Method, device, vehicle and storage medium for determining intersection guide lines

Abstract

The application provides a method and device for determining a guide line at an intersection, a vehicle and a storage medium. The method comprises: when the vehicle is at the intersection, obtaining pose information of the vehicle, and determining a first sample point set based on the pose information of the vehicle, wherein the sample points in the first sample point set are located on a center axis of the vehicle; determining a target lane corresponding to the intersection of the vehicle, and determining a second sample point set according to the target lane, wherein the sample points in the second sample point set are located on a center line of the target lane; determining a reference guide line according to the first sample point set and the second sample point set; determining obstacle information of the intersection, and determining a target guide line according to the obstacle information and the reference guide line. The application can determine a guide line of the vehicle at the intersection without relying on a high-precision map, thereby reducing the cost and improving the efficiency of the vehicle passing through the intersection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle tracking, and more particularly to a method and device for determining intersection guide lines, a vehicle, and a storage medium. BACKGROUND

[0002] With the rapid development of technology, the automatic driving industry has also developed rapidly. Due to the support of high-precision maps providing map data, vehicles can also pass through intersections normally under the automatic driving function in the face of complex road structures, especially in intersection scenarios without road lane lines. However, high-precision maps have the disadvantages of high acquisition cost and high maintenance cost in the later period, and the driving behavior of users driving cars does not rely on high-precision maps. Therefore, how to determine intersection guide lines without relying on high-precision maps so that vehicles can pass through intersections smoothly and safely has become a problem to be solved. SUMMARY

[0003] In view of the above problems, the embodiments of the present application provide a method and device for determining intersection guide lines, a vehicle, and a storage medium.

[0004] According to a first aspect of the embodiments of the present application, a method for determining intersection guide lines is provided. The method comprises: when a vehicle is located at an intersection, obtaining pose information of the vehicle, and determining a first sample point set based on the pose information of the vehicle, wherein the sample points in the first sample point set are located on a center axis of the vehicle; determining a target lane corresponding to the intersection for the vehicle, and determining a second sample point set according to the target lane, wherein the sample points in the second sample point set are located on a center line of the target lane; determining a reference guide line according to the first sample point set and the second sample point set; determining obstacle information of the intersection, and determining a target guide line according to the obstacle information and the reference guide line.

[0005] According to a second aspect of the embodiments of the present application, a device for determining intersection guide lines is provided. The device comprises: a first sample point set determination module configured to, when a vehicle is located at an intersection, obtain pose information of the vehicle, and determine a first sample point set based on the pose information of the vehicle, wherein the sample points in the first sample point set are located on a center axis of the vehicle; a second sample point set determination module configured to determine a target lane corresponding to the intersection for the vehicle, and determine a second sample point set according to the target lane, wherein the sample points in the second sample point set are located on a center line of the target lane; a reference guide line determination module configured to determine a reference guide line according to the first sample point set and the second sample point set; and a target guide line determination module configured to determine obstacle information of the intersection, and determine a target guide line according to the obstacle information and the reference guