Road surface automatic generation method and device, electronic equipment and storage medium

Abstract

The present disclosure relates to the technical field of high-precision map, and particularly relates to a road surface automatic generation method and device, an electronic device and a storage medium. A specific implementation scheme is as follows: according to lane information of a selected lane group, a lane type corresponding to the selected lane group is determined; according to the lane type, a generated road surface type is determined; according to the road surface type, a corresponding road surface generation strategy is executed to generate a road surface corresponding to the selected lane group. The present disclosure realizes automatic drawing of lane-level map data for all scenes of road surfaces, does not need secondary manual intervention, and improves the generation efficiency of road surface data.

Description

Technical Field

[0001] This disclosure relates to the field of high-precision map technology, and in particular to methods, apparatus, electronic devices and storage media for automatic road surface generation. Background Technology

[0002] High-precision maps, as opposed to ordinary maps, provide more accurate and richer map information, primarily serving autonomous driving. High-precision maps can empower autonomous driving systems to achieve lane-level route planning. In some cases, it is necessary to generate road elements using the original base map data, especially in areas where high-precision map data is lacking. In these situations, road elements need to be generated based on ordinary maps to achieve a near-high-precision map effect in areas without such data. Road surfaces are one of the road elements required for generating high-precision maps. Road surfaces typically include intersection surfaces, road mid-section surfaces, etc., and different road surfaces require different generation methods. Existing road surface generation methods involve a high degree of manual intervention, resulting in significant loss of map accuracy. Summary of the Invention

[0003] This disclosure provides a method, apparatus, electronic device, and storage medium for automatically generating road surfaces.

[0004] According to a first aspect of this disclosure, a method for automatically generating road surfaces is provided, comprising:

[0005] Based on the lane information of the selected lane group, determine the lane type corresponding to the selected lane group;

[0006] The generated road surface type is determined based on the lane type;

[0007] The corresponding road surface generation strategy is executed according to the road surface type to generate the road surface corresponding to the selected lane group.

[0008] According to a second aspect of this disclosure, an automatic road surface generation device is provided, comprising:

[0009] The first determining module is configured to determine the lane type corresponding to the selected lane group based on the lane information of the selected lane group;

[0010] The second determining module is configured to determine the generated road surface type based on the lane type;

[0011] The road surface generation module is configured to execute the corresponding road surface generation strategy according to the road surface type to generate the road surface corresponding to the selected lane group.

[0012] According to a third aspect of this disclosure, an electronic device is provided, comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the method described in any of the above technical solutions.

[0016] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are used to cause the computer to perform the method according to any one of the above-described technical solutions.

[0017] According to a fifth aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method according to any one of the above-described technical solutions.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0019] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0020] Figure 1 This is a schematic diagram of the steps of the automatic road surface generation method in the embodiments of this disclosure;

[0021] Figure 2 This is a schematic diagram of generating a crossroads surface in an embodiment of this disclosure;

[0022] Figure 3 This is a schematic diagram of generating the middle section of the road in an embodiment of this disclosure;

[0023] Figure 4 This is a schematic diagram of generating a T-junction surface in an embodiment of this disclosure;

[0024] Figure 5 This is a schematic diagram of generating the first auxiliary line in an embodiment of this disclosure;

[0025] Figure 6 This is a schematic diagram illustrating the determination of the intersection location in an embodiment of this disclosure;

[0026] Figure 7 This is a schematic diagram of adjusting the direction of the first auxiliary line in an embodiment of this disclosure;

[0027] Figure 8This is a schematic diagram showing the first auxiliary lines sorted by angle in an embodiment of this disclosure;

[0028] Figure 9 This is a schematic diagram of the grouping of the first auxiliary lines in an embodiment of this disclosure;

[0029] Figure 10 This is a schematic diagram of sorting the first auxiliary line after grouping in an embodiment of this disclosure;

[0030] Figure 11 This is a schematic diagram of generating a first cross-section based on a first auxiliary line in an embodiment of this disclosure;

[0031] Figure 12 This is a schematic diagram of the connection of each first transverse tangent in an embodiment of this disclosure;

[0032] Figure 13 This is a schematic block diagram of the automatic road surface generation device in the embodiments of this disclosure;

[0033] Figure 14 This is a block diagram of an electronic device used to implement the automatic road surface generation method of the embodiments of this disclosure. Detailed Implementation

[0034] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0035] To address the issues of insufficient automation, excessive manual intervention, and significant loss of accuracy in existing road surface generation methods, this disclosure provides an automatic road surface generation method, such as... Figure 1 As shown, it includes:

[0036] Step S101: Determine the lane type corresponding to the selected lane group based on the lane information of the selected lane group.

[0037] Step S102: Determine the generated road surface type based on the lane type.

[0038] Step S103: Execute the corresponding road surface generation strategy according to the road surface type to generate the road surface corresponding to the selected lane group.

[0039] For example, in lane-level map data, simply selecting a lane group manually and pressing the "spacebar" automatically generates a high-precision map of the road surface. After manually selecting the lane group, the system can determine the lane type corresponding to the selected lane group based on its lane information (including but not limited to one or more of the following: lane auxiliary lines, lane boundary lines, lane direction, lane group code, etc.), such as dead-end lanes or non-dead-end lanes. Different lane types result in different road surfaces. Common road surface types include intersection surfaces, road mid-section surfaces, and T-junction surfaces. The system pre-stores different road surface generation strategies for intersection surfaces, road mid-section surfaces, and T-junction surfaces. After determining the road surface type corresponding to the selected lane group, the system can execute the corresponding road surface generation strategy to generate an intersection surface, road mid-section surface, or T-junction surface, achieving automatic drawing of road surfaces across the entire scene from lane-level map data without secondary manual intervention, thus improving the efficiency of road surface data generation.

[0040] As an optional implementation, lane types include discontinuous lanes and continuous lanes; wherein, determining the generated road surface type based on the lane type includes:

[0041] If all lanes in the selected lane group are non-continuous lanes, then the road surface type is set to intersection surface.

[0042] If all lanes in the selected lane group are continuous lanes, then the road surface type is set to the middle section of the road.

[0043] If the selected lane group includes both discontinuous lanes and continuous lanes, determine the road surface type as a T-junction surface.

[0044] Specifically, in this embodiment of the disclosure, non-continuous lanes include dead-end lanes (i.e., lanes whose ends are located at intersections), lanes connecting to virtual lanes, or lanes connecting dedicated left-turn lanes and dedicated right-turn lanes; continuous lanes refer to non-dead-end lanes that do not connect to virtual lanes, nor to dedicated left-turn lanes or dedicated right-turn lanes.

[0045] like Figure 2 The diagram shows a group of non-continuous lanes. The intersection includes lane groups in four directions: L1, L2, L3, and L4. Lane groups L1, L2, L3, and L4 are all dead-end lane groups, and their endpoints are all located at the intersection, forming a crossroads. Figure 3 The lane group L5 shown is a continuous lane group composed of multiple consecutive lanes. This section does not have a lane end point, and the lanes are not connected to other virtual lanes or dedicated left-turn lanes or right-turn lanes, so it is called a continuous lane. Figure 4The selected lane group shown contains both discontinuous and continuous lanes. Lane group L6 is a discontinuous lane, and one end of lane group L6 merges into lane group L7, which is a continuous lane. The selected area does not contain the endpoint of lane group L7.

[0046] As an optional implementation, in response to the road surface type being an intersection surface, the road surface generation strategy includes:

[0047] For each selected lane group, determine a first auxiliary line that coincides with any lane boundary line or lane auxiliary line in the corresponding selected lane group; wherein, the first auxiliary line is parallel to the driving direction of the selected lane group.

[0048] For example, Figure 5 The diagram shows eight first auxiliary lines: F1, F2, F3, F4, F5, F6, F7, and F8. Since each lane group contains multiple line segments, including lane auxiliary lines and lane boundary lines, to facilitate road surface drawing, each selected lane group can be abstracted into a single line segment as the first auxiliary line. For example... Figure 5 Each direction includes two lane groups with opposite driving directions. Since there are many lane auxiliary lines and lane boundary lines in each selected lane group, it is not convenient to draw them later. Therefore, any lane auxiliary line or lane boundary line can be extracted from each selected lane group as the first auxiliary line.

[0049] Determine the location of the intersection face corresponding to the crossroads face.

[0050] For example, such as Figure 6 As shown, the intersection point C of the road centerlines of each selected lane group can be calculated, and this intersection point can be used as the center of the intersection face to determine the location of the intersection face. The road centerline is the line segment located at the center of each selected lane group, used to separate lanes with different travel directions within each selected lane group.

[0051] At the end of each first auxiliary line near the intersection face, a first transverse line segment perpendicular to each first auxiliary line is generated.

[0052] like Figure 2 As shown, the first transverse segment H1 is generated based on the first auxiliary lines F1 and F2, the first transverse segment H2 is generated based on the first auxiliary lines F3 and F4, the first transverse segment H3 is generated based on the first auxiliary lines F5 and F6, and the first transverse segment H4 is generated based on the first auxiliary lines F7 and F8.

[0053] Connect the first transverse segments to each other to generate a crossroads surface.

[0054] like Figure 2As shown, the first transverse segments H1, H2, H3, and H4 are connected end to end by Bézier curves B1, B2, B3, and B4 to generate a crossroads surface. The control point of each Bézier curve is the intersection of the extension lines of the boundary lines of the two lane groups where the two endpoints of the Bézier curve are located. The control point of Bézier curve B1 is Q1, the control point of Bézier curve B2 is Q2, the control point of Bézier curve B3 is Q3, and the control point of Bézier curve B4 is Q4.

[0055] As an optional implementation, generating a first transverse line segment perpendicular to each first auxiliary line at one end near the intersection face includes:

[0056] Adjust the direction of each first auxiliary line to point towards the intersection.

[0057] like Figure 7 As shown, in order to facilitate the next step of calculating the angle of each first auxiliary line, the first auxiliary lines need to be adjusted to the same direction. In this embodiment, the direction of the first auxiliary lines F2, F4, F6, and F8 is adjusted from the position away from the intersection to the position pointing towards the intersection. In this way, all the first auxiliary lines point towards the intersection.

[0058] Calculate the angle of each first auxiliary line; determine the relative position between each first auxiliary line based on the angle of each first auxiliary line.

[0059] like Figure 8 As shown, if the intersection area is considered as a circle, and the position of the first auxiliary line F1 is taken as 0 degrees, the angle of each lane group can be determined sequentially in either a counter-clockwise or clockwise direction. This allows us to determine the relative position of each lane group, facilitating grouping. For example... Figure 9 As shown, these first auxiliary lines are grouped by angle. Those with an angle difference within 20 degrees are grouped together: F1 and F2 form the first group, F3 and F4 the second group, F5 and F6 the third group, and F7 and F8 the fourth group. Figure 10 As shown, the first auxiliary lines of each group are sorted within the group.

[0060] Based on the relative positions of each first auxiliary line, a first transverse line segment perpendicular to each first auxiliary line is generated at the end of each first auxiliary line that is close to the intersection face.

[0061] like Figure 11 As shown, after sorting each first auxiliary line by angle, the corresponding first transverse line segment is generated based on each group of first auxiliary lines. For example, the first transverse line segment corresponding to F1 and F2 is H1, the first transverse line segment corresponding to F3 and F4 is H2, the first transverse line segment corresponding to F5 and F6 is H3, and the first transverse line segment corresponding to F7 and F8 is H4. Figure 12As shown, the first transverse segments H1, H2, H3, and H4 are finally connected to form a crossroads surface.

[0062] As an optional implementation, in response to the road surface type being the road mid-section surface, the road surface generation strategy includes:

[0063] For each lane in each selected lane group, determine two second auxiliary lines that coincide with the two boundary lines of the corresponding lane;

[0064] Generate two second transverse line segments perpendicular to each of the second auxiliary lines;

[0065] The rectangular closed surface formed by connecting the two second auxiliary lines and the two second transverse line segments is used as the middle section surface of the road.

[0066] like Figure 3 As shown, the boundary line of the lane group can be used as the second auxiliary line. After generating the second auxiliary line, the second cross-section is generated based on the second auxiliary line to construct a rectangular closed surface S1.

[0067] As an optional implementation, in response to a road surface type of T-junction, the road surface generation strategy includes:

[0068] For discontinuous lanes in the selected lane group, generate a third transverse segment perpendicular to the boundary line of the discontinuous lane at the end of the discontinuous lane closest to the continuous lane.

[0069] For consecutive lanes in the selected lane group, generate two fourth tangent segments perpendicular to the boundary lines of the consecutive lanes.

[0070] Connect the third and fourth cross-sections to form a T-shaped intersection.

