A map labeling method and device, electronic equipment and storage medium

Abstract

The application discloses a map annotation method and device, electronic equipment and storage medium, the method comprises the following steps: generating the annotation control point of each lane according to the road information of map data; drawing a plurality of annotation straight line segments of each lane connected in a loop according to the annotation control point of each lane; for each group of two connected annotation straight line segments, drawing a circular arc tangent to the two annotation straight line segments to obtain a plurality of annotation circular arc segments of each lane by passing through the points on the two annotation straight line segments at a distance of half of the length of the shorter annotation straight line segment from the connecting point; deleting the line segment between the connecting point and the corresponding annotation circular arc segment to obtain the lane annotation line of each lane; and using the lane annotation line to annotate each lane in the map data. The application can provide a universally applicable map lane annotation method, support annotation of different map formats, and facilitate users to realize map annotation without relying on existing map annotation software.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a map annotation method, apparatus, electronic device, and storage medium. Background Technology

[0002] Before autonomous driving systems can be deployed on real roads, they must undergo extensive simulation testing, thus requiring simulation maps for this purpose. Creating simulation maps involves two main steps: map annotation and map generation. Existing map annotation technologies, including schemes for annotating lanes, do not support different map formats, limiting map data interoperability and resulting in poor universality. Furthermore, existing map annotation applications employ varying methods for annotation, making user operation extremely inconvenient. Summary of the Invention

[0003] This invention provides a map annotation method, apparatus, electronic device, and storage medium, which can provide a universally applicable map lane annotation method, support annotation of different map formats, and enable users to implement map annotation independently without relying on existing map annotation software.

[0004] In a first aspect, embodiments of the present invention provide a map annotation method, comprising: generating annotation control points for each lane in the map data based on road information in the map data collected in the field;

[0005] Based on the marked control points of each lane, draw multiple marked straight line segments connecting the beginning and end of each lane;

[0006] For each pair of connected labeled straight segments in the plurality of labeled straight segments, draw an arc tangent to both labeled straight segments through two target points on the two labeled straight segments, located at a distance from the connection point equal to half the length of the shorter of the two labeled straight segments, thus obtaining multiple labeled arc segments for each lane; and

[0007] The lane marking lines for each lane are obtained by deleting the line segments between the connection point of the two connected straight line segments in each group and the corresponding arc segment, and then using the lane marking lines to mark each lane in the map data.

[0008] Secondly, embodiments of the present invention provide a map annotation device, including: a annotation control point generation module, used to generate annotation control points for each lane in the map data based on road information in the map data collected in the field;

[0009] The straight line segment drawing module is used to draw multiple straight line segments that are connected end to end for each lane based on the marked control points of each lane.

[0010] The module for drawing arc segments is used to draw arcs tangent to both connected line segments in each group of multiple line segments, passing through two target points on the two line segments whose distance from the connection point is half the length of the shorter line segment, thus obtaining multiple arc segments for each lane; and

[0011] The lane marking line acquisition and marking module is used to delete the line segments between the connection point of the two connected marking straight line segments in each group and the corresponding marking arc line segment to obtain the lane marking lines of each lane, and to use the lane marking lines to mark each lane in the map data accordingly.

[0012] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the map annotation method as described in any of the embodiments of the present invention.

[0013] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the map annotation method as described in any of the embodiments of the present invention.

[0014] This invention provides a map annotation method, apparatus, electronic device, and storage medium. It generates annotation control points based on road information in map data, generates annotation straight line segments for each lane based on the annotation control points, and generates tangent arcs between adjacent straight line segments to obtain annotation arc segments. Finally, it generates lane annotation lines using the annotation arc segments and the annotation straight line segments inside each annotation arc segment, thereby annotating each lane in the map data accordingly. This provides a universally applicable map lane annotation method that supports annotation of different map formats with road information, thus improving the interoperability of map data in different formats. Furthermore, it allows users to implement map annotation independently without relying on existing map annotation software, thereby improving the convenience, flexibility, and efficiency of map annotation. Attached Figure Description

[0015] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating a map annotation method provided in an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the map annotation method provided in this embodiment of the invention, which annotates straight line segments, arc segments, and lane marking lines.

