 0.

[0089] Understandably, from time t1 to time t2, the number of overlap points between the target vehicle 531 and the first candidate driving area 532 decreases from 2 to 0, showing a gradually decreasing trend. Conversely, the number of overlap points between the target vehicle 531 and the second candidate driving area 533 increases from 2 to 4, showing a gradually increasing trend. Therefore, the target driving area can be identified as the second candidate driving area 533.

[0090] It should be noted that the method of obtaining the trend of the overlapping area between the driving position and the candidate driving area based on the change in the number of overlapping points between the driving position and the candidate driving area is also applicable to the candidate driving area for turning, and will not be elaborated here.

[0091] According to embodiments of this disclosure, the trend of the overlapping area between the driving position and the candidate driving area can be obtained based on the temporal information of the driving position and the candidate driving area information, or it can be determined based on the change of the overlapping area between the driving position and the candidate driving area.

[0092] For example, based on the temporal information of the driving position and the candidate driving area information, the area information of the target area corresponding to each time moment is obtained, where the target area represents the overlapping area between the driving area of ​​the target vehicle and the candidate driving area; based on the area information of the target area corresponding to each time moment, the changing trend of the overlapping area is obtained.

[0093] Figure 5B The illustration schematically shows a diagram of determining a target turning driving area in a candidate turning driving area according to an embodiment of the present disclosure.

[0094] like Figure 5B As shown in Figure 500B, at time t3, the overlapping area between the target vehicle 531 and the third candidate driving area 534 is 3 / 4 of the target vehicle's body coverage area, and the overlapping area between the target vehicle and the fourth candidate driving area 535 is 1 / 4 of the target vehicle's body coverage area. At time t4, the overlapping area between the target vehicle 531 and the third candidate driving area 534 is the target vehicle's body coverage area, and the overlapping area between the target vehicle and the fourth candidate driving area 535 is 0.

[0095] Understandably, from time t3 to time t4, the overlap area between the target vehicle 531 and the third candidate driving area 534 increases from 3 / 4 of the target vehicle's body coverage area to the entire vehicle body coverage area, showing a gradually increasing trend. Conversely, the overlap area between the target vehicle 531 and the fourth candidate driving area 535 decreases from 1 / 4 of the target vehicle's body coverage area to 0, showing a gradually decreasing trend. Therefore, the target driving area can be identified as the third candidate driving area 534.

[0096] According to embodiments of this disclosure, to simplify the calculation process, the annular region can be continuously divided along the midpoint of its edge. For example, in the third candidate driving region 534, the midpoint of the outer edge is Ea. The line connecting the center point of the sector and the midpoint of the outer edge can be used as the dividing line to perform the first division of the annular region. Then, the line connecting the midpoint of the divided outer edge Eb and the center point of the sector can be used as the dividing line to perform a second division of the annular region. Since the curvature change of the annular region is small in actual application scenarios, the divided region obtained by continuous average division can be approximated as a quadrilateral, such as EaEbEcEd, so as to calculate the overlapping area with the target vehicle.

[0097] It should be noted that the method of obtaining the trend of the overlapping area of ​​the driving position and the candidate driving area based on the change of the overlapping area is also applicable to the straight-ahead candidate driving area, and will not be elaborated here.

[0098] According to embodiments of this disclosure, by observing the changing trend of the overlapping area between the target vehicle's driving position and the candidate driving area, a target driving area corresponding to the actual driving trajectory of the target vehicle can be matched more accurately, thereby enabling the prediction of the target vehicle's driving trajectory within a smaller driving area and improving the prediction accuracy of the driving trajectory.

[0099] According to embodiments of this disclosure, generating vehicle trajectory information based on target driving area information and time-series information of driving position may include the following operations: obtaining standard driving trajectory information of the target driving area based on the target driving area information; constructing real-time driving trajectory information of the target vehicle based on the time-series information of driving position; obtaining driving deviation based on standard driving trajectory information and real-time driving trajectory information; and adjusting the standard driving trajectory information according to the driving deviation to generate vehicle trajectory information.

[0100] According to embodiments of this disclosure, the standard driving trajectory can be the centerline of the target driving area. For a parallelogram-shaped target driving area, the driving deviation can be the average distance deviation between the centerline of the target driving area and the real-time driving trajectory.