[0071] Figure 4 As shown, the selected lane group contains both discontinuous and continuous lanes. Lane group L6 is a discontinuous lane group composed of multiple discontinuous lanes, with one end of lane group L6 merging into lane group L7. Lane group L7 is a continuous lane group composed of multiple continuous lanes, and the selected area does not have the endpoint of lane group L7. In this embodiment, a third transverse segment H5 perpendicular to the boundary line of lane group L6 is generated on lane group L6, and fourth transverse segments H6 and H7 perpendicular to the boundary line of lane group L7 are generated on lane group L7.

[0072] As an optional implementation method, such as Figure 4 As shown, connecting the third and fourth cross-sections to form a T-shaped intersection includes:

[0073] Connect the third and fourth transverse segments using a Bézier curve.

[0074] Identify the connecting line segment that coincides with the boundary line of the continuous lane at the end furthest from the non-continuous lane, and connect the connecting line segment to the fourth tangential line segment.

[0075] The third cross-section, the fourth cross-section, and the connecting section together constitute the T-shaped intersection surface.

[0076] Specifically, such as Figure 4 As shown, this embodiment includes a third transverse segment H5 and fourth transverse segments H6 and H7. The third transverse segment H5 and the fourth transverse segment H6 and H7 are connected by Bézier curves B5 and B6. Then, the fourth transverse segment H6 and H7 are connected by connecting line segment H8 (the boundary line of the end of lane group L7 away from lane group L6) to form a T-shaped intersection.

[0077] This disclosure provides an automatic road surface generation device 1300, such as... Figure 13 As shown, it includes:

[0078] The first determining module 1301 is configured to determine the lane type corresponding to the selected lane group based on the lane information of the selected lane group.

[0079] The second determining module 1302 is configured to determine the generated road surface type based on the lane type;

[0080] The road surface generation module 1303 is configured to execute the corresponding road surface generation strategy according to the road surface type to generate the road surface corresponding to the selected lane group.

[0081] For example, in lane-level map data, simply selecting a lane group manually and pressing the "spacebar" automatically generates a high-precision map of the road surface. After manually selecting the lane group, the system can determine the lane type corresponding to the selected lane group based on its lane information (including but not limited to one or more of the following: lane auxiliary lines, lane boundary lines, lane direction, lane group code, etc.), such as dead-end lanes or non-dead-end lanes. Different lane types result in different road surfaces. Common road surface types include intersection surfaces, road mid-section surfaces, and T-junction surfaces. The system pre-stores different road surface generation strategies for intersection surfaces, road mid-section surfaces, and T-junction surfaces. After determining the road surface type corresponding to the selected lane group, the system can execute the corresponding road surface generation strategy to generate an intersection surface, road mid-section surface, or T-junction surface, achieving automatic drawing of road surfaces across the entire scene from lane-level map data without secondary manual intervention, thus improving the efficiency of road surface data generation.

[0082] As an optional implementation, the lane types include discontinuous lanes and continuous lanes; wherein, the second determining module 1302 determines the generated road surface type based on the lane type, including:

[0083] If all lanes in the selected lane group are non-continuous lanes, then the road surface type is set to intersection surface.

[0084] If all lanes in the selected lane group are continuous lanes, then the road surface type is set to the middle section of the road.

[0085] If the selected lane group includes both discontinuous lanes and continuous lanes, determine the road surface type as a T-junction surface.

[0086] Specifically, in this embodiment of the disclosure, non-continuous lanes include dead-end lanes (i.e., lanes whose ends are located at intersections), lanes connecting to virtual lanes, or lanes connecting dedicated left-turn lanes and dedicated right-turn lanes; continuous lanes refer to non-dead-end lanes that do not connect to virtual lanes, nor to dedicated left-turn lanes or dedicated right-turn lanes.

[0087] like Figure 2 The diagram shows a group of non-continuous lanes. The intersection includes lane groups in four directions: L1, L2, L3, and L4. Lane groups L1, L2, L3, and L4 are all dead-end lane groups, and their endpoints are all located at the intersection, forming a crossroads. Figure 3 Lane group L5 shown is a continuous lane group composed of multiple consecutive lanes. This segment does not have a lane end, and the lane group does not connect to other virtual lanes or dedicated left-turn lanes or right-turn lanes; therefore, it is called a continuous lane. Figure 4 As shown, the selected lane group contains both discontinuous and continuous lanes. Lane group L6 is a discontinuous lane group, and one end of lane group L6 merges into lane group L7, which is a continuous lane group. The selected area does not contain the endpoint of lane group L7.

[0088] As an optional implementation, the road surface generation module 1303, in response to the road surface type being an intersection surface, includes the following road surface generation strategy:

[0089] For each selected lane group, a first auxiliary line is determined that coincides with the boundary line of any lane in the corresponding selected lane group; wherein, the first auxiliary line is parallel to the driving direction of the selected lane group.

[0090] For example, Figure 5 The diagram shows eight first auxiliary lines: F1, F2, F3, F4, F5, F6, F7, and F8. Since each lane group contains multiple line segments, including lane auxiliary lines and lane boundary lines, to facilitate road surface drawing, each selected lane group can be abstracted into a single line segment as the first auxiliary line. For example... Figure 5Each direction includes two lane groups with opposite driving directions. Since there are many lane auxiliary lines and lane boundary lines in each selected lane group, it is not convenient to draw them later. Therefore, any lane auxiliary line or lane boundary line can be extracted from each selected lane group as the first auxiliary line.

[0091] Determine the location of the intersection face corresponding to the crossroads face.

[0092] For example, such as Figure 6 As shown, the road surface generation module 1303 can calculate the intersection point C of the road centerlines of each selected lane group, use this intersection point as the center of the intersection surface, and determine the position of the intersection surface based on the intersection point. The road centerline refers to the line segment located at the center of each selected lane group, used to separate lanes with different travel directions within each selected lane group.

[0093] At the end of each first auxiliary line near the intersection face, a first transverse line segment perpendicular to each first auxiliary line is generated.

[0094] like Figure 2 As shown, the first transverse segment H1 is generated based on the first auxiliary lines F1 and F2, the first transverse segment H2 is generated based on the first auxiliary lines F3 and F4, the first transverse segment H3 is generated based on the first auxiliary lines F5 and F6, and the first transverse segment H4 is generated based on the first auxiliary lines F7 and F8.

[0095] Connect the first transverse segments to each other to generate a crossroads surface.

[0096] like Figure 2 As shown, the first transverse segments H1, H2, H3, and H4 are connected end to end by Bézier curves B1, B2, B3, and B4 to generate a crossroads surface. The control point of each Bézier curve is the intersection of the extension lines of the boundary lines of the two lane groups where the two endpoints of the Bézier curve are located. The control point of Bézier curve B1 is Q1, the control point of Bézier curve B2 is Q2, the control point of Bézier curve B3 is Q3, and the control point of Bézier curve B4 is Q4.

[0097] As an optional implementation, the road surface generation module 1303 generates a first cross-sectional segment perpendicular to each first auxiliary line at one end of each first auxiliary line near the intersection surface, including:

[0098] Adjust the direction of each first auxiliary line to point towards the intersection.

[0099] like Figure 7As shown, in order to facilitate the next step of calculating the angle of each first auxiliary line, the first auxiliary lines need to be adjusted to the same direction. In this embodiment, the direction of the first auxiliary lines F2, F4, F6, and F8 is adjusted from the position away from the intersection to the position pointing towards the intersection. In this way, all the first auxiliary lines point towards the intersection.

[0100] Calculate the angle of each first auxiliary line; determine the relative position between each first auxiliary line based on the angle of each first auxiliary line.

[0101] like Figure 8 As shown, if the intersection area is considered as a circle, and the position of the first auxiliary line F1 is taken as 0 degrees, the angle of each lane group can be determined sequentially in either a counter-clockwise or clockwise direction. This allows us to determine the relative position of each lane group, facilitating grouping. For example... Figure 9 As shown, these first auxiliary lines are grouped by angle. Those with an angle difference within 20 degrees are grouped together: F1 and F2 form the first group, F3 and F4 the second group, F5 and F6 the third group, and F7 and F8 the fourth group. Figure 10 As shown, the first auxiliary line of each group is sorted within the group.

[0102] Based on the relative positions of each first auxiliary line, a first transverse line segment perpendicular to each first auxiliary line is generated at the end of each first auxiliary line that is close to the intersection face.

[0103] like Figure 11 As shown, after sorting each first auxiliary line by angle, the corresponding first transverse line segment is generated based on each group of first auxiliary lines. For example, the first transverse line segment corresponding to F1 and F2 is H1, the first transverse line segment corresponding to F3 and F4 is H2, the first transverse line segment corresponding to F5 and F6 is H3, and the first transverse line segment corresponding to F7 and F8 is H4. Figure 12 As shown, the first transverse segments H1, H2, H3, and H4 are finally connected to form a crossroads surface.

[0104] As an optional implementation, in response to the road surface type being the road mid-section surface, the road surface generation module 1303 includes the following road surface generation strategy:

[0105] For each lane in each selected lane group, determine two second auxiliary lines that coincide with the two boundary lines of the corresponding lane; wherein, the second auxiliary lines coincide with the two boundary lines of the selected lane group.

[0106] Generate two second transverse line segments perpendicular to each of the second auxiliary lines;

[0107] The rectangular closed surface formed by connecting the two second auxiliary lines and the two second transverse line segments is used as the middle section surface of the road.

[0108] like Figure 3 As shown, the boundary lines of the lane group can be used as the second auxiliary lines F9 and F10. After generating the second auxiliary lines, the second cross-section segments H9 and H10 are generated based on the second auxiliary lines to construct a rectangular closed surface S1.

[0109] As an optional implementation, the road surface generation module 1303, in response to the road surface type being the T-junction surface, includes the following road surface generation strategy:

[0110] For discontinuous lanes in the selected lane group, generate a third transverse segment perpendicular to the boundary line of the discontinuous lane at the end of the discontinuous lane closest to the continuous lane.

[0111] For consecutive lanes in the selected lane group, generate two fourth tangent segments perpendicular to the boundary lines of the consecutive lanes.

[0112] Connect the third and fourth cross-sections to form a T-shaped intersection.

[0113] Figure 4 As shown, the selected lane group contains both discontinuous and continuous lanes. Lane group L6 is a discontinuous lane, with one end merging into lane group L7, which is a continuous lane. The selected area does not contain the endpoint of lane group L7. In this embodiment, a third transverse segment H5 perpendicular to the boundary line of lane group L6 is generated on lane group L6, and fourth transverse segments H6 and H7 perpendicular to the boundary line of lane group L7 are generated on lane group L7.

[0114] As an optional implementation method, such as Figure 4 As shown, the road surface generation module 1303 connects the third and fourth cross-section segments to form a T-shaped intersection surface, including:

[0115] Connect the third and fourth transverse segments using a Bézier curve.

[0116] Identify the connecting line segment that coincides with the boundary line of the continuous lane at the end furthest from the non-continuous lane, and connect the connecting line segment to the fourth tangential line segment.

[0117] The third cross-section, the fourth cross-section, and the connecting section together constitute the T-shaped intersection surface.

[0118] Specifically, such as Figure 4 As shown, this embodiment includes a third transverse segment H5 and fourth transverse segments H6 and H7. The third transverse segment H5 and the fourth transverse segment H6 and H7 are connected by Bézier curves B5 and B6. Then, the fourth transverse segment H6 and H7 are connected by connecting line segment H8 (the boundary line of the end of lane group L7 away from lane group L6) to form a T-shaped intersection.

[0119] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0120] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0121] Figure 14 A schematic block diagram of an example electronic device 1400 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0122] like Figure 14 As shown, device 1400 includes a computing unit 1401, which can perform various appropriate actions and processes according to a computer program stored in read-only memory (ROM) 1402 or a computer program loaded into random access memory (RAM) 1403 from storage unit 1408. The RAM 1403 may also store various programs and data required for the operation of device 1400. The computing unit 1401, ROM 1402, and RAM 1403 are interconnected via bus 1404. Input / output (I / O) interface 1405 is also connected to bus 1404.

[0123] Multiple components in device 1400 are connected to I / O interface 1405, including: input unit 1406, such as a keyboard, mouse, etc.; output unit 1407, such as various types of displays, speakers, etc.; storage unit 1408, such as a disk, optical disk, etc.; and communication unit 1409, such as a network card, modem, wireless transceiver, etc. Communication unit 1409 allows device 1400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0124] The computing unit 1401 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning objective function algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1401 performs the various methods and processes described above, such as the automatic road surface generation method. For example, in some embodiments, the automatic road surface generation method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 1408. In some embodiments, part or all of the computer program may be loaded and / or installed on device 1400 via ROM 1402 and / or communication unit 1409. When the computer program is loaded into RAM 1403 and executed by the computing unit 1401, one or more steps of the automatic road surface generation method described above may be performed. Alternatively, in other embodiments, the computing unit 1401 may be configured to perform the automatic road surface generation method by any other suitable means (e.g., by means of firmware).

[0125] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0126] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0127] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0128] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0129] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0130] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0131] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this disclosure can be achieved, and this is not limited herein.

[0132] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for automatically generating road surfaces, comprising: Based on the lane information of the selected lane group, determine the lane type corresponding to the selected lane group; The generated road surface type is determined based on the lane type, which includes discontinuous lanes and continuous lanes; Execute the corresponding road surface generation strategy according to the road surface type to generate the road surface corresponding to the selected lane group; The step of determining the generated road surface type based on the lane type includes: If all lanes in the selected lane group are non-continuous lanes, the road surface type is determined to be an intersection surface. If all lanes in the selected lane group are continuous lanes, the road surface type is determined to be a road mid-section surface. If the selected lane group includes both the non-continuous lane and the continuous lane, the road surface type is determined to be a T-junction surface. The step of generating the road surface corresponding to the selected lane group by executing the corresponding road surface generation strategy according to the road surface type includes: In response to the road surface type being the T-junction surface, the road surface generation strategy includes: For the non-continuous lanes in the selected lane group, a third transverse segment perpendicular to the boundary line of the non-continuous lane is generated at the end of the non-continuous lane closest to the continuous lane. For the consecutive lanes in the selected lane group, generate two fourth transverse segments perpendicular to the boundary lines of the consecutive lanes; The third and fourth cross-sections are connected to form the T-shaped intersection surface.

2. The method according to claim 1, wherein, The step of executing the corresponding road surface generation strategy according to the road surface type to generate the road surface corresponding to the selected lane group includes: In response to the road surface type being the intersection surface, the road surface generation strategy includes: For each selected lane group, a first auxiliary line is determined that coincides with any lane boundary line or lane auxiliary line in the corresponding selected lane group; wherein, the first auxiliary line is parallel to the driving direction of the selected lane group; Determine the location of the intersection face corresponding to the crossroads face; At one end of each first auxiliary line near the intersection face, a first transverse line segment perpendicular to each first auxiliary line is generated; Connect each of the first transverse segments to generate the crossroads surface.

3. The method according to claim 2, wherein, Determining the location of the intersection face corresponding to the intersection face includes: Calculate the intersection point of the road centerlines of each selected lane group, and determine the intersection position based on the intersection point.

4. The method according to claim 2, wherein, The step of generating a first cross-sectional segment perpendicular to each of the first auxiliary lines at one end near the intersection surface includes: Adjust the direction of each of the first auxiliary lines to point towards the intersection face; Calculate the angle of each of the first auxiliary lines; The relative positions between the first auxiliary lines are determined based on the angles of each first auxiliary line; Based on the relative positions of each of the first auxiliary lines, a first cross-section segment perpendicular to each of the first auxiliary lines is generated at the end of each first auxiliary line near the intersection surface.

5. The method according to claim 2, wherein, Connecting each of the first transverse segments to generate the crossroads surface includes: The intersection surface is generated by connecting the first transverse segments end to end using a Bézier curve; wherein, the control point of the Bézier curve is the intersection of the extension lines of the boundary lines of the two lane groups where the two endpoints of the Bézier curve are located.

6. The method according to claim 1, wherein, The step of executing the corresponding road surface generation strategy according to the road surface type to generate the road surface corresponding to the selected lane group includes: In response to the road surface type being the road mid-section surface, the road surface generation strategy includes: For each lane in each selected lane group, determine two second auxiliary lines that coincide with the two boundary lines of the corresponding lane. Generate two second transverse line segments perpendicular to each of the second auxiliary lines; The rectangular closed surface formed by connecting the two second auxiliary lines and the two second cross-sectional line segments is used as the middle section surface of the road.

7. The method according to claim 1, wherein, Connecting the third and fourth transverse segments to form the T-shaped intersection surface includes: The third cross-section segment is connected to the fourth cross-section segment by a Bézier curve; Determine a connecting line segment that coincides with the boundary line of the continuous lane at the end furthest from the non-continuous lane, and connect the connecting line segment to the fourth transverse line segment respectively; The third cross-section, the fourth cross-section, and the connecting segment together constitute the T-shaped intersection surface.

8. The method according to any one of claims 1-7, wherein, The lane information includes at least one of the following: lane auxiliary lines; lane boundary lines; lane direction.

9. An automatic road surface generation device, comprising: The first determining module is configured to determine the lane type corresponding to the selected lane group based on the lane information of the selected lane group; The second determining module is configured to determine the generated road surface type based on the lane type, wherein the lane type includes discontinuous lanes and continuous lanes; wherein, the second determining module determines the generated road surface type based on the lane type as follows: if all lanes in the selected lane group are discontinuous lanes, the road surface type is determined to be a crossroad surface; if all lanes in the selected lane group are continuous lanes, the road surface type is determined to be a road mid-section surface; if the selected lane group includes both discontinuous lanes and continuous lanes, the road surface type is determined to be a T-junction surface; The road surface generation module is configured to execute a corresponding road surface generation strategy based on the road surface type to generate the road surface corresponding to the selected lane group. The road surface generation module's execution of the corresponding road surface generation strategy based on the road surface type to generate the road surface corresponding to the selected lane group includes: in response to the road surface type being the T-junction surface, the road surface generation strategy includes: for the non-continuous lanes in the selected lane group, generating a third transverse segment perpendicular to the boundary line of the non-continuous lane at the end of the non-continuous lane closest to the continuous lane; for the continuous lanes in the selected lane group, generating two fourth transverse segments perpendicular to the boundary line of the continuous lane; and connecting the third transverse segment and the fourth transverse segment to form the T-junction surface.

10. The apparatus according to claim 9, wherein, The road surface generation module executes a corresponding road surface generation strategy based on the road surface type to generate the road surface corresponding to the selected lane group, including: In response to the road surface type being the intersection surface, the road surface generation strategy includes: For each selected lane group, a first auxiliary line is determined that coincides with any lane boundary line or lane auxiliary line in the corresponding selected lane group; wherein, the first auxiliary line is parallel to the driving direction of the selected lane group; Determine the location of the intersection face corresponding to the crossroads face; At one end of each first auxiliary line near the intersection face, a first transverse line segment perpendicular to each first auxiliary line is generated; Connect each of the first transverse segments to generate the crossroads surface.

11. The apparatus according to claim 10, wherein, The road surface generation module determines the location of the intersection surface corresponding to the intersection surface by including: Calculate the intersection point of the road centerlines of each selected lane group, and determine the intersection position based on the intersection point.

12. The apparatus according to claim 10, wherein, The road surface generation module generates a first cross-sectional segment perpendicular to each of the first auxiliary lines at one end of each first auxiliary line near the intersection surface, including: Adjust the direction of each of the first auxiliary lines to point towards the intersection face; Calculate the angle of each of the first auxiliary lines; The relative positions between the first auxiliary lines are determined based on the angles of each first auxiliary line; Based on the relative positions of each of the first auxiliary lines, a first cross-section segment perpendicular to each of the first auxiliary lines is generated at the end of each first auxiliary line near the intersection surface.

13. The apparatus according to claim 10, wherein, The road surface generation module connects each of the first transverse line segments to generate the intersection surface, including: The intersection surface is generated by connecting the first transverse segments end to end using a Bézier curve; wherein, the control point of the Bézier curve is the intersection of the extension lines of the boundary lines of the two lane groups where the two endpoints of the Bézier curve are located.

14. The apparatus according to claim 9, wherein, The road surface generation module executes a corresponding road surface generation strategy based on the road surface type to generate the road surface corresponding to the selected lane group, including: In response to the road surface type being the road mid-section surface, the road surface generation strategy includes: For each lane in each selected lane group, determine two second auxiliary lines that coincide with the two boundary lines of the corresponding lane. Generate two second transverse line segments perpendicular to each of the second auxiliary lines; The rectangular closed surface formed by connecting the two second auxiliary lines and the two second cross-sectional line segments is used as the middle section surface of the road.

15. The apparatus according to claim 9, wherein, The road surface generation module connects the third cross-section segment and the fourth cross-section segment to form the T-shaped intersection surface, including: The third cross-section segment is connected to the fourth cross-section segment by a Bézier curve; Determine a connecting line segment that coincides with the boundary line of the continuous lane at the end furthest from the non-continuous lane, and connect the connecting line segment to the fourth transverse line segment respectively; The third cross-section, the fourth cross-section, and the connecting segment together constitute the T-shaped intersection surface.

16. The apparatus according to any one of claims 9-15, wherein, The lane information includes at least one of the following: lane auxiliary lines; lane boundary lines; lane direction.

17. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

18. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-9.

19. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-9.

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