[0018] Figure 3 This is another flowchart illustrating the map annotation method provided in this embodiment of the invention;

[0019] Figure 4 This is another schematic diagram of the map annotation method provided in this embodiment of the invention, which annotates straight line segments, arc segments, and lane marking lines;

[0020] Figure 5 This is a schematic diagram of a map annotation device provided in an embodiment of the present invention;

[0021] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0023] Figure 1 This is a schematic flowchart illustrating a map annotation method provided in an embodiment of the present invention. This method can be executed by a map annotation device provided in this embodiment, which can be implemented using software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer or server. The following embodiments will illustrate this using the integration of the device into an electronic device as an example. (Reference) Figure 1 The method may specifically include the following steps:

[0024] Step 101: Based on the road information in the map data collected in the field, generate control points for each lane in the map data. This facilitates the drawing of labeled straight line segments based on the control points.

[0025] Specifically, the map data collected in the field can be various types of map data containing road information, such as point cloud map data created using LiDAR and integrated navigation, or image map data acquired through aerial photography by drones. The road information can include road reference lines, road edge lines, etc. Road reference lines can be, for example, double yellow lines or a single solid line.

[0026] Optionally, each lane includes lanes outside the intersection and lanes inside the intersection.

[0027] In an optional specific embodiment of the present invention, the process of generating label control points for each lane in the map data based on road information in the map data collected in the field includes: drawing label control points for each lane outside the intersection along the road reference line with the lane outside the intersection; and determining the label control points at the intersection of each lane outside the intersection surrounding the predetermined intersection as shared label control points for each lane outside the intersection and the lanes inside the intersection that can be continuously connected to it.

[0028] In real-world scenarios, road reference lines are marked on the outer lanes of an intersection, but not on the inner lanes. Therefore, the control points for the outer lanes can be obtained by simply marking points along the road reference lines. For the inner lanes, since they are necessarily continuously connected to the outer lanes (meaning vehicles will first pass through the outer lanes, then travel in the inner lanes, and finally return to the outer lanes), the control points for each outer lane surrounding the predetermined intersection can also be controlled as control points for the inner lanes that are continuously connected to each outer lane.

[0029] Step 102: Draw multiple straight line segments connecting the beginning and end of each lane based on the control points of each lane. This facilitates the drawing of arc segments based on multiple straight line segments, further generating lane marking lines.

[0030] Optionally, the process of drawing multiple straight line segments connecting lanes end-to-end based on the marked control points of each lane includes:

[0031] For lanes outside the intersection, multiple labeled straight line segments for that lane can be obtained by sequentially connecting the various marked control points with straight lines according to the corresponding lane direction. For example... Figure 2 The line segments shown are P0i1, i1i2, i2i3 and i3P1.

[0032] Step 103: For each pair of connected labeled line segments in the multiple labeled line segments, draw an arc tangent to both labeled line segments through two target points located at a distance from the connection point equal to half the length of the shorter of the two labeled line segments. This results in multiple labeled arc segments for each lane. This facilitates the generation of lane marking lines based on multiple labeled arc segments.

[0033] In an optional embodiment of the present invention, drawing an arc tangent to both labeled line segments through two target points located at a distance of half the length of the shorter of the two labeled line segments from the connection point includes:

[0034] Draw a circle tangent to both of the two labeled line segments through the two target points; and, based on the coordinates of the two target points, the connecting point, and the center of the circle, extract an arc from the circle between the two target points and on one side of the connecting point.

[0035] Optional, such as Figure 2 As shown, the process of drawing an arc tangent to both i1p0 and i1i2 includes: finding the smaller value d between line segments i1p0 and i1i2. min ; Obtain the distance d between i1 and i1 on i1p0. min Given the point inter0 at position / 2, find the distance d between inter0 and i1 on i1i2. min Point inter1 at / 2; draw perpendicular lines from inter0 and inter1 to the polylines p0i1 and i1i2 respectively, with the intersection point being the center center1; obtain a circle tangent to both labeled line segments using the distance between inter0 and center1 as the radius; obtain a rectangle with length and width parallel to the x-axis and y-axis respectively for cutting the arc segment, such as... Figure 2 As shown, the x-axis range corresponding to the rectangle is between min(xinter0,xinter1,xi1,xcenter1) and max(xinter0,xinter1,xi1,xcenter1), and the y-axis range corresponding to the rectangle is between min(yinter0,yinter1,yi1,ycenter1) and max(yinter0,yinter1,yi1,ycenter1).

[0036] Optionally, the process of drawing an arc tangent to both labeled line segments includes: obtaining a point on a circle whose x-coordinate is between the x-coordinates of the two target points and whose y-coordinate is not less than the smaller of the y-coordinates of the two target points to obtain the arc tangent to both labeled line segments.