[0101] According to embodiments of this disclosure, for a circular target driving area, the driving deviation can be the average curvature deviation between the centerline of the target driving area and the real-time driving trajectory. Points M1, M2, ... M... can be selected from the centerline at predetermined distances. n ...M q Correspondingly, points m1, m2, ... m are taken from the real-time driving trajectory. n Based on the average values ​​of the curvature deviations between curve segments M1M2 and m1m2, and between curve segments M3M4 and m3m4, the centerline M...n 、..M q The curvature of the curve segment is adjusted to generate vehicle trajectory information.

[0102] Figure 6 The illustration shows a schematic diagram of generating a vehicle trajectory based on the driving state of the target vehicle and candidate driving areas according to an embodiment of the present disclosure.

[0103] like Figure 6 As shown, in embodiment 600, the centerline in the target driving area 631 can be a standard driving trajectory 632. Based on the deviation between the real-time driving trajectory 634 and the standard driving trajectory 632, the standard driving trajectory 632 is adjusted to obtain the driving trajectory 635 of the vehicle 633.

[0104] According to embodiments of this disclosure, by adjusting the deviation of the standard driving trajectory based on the actual driving trajectory, the vehicle's driving trajectory can be predicted more accurately within a smaller range, thereby improving the prediction accuracy of the vehicle's driving trajectory.

[0105] Figure 7 A block diagram of a vehicle trajectory information generation apparatus according to an embodiment of the present disclosure is shown schematically.

[0106] like Figure 7 As shown, the vehicle trajectory information generation device 700 may include an acquisition module 710, an acquisition module 720, a first generation module 730, and a second generation module 740.

[0107] The acquisition module 710 is used to acquire target lane information and target lane driving status information in response to a target vehicle about to enter the intersection area along the target lane. The target lane information includes lane attribute information and the first intersection point information between the target lane and the intersection area.

[0108] The module 720 is used to obtain candidate lane information from multiple lane information associated with the intersection area based on lane attribute information and driving status information. The candidate lane information includes the second intersection point information between the candidate lane and the intersection area.

[0109] The first generation module 730 is used to generate candidate driving area information based on the first intersection information and the second intersection information.

[0110] The second generation module 740 is used to generate vehicle trajectory information that represents the target vehicle driving through the intersection area based on the driving status information and the candidate driving area information.

[0111] According to embodiments of this disclosure, the second generation module 740 may include a first obtaining submodule and a first generation submodule.

[0112] The first acquisition submodule is used to obtain the timing information of the target vehicle's driving position based on the driving status information.

[0113] The first generation submodule is used to generate vehicle trajectory information based on the temporal information of the driving location and the candidate driving area information.

[0114] According to embodiments of this disclosure, the first generation submodule may include a first obtaining unit, a second obtaining unit, and a first generation unit.

[0115] The first obtaining unit is used to obtain the trend of the overlapping area of ​​the driving position and the candidate driving area based on the temporal information of the driving position and the candidate driving area information.

[0116] The second acquisition unit is used to obtain the target driving area information from the candidate driving area information based on the trend of overlapping area changes.

[0117] The first generation unit is used to generate vehicle trajectory information based on the target driving area information and the time sequence information of the driving position.

[0118] According to embodiments of this disclosure, the first obtaining unit includes a first obtaining subunit and a second obtaining unit.

[0119] The first obtaining subunit is used to obtain the number of target points corresponding to each time step based on the temporal information of the driving position and the candidate driving area information, wherein the target point represents the position point where the driving position of the target vehicle coincides with the candidate driving area.

[0120] The second acquisition sub-unit is used to obtain the trend of overlapping area changes based on the number of target points at each time point.

[0121] According to embodiments of this disclosure, the first obtaining unit includes a third obtaining subunit and a fourth obtaining subunit.

[0122] The third acquisition subunit is used to obtain the area information of the target area corresponding to each time step based on the temporal information of the driving position and the candidate driving area information, wherein the target area represents the overlapping area between the driving area of ​​the target vehicle and the candidate driving area.

[0123] The fourth sub-unit is used to obtain the changing trend of the overlapping area based on the area information of the target area at each time moment.

[0124] According to embodiments of this disclosure, the first generation unit includes a fifth obtaining subunit, a construction subunit, a sixth obtaining subunit, and a generation subunit.

[0125] The fifth acquisition subunit is used to obtain the standard driving trajectory information of the target driving area based on the information of the target driving area.

[0126] A sub-unit is constructed to build the real-time driving trajectory information of the target vehicle based on the time-series information of the driving location.