[0037] Step 104 involves deleting the line segments between the connection points of two connected straight line segments in each group and the corresponding arc segments to obtain lane marking lines for each lane. These lane marking lines are then used to mark each lane in the map data. Based on steps 101-103, control points are generated from the road information in the map data. Straight line segments for each lane are then generated from these control points. Tangent arcs are formed between adjacent straight line segments to obtain arc segments. Finally, lane marking lines are generated using the arc segments and the straight line segments inside each arc segment. This provides a universally applicable map lane marking method that supports marking different map formats with road information, thereby improving the interoperability of map data in different formats. Furthermore, it allows users to perform map marking independently without relying on existing map marking software, thus improving the convenience, flexibility, and efficiency of map marking.

[0038] Optional, such as Figure 2 As shown, deleting line segments inter0i1, i1inter1, and inter2i2 will yield the lane marking lines for the corresponding lanes. Optionally, the process of using lane marking lines to label each lane in the map data includes: labeling the lane center lines and lane boundary lines of each lane in the map data based on the lane marking lines.

[0039] The following section further introduces map annotation methods, such as... Figure 3 As shown, that is Figure 1 Step 102 may include the following steps:

[0040] Step 1021: Determine two inter-intersection lanes that can be continuously connected to the lanes within the same intersection of the predetermined intersection as an associated inter-intersection lane pair.

[0041] Specifically, the outer lanes of the aforementioned related intersections, for example... Figure 4 The intersection lane pair (R1, R2) consists of lane R1 belonging to control point P2 and lane R2 belonging to control point P3; and the intersection lane pair (R4, R5) consists of lane R4 belonging to control point P4 and lane R5 belonging to control point P5. Lanes R1, R2, and lane R3 corresponding to control points P2 and P3 can be continuously connected, meaning vehicles will travel on R1, R3, and R2 sequentially when making a right turn. Lanes R4, R5, and lane R6 corresponding to control points P4 and P5 can be continuously connected, meaning vehicles will travel on R4, R5, and R6 sequentially when going straight.

[0042] Step 1022: Determine whether the extensions of the two road reference lines corresponding to each lane outside the associated intersection intersect within the intersection range of the predetermined intersection.

[0043] Specifically, the road reference line can be a double yellow line or a single solid line, etc.

[0044] Step 1023: Based on the judgment result and the shared control points of the lane pair outside the associated intersection at the predetermined intersection, generate the straight line segment of the lane inside the intersection that can be continuously connected to the lane pair outside the associated intersection.

[0045] In an optional specific embodiment of the present invention, the process of generating a straight line segment of the lane inside the intersection that can be continuously connected to the lane outside the associated intersection based on the common control point of the lane outside the associated intersection at the predetermined intersection according to the judgment result includes: if the two road reference lines corresponding to each lane outside the associated intersection in the lane outside the associated intersection intersect within the intersection range of the predetermined intersection, then draw a straight line parallel to the road reference line of the lane outside the intersection to which the corresponding common control point belongs through each of the two common control points of the lane outside the associated intersection at the predetermined intersection, to obtain a straight line pair corresponding to each lane outside the associated intersection; obtain the intersection point of each straight line pair within the intersection range of the predetermined intersection, and respectively extract the line segment between the intersection point and the two common control points of the lane outside the associated intersection, to obtain the straight line segment of the lane inside the intersection that can be continuously connected to the lane outside the associated intersection.

[0046] Optional, such as Figure 4 As shown, the extensions of the road reference lines of the outer lane pairs (R1, R2) intersect within the intersection area. A straight line P2i4 parallel to the road reference line of R1 is drawn through P2, and a straight line P3i4 parallel to the road reference line of R2 is drawn through P3. The intersection point i4 of lines P2i4 and P3i4 is obtained. Then, line segments P2i4 and P3i4 are extracted. Line segments P2i4 and P3i4 are the labeled straight line segments of vehicle R3 within the intersection that can continuously connect with the outer lane pairs (R1, R2).

[0047] In an optional specific embodiment of the present invention, the process of generating a straight line segment of the lane within the intersection that can be continuously connected to the lane outside the associated intersection based on the common control points of the lane outside the associated intersection at the predetermined intersection according to the judgment result includes: if the two road reference lines corresponding to each lane outside the associated intersection do not intersect within the intersection range of the predetermined intersection, then the two straight line segments with the two common control points of the lane outside the associated intersection at the predetermined intersection as endpoints are extended by a preset length within the intersection range of the predetermined intersection to obtain two extended line segments within the intersection; the two endpoints within the intersection of the two extended line segments are directly connected to obtain an extension line endpoint connecting line segment; and the two extended line segments within the intersection and the extension line endpoint connecting line segment are determined as the straight line segments of the lane within the intersection that can be continuously connected to the lane outside the associated intersection.

[0048] Optional, such as Figure 4 As shown, the extensions of the road reference lines of the lane pair (R4, R5) outside the associated intersection do not intersect within the intersection area. Therefore, the two marked straight line segments with endpoints P4 and P5 are extended by a predetermined length within the intersection area to obtain two extension line segments P4i5 and P5i6. The intersection endpoints i5 and i6 of these two extension line segments are connected by a straight line to obtain the extension line endpoint connection line segment i5i6. Line segments P4i5, P5i6, and i5i6 are the marked straight line segments of lane R6 within the intersection that can be continuously connected to the lane pair (R4, R5) outside the associated intersection.

[0049] In an optional specific embodiment of the present invention, before generating the labeled straight line segment of the lane inside the intersection that can be continuously connected to the lane outside the intersection based on the common labeled control point of the lane outside the intersection pair at the predetermined intersection according to the judgment result, the intersection range of the predetermined intersection is determined according to the coordinates of the common labeled control point of all lane outside the intersection surrounding the predetermined intersection at the predetermined intersection.

[0050] Specifically, such as Figure 4 As shown, the intersection range of the aforementioned predetermined intersection can be a convex polygon obtained by sequentially connecting each common control point at the predetermined intersection in a clockwise or counterclockwise order. Alternatively, it can be a rectangular frame determined based on the maximum and minimum coordinate values ​​of each common control point at the predetermined intersection.

[0051] The embodiments of the present invention can draw the marked straight line segments of the lanes inside the intersection in a relatively simple way based on the reference lines and marked straight line segments of the lanes outside the intersection, which in turn facilitates the drawing of the marked arc segments of the lanes inside the intersection based on the marked straight line segments of the lanes inside the intersection, and further generates the lane marking lines of the lanes inside the intersection.

[0052] Figure 5This is a structural diagram of a map annotation device provided in an embodiment of the present invention. This device is suitable for executing the map annotation method provided in an embodiment of the present invention. Figure 5 As shown, the device may specifically include:

[0053] The control point generation module 501 is used to generate control points for each lane in the map data based on road information from the map data collected in the field. This facilitates the drawing of labeled straight line segments based on the control points.

[0054] Optionally, each lane includes lanes outside the intersection and lanes inside the intersection.

[0055] Optionally, the aforementioned label control point generation module 501 can be specifically used to draw label control points for each lane outside the intersection along the road reference line of the lane outside the intersection; and to determine the label control points of each lane outside the intersection surrounding the predetermined intersection at the intersection as shared label control points for each lane outside the intersection and the lanes inside the intersection that can be continuously connected to it.

[0056] The straight line segment drawing module 502 is used to draw multiple straight line segments connecting the beginning and end of each lane based on the control points of each lane. It can facilitate the drawing of arc segments based on multiple straight line segments, and further generate lane marking lines.

[0057] Optionally, the above-mentioned straight line segment drawing module 502 can be specifically used to: determine two inter-intersection lanes that can be continuously connected to the lanes within the same intersection of the predetermined intersection as an associated inter-intersection lane pair; determine whether the extension lines of the two road reference lines corresponding to each lane in the associated inter-intersection lane pair intersect within the intersection range of the predetermined intersection; and, based on the judgment result and the shared annotation control point of the associated inter-intersection lane pair at the predetermined intersection, generate a straight line segment of the lane within the intersection that can be continuously connected to the associated inter-intersection lane pair.

[0058] Optionally, the above-mentioned straight line segment drawing module 502 can be specifically used to: if the two road reference lines corresponding to each lane outside the intersection in the associated intersection lane pair intersect within the intersection range of the predetermined intersection, then draw a straight line parallel to the road reference line of the lane outside the intersection to which the corresponding common annotation control point belongs, passing through each of the two common annotation control points of the associated intersection lane pair at the predetermined intersection, to obtain a straight line pair corresponding to each associated intersection lane pair; obtain the intersection point of each straight line pair within the intersection range of the predetermined intersection, and respectively extract the line segment between the intersection point and the two common annotation control points of the associated intersection lane pair, to obtain the straight line segment of the lane inside the intersection that can be continuously connected to the associated intersection lane pair.