[0127] The sixth sub-unit is used to obtain the driving deviation based on the standard driving trajectory information and the real-time driving trajectory information.

[0128] The generation sub-unit is used to adjust the standard driving trajectory information according to the driving deviation to generate vehicle driving trajectory information.

[0129] Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure, or at least part of the functions of any one or more of them, can be implemented in one module. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be implemented by dividing them into multiple modules. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be at least partially implemented as hardware circuitry, such as Field Programmable Gate Arrays (FPGAs), Programmable Logic Arrays (PLAs), Systems-on-Chip, Systems-on-Substrate, Systems-on-Package, Application-Specific Integrated Circuits (ASICs), or implemented in hardware or firmware by any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, one or more of the modules, submodules, units, and subunits according to embodiments of the present disclosure can be at least partially implemented as computer program modules, which, when run, can perform corresponding functions.

[0130] For example, any plurality of the acquisition module 710, the obtaining module 720, the first generation module 730, and the second generation module 740 can be combined into one module / unit / subunit, or any one of these modules / units / subunits can be split into multiple modules / units / subunits. Alternatively, at least part of the functionality of one or more of these modules / units / subunits can be combined with at least part of the functionality of other modules / units / subunits and implemented in one module / unit / subunit. According to embodiments of this disclosure, at least one of the acquisition module 710, the obtaining module 720, the first generation module 730, and the second generation module 740 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the acquisition module 710, the obtaining module 720, the first generation module 730, and the second generation module 740 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.

[0131] It should be noted that the data processing system part in the embodiments of this disclosure corresponds to the data processing method part in the embodiments of this disclosure. The specific description of the data processing system part is referred to in the data processing method part, and will not be repeated here.

[0132] Figure 8 A block diagram of an electronic device suitable for implementing the methods described above, according to embodiments of the present disclosure, is illustrated schematically. Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0133] like Figure 8 As shown, an electronic device 800 according to an embodiment of the present disclosure includes a processor 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage portion 808 into a random access memory (RAM) 803. The processor 801 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 801 may also include onboard memory for caching purposes. The processor 801 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0134] RAM 803 stores various programs and data required for the operation of electronic device 800. Processor 801, ROM 802, and RAM 803 are interconnected via bus 804. Processor 801 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 802 and / or RAM 803. It should be noted that the programs may also be stored in one or more memories other than ROM 802 and RAM 803. Processor 801 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0135] According to embodiments of this disclosure, the electronic device 800 may further include an input / output (I / O) interface 805, which is also connected to a bus 804. The system 800 may also include one or more of the following components connected to the input / output (I / O) interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the input / output (I / O) interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 810 as needed so that computer programs read from it can be installed into the storage section 808 as needed.

[0136] According to embodiments of this disclosure, the method flow according to embodiments of this disclosure can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by processor 801, it performs the functions defined in the system of embodiments of this disclosure. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0137] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0138] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0139] For example, according to embodiments of this disclosure, a computer-readable storage medium may include the ROM 802 and / or RAM 803 described above and / or one or more memories other than ROM 802 and RAM 803.

[0140] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods provided in the embodiments of this disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the methods provided in the embodiments of this disclosure.

[0141] When the computer program is executed by the processor 801, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0142] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 809, and / or installed from a removable medium 811. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0143] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0144] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features recited in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not expressly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure may be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0145] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A method for generating vehicle trajectory information, comprising: In response to a target vehicle about to enter an intersection area along a target lane, the target lane information and the driving status information of the target lane are obtained. The target lane information includes lane attribute information and the first intersection point information between the target lane and the intersection area. Based on the lane attribute information and the driving status information, candidate lane information is obtained from multiple lane information associated with the intersection area, and the candidate lane information includes the second intersection point information between the candidate lane and the intersection area; Based on the first intersection information and the second intersection information, candidate driving area information is generated; Based on the driving status information, the temporal information of the target vehicle's driving position is obtained; Based on the temporal information of the driving position and the candidate driving area information, the trend of the overlapping area between the driving position and the candidate driving area is obtained; wherein, the trend of the overlapping area is determined based on the change in the number of overlapping points or the overlapping area between the driving position and the candidate driving area. Based on the changing trend of the overlapping area, the target driving area information is obtained from the candidate driving area information; Based on the target driving area information and the time sequence information of the driving position, vehicle trajectory information is generated to characterize the target vehicle's movement through the intersection area.

2. The method according to claim 1, wherein, The step of obtaining the trend of the overlapping area between the driving position and the candidate driving area based on the time-series information of the driving position and the candidate driving area information includes: Based on the temporal information of the driving position and the candidate driving area information, the number of target points corresponding to each time moment is obtained, wherein the target point represents the location where the driving position of the target vehicle coincides with the candidate driving area; and The trend of the overlapping region is obtained based on the number of target points at each time point.

3. The method according to claim 1, wherein, The step of obtaining the trend of the overlapping area between the driving position and the candidate driving area based on the time-series information of the driving position and the candidate driving area information includes: Based on the temporal information of the driving position and the candidate driving area information, the area information of the target area corresponding to each time moment is obtained, wherein the target area represents the overlapping area between the driving area of ​​the target vehicle and the candidate driving area; and Based on the area information of the target region at each time point, the change region of the overlapping region is obtained.

4. The method according to claim 1, wherein, The step of generating the vehicle trajectory information based on the target driving area information and the time sequence information of the driving position includes: Based on the information of the target driving area, the standard driving trajectory information of the target driving area is obtained; Based on the time-series information of the driving location, construct the real-time driving trajectory information of the target vehicle; Based on the standard driving trajectory information and the real-time driving trajectory information, the driving deviation is obtained; and The standard driving trajectory information is adjusted according to the driving deviation to generate the vehicle driving trajectory information.

5. The method according to claim 1, wherein, The step of obtaining candidate lane information from multiple lane information associated with the intersection area based on the lane attribute information and the driving status information includes: Based on the lane attribute information, candidate driving direction information of the target vehicle is obtained; and Based on the candidate driving direction information and the driving status information, candidate lane information is obtained from multiple lane information associated with the intersection area.

6. The method according to claim 5, wherein, The step of obtaining candidate lane information from multiple lane information associated with the intersection area based on the candidate driving direction information and the driving status information includes: Based on the candidate driving direction information and the driving state information, the target driving direction information is obtained; and Based on the target driving direction information, candidate lane information is obtained from multiple lane information associated with the intersection area.

7. The method according to claim 1, wherein, The step of generating candidate driving area information based on the first intersection information and the second intersection information includes: Based on the first intersection point information and the second intersection point information, the relative positions of the first intersection point and the second intersection point are obtained; Based on the relative position, determine the target curve type used to construct the candidate driving region; and According to the target curve type, the first intersection point and the second intersection point are connected to generate the candidate driving area information.

8. The method according to claim 7, wherein, The first intersection point includes a first sub-intersection point located to the left of the target vehicle's direction of travel within the target lane and a second sub-intersection point located to the right of the target vehicle's direction of travel; the second intersection point includes a third sub-intersection point located to the left of the target vehicle's direction of travel within the candidate lane and a fourth sub-intersection point located to the right of the target vehicle's direction of travel. The step of connecting the first intersection point and the second intersection point according to the target curve type to generate the candidate driving area information includes: According to the target curve type, the first sub-intersection point is connected to the third sub-intersection point, and the second sub-intersection point is connected to the fourth sub-intersection point to generate the candidate driving area information.

9. A device for generating vehicle trajectory information, comprising: The acquisition module is used to acquire the target lane information and the driving status information of the target lane in response to the target vehicle about to enter the intersection area along the target lane. The target lane information includes lane attribute information and the first intersection point information between the target lane and the intersection area. The acquisition module is used to obtain candidate lane information from multiple lane information associated with the intersection area based on the lane attribute information and the driving status information, wherein the candidate lane information includes the second intersection point information between the candidate lane and the intersection area; The first generation module is used to generate candidate driving area information based on the first intersection information and the second intersection information; as well as The second generation module is used to obtain the temporal information of the driving position of the target vehicle based on the driving status information; Based on the temporal information of the driving position and the candidate driving area information, the trend of the overlapping area between the driving position and the candidate driving area is obtained; wherein, the trend of the overlapping area is determined based on the change in the number of overlapping points or the overlapping area between the driving position and the candidate driving area; based on the trend of the overlapping area, the target driving area information is obtained from the candidate driving area information. Based on the target driving area information and the time sequence information of the driving position, vehicle trajectory information is generated to characterize the target vehicle's movement through the intersection area.

10. An electronic device, comprising: One or more processors; Memory, used to store one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of any one of claims 1 to 8.

11. A computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 8.

12. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-8.

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