[0059] Optionally, the above-mentioned straight line segment drawing module 502 can be specifically used to: if the two road reference lines corresponding to each lane outside the associated intersection do not intersect within the intersection range of the predetermined intersection, then extend the two straight line segments with the two common annotation control points of the lane outside the associated intersection at the predetermined intersection as endpoints to the intersection range of the predetermined intersection by a preset length to obtain two extended line segments within the intersection; connect the two endpoints of the two extended line segments within the intersection directly to obtain the extension line endpoint connecting line segment; and determine the two extended line segments within the intersection and the extension line endpoint connecting line segment as the straight line segments of the lanes within the intersection that can be continuously connected to the lane outside the associated intersection.

[0060] Optionally, the above-mentioned straight line segment drawing module 502 can be specifically used to determine the intersection range of the predetermined intersection based on the coordinates of the common annotation control points of all external lanes surrounding the predetermined intersection at the predetermined intersection before generating the straight line segments of the lanes within the intersection that can be continuously connected to the external lanes of the associated intersection based on the judgment result and the common annotation control points of all external lanes surrounding the predetermined intersection at the predetermined intersection.

[0061] The arc segment drawing module 503 is used to draw arcs tangent to both connected line segments in a set of multiple line segments. These arcs are drawn through two target points on the two line segments, located at a distance of half the length of the shorter line segment from the connection point. This process generates multiple arc segments for each lane. This facilitates the generation of lane marking lines based on these multiple arc segments.

[0062] Optionally, the above-mentioned arc segment drawing module 503 can be specifically used to draw a circle that is tangent to both of the two marked segments through two target points; and to extract an arc from the circle between the two target points and on one side of the connection point based on the coordinates of the two target points, the connection point and the center of the circle.

[0063] The lane marking line acquisition and marking module 504 is used to delete the line segments between the connection points of two connected straight line segments and the corresponding arc segments to obtain the lane marking lines for each lane, and then use the lane marking lines to mark each lane in the map data. It can be combined with modules 501-503 to generate marking control points based on road information in the map data, generate straight line segments for each lane based on the marking control points, generate tangent arcs between adjacent straight lines to obtain marking arc segments, and finally generate lane marking lines using the marking arc segments and the straight line segments inside each marking arc segment, thus marking each lane in the map data. This provides a universally applicable map lane marking method that supports marking different map formats with road information, thereby improving the interoperability of map data of different formats; and it allows users to perform map marking independently without relying on existing map marking software, thereby improving the convenience, flexibility, and efficiency of map marking.

[0064] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0065] This invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the map annotation method provided in any of the above embodiments.

[0066] This invention also provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the map annotation method provided in any of the above embodiments.

[0067] The following is for reference. Figure 6 It shows a schematic diagram of the structure of a computer system 600 suitable for implementing an electronic device according to embodiments of the present invention. Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0068] like Figure 6As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage section 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the system 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0069] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0070] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs the functions defined above in the system of this invention.

[0071] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0072] 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 invention. 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.

[0073] The modules and / or units described in the embodiments of this invention can be implemented in software or hardware. The described modules and / or units can also be housed in a processor; for example, a processor may include a control point generation module, a straight line segment drawing module, an arc segment drawing module, and a lane marking line acquisition and marking module. The names of these modules do not necessarily limit the module itself.

[0074] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the device to: generate control points for each lane in the map data based on road information from map data collected in the field; draw multiple straight line segments for each lane, connected end-to-end, based on the control points for each lane; for each pair of connected straight line segments in the multiple straight line segments, draw arcs tangent to both line segments through two target points on the two line segments, at a distance from the connection point equal to half the length of the shorter line segment, to obtain multiple arc segments for each lane; and delete the line segments between the connection point of each pair of connected straight line segments and the corresponding arc segments to obtain lane marking lines for each lane, and use the lane marking lines to mark each lane in the map data accordingly.

[0075] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A map annotation method, characterized in that, include: Based on the road information in the map data collected in the field, control points for each lane in the map data are generated; Draw multiple straight line segments connecting the beginning and end of each lane based on the marked control points of each lane; For each pair of connected labeled straight segments in the multiple labeled straight segments, draw an arc tangent to both labeled straight segments through two target points on the two labeled straight segments, at a distance from the connection point that is half the length of the shorter of the two labeled straight segments, to obtain multiple labeled arc segments for each lane; as well as The lane marking lines for each lane are obtained by deleting the line segments between the connection point of the two connected straight line segments in each group and the corresponding arc segment, and then using the lane marking lines to mark each lane in the map data.

2. The map annotation method according to claim 1, characterized in that, Each lane includes the lane outside the intersection and the lane inside the intersection; The step of generating control points for each lane in the map data based on road information from the map data collected in the field includes: Draw the control points for each lane outside the intersection along the road reference line connecting the lanes outside the intersection; as well as The control point marked at the predetermined intersection for each lane outside the intersection is determined as a shared control point for each lane outside the intersection and the lanes inside the intersection that can be continuously connected to it.

3. The map annotation method according to claim 2, characterized in that, The process of drawing multiple straight line segments connecting the beginning and end of each lane based on the marked control points of each lane includes: Two inter-intersection lanes that can be continuously connected to the lanes within the same intersection at the predetermined intersection are identified as an associated inter-intersection lane pair. Determine whether the extension lines of the two road reference lines corresponding to each lane outside the intersection in the associated intersection lane pair intersect within the intersection range of the predetermined intersection; Based on the judgment result and the shared labeling control point of the external lane pair at the predetermined intersection, a labeling straight line segment of the lane inside the intersection that can be continuously connected to the external lane pair is generated.

4. The map annotation method according to claim 3, characterized in that, The step of generating a straight line segment for the lanes within the intersection that can be continuously connected to the lane pair outside the associated intersection based on the shared control point of the lane pair outside the associated intersection at the predetermined intersection, according to the judgment result, includes: If the two road reference lines corresponding to each lane outside the intersection in the associated intersection lane pair intersect within the intersection range of the predetermined intersection, then through each of the two common label control points of the associated intersection lane pair at the predetermined intersection, draw a straight line parallel to the road reference line of the lane outside the intersection to which the corresponding common label control point belongs, to obtain a straight line pair corresponding to each associated intersection lane pair. Obtain the intersection point of each straight line pair within the intersection range of the predetermined intersection, and extract the line segment between the intersection point and the two shared label control points of the outer lane pair of the associated intersection to obtain the labeled straight line segment of the lane inside the intersection that can be continuously connected to the outer lane pair of the associated intersection.

5. The map annotation method according to claim 3, characterized in that, The step of generating a straight line segment for the lanes within the intersection that can be continuously connected to the lane pair outside the associated intersection based on the shared control point of the lane pair outside the associated intersection at the predetermined intersection, according to the judgment result, includes: If the two road reference lines corresponding to each lane outside the associated intersection do not intersect within the intersection range of the predetermined intersection, then the two labeled straight line segments with the two common labeled control points of the associated intersection lane pair at the predetermined intersection as endpoints will be extended by a preset length within the intersection range of the predetermined intersection to obtain two extended line segments within the intersection. The two intersection endpoints of the two intersection extension segments are directly connected to obtain the extension endpoint connection segment; The extended line segments within the two intersections and the connecting line segments at the endpoints of the extended lines are defined as the marked straight lines of the lanes within the intersections that can be continuously connected to the lanes outside the associated intersections.

6. The map annotation method according to claim 1, characterized in that, The process of drawing an arc tangent to both line segments, passing through two target points on the two labeled line segments at a distance equal to half the length of the shorter line segment, includes: Draw a circle tangent to both of the two labeled line segments through the two target points; and Based on the coordinates of the two target points, the connecting point, and the center of the circle, an arc is cut from the circle between the two target points and on one side of the connecting point.

7. The map annotation method according to claim 3, characterized in that, Also includes: Before generating the labeled straight segments of the lanes within the intersection that can be continuously connected to the associated outer lane pair based on the shared labeled control points at the predetermined intersection according to the judgment result,... The intersection range of the predetermined intersection is determined based on the coordinates of the common control point of all lanes outside the predetermined intersection at the predetermined intersection.

8. A map annotation device, characterized in that, include: The control point generation module is used to generate control points for each lane in the map data based on road information in the map data collected in the field. The straight line segment drawing module is used to draw multiple straight line segments that are connected end to end for each lane based on the marked control points of each lane. The module for drawing arc segments is used to draw arcs tangent to both of the two connected line segments in each of the multiple line segments, passing through two target points on the two line segments whose distance from the connection point is half the length of the shorter line segment, thereby obtaining multiple arc segments for each lane. as well as The lane marking line acquisition and marking module is used to delete the line segments between the connection point of the two connected marking straight line segments in each group and the corresponding marking arc line segment to obtain the lane marking lines of each lane, and to use the lane marking lines to mark each lane in the map data accordingly.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the map annotation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the map labeling method as described in any one of claims 1 to 7.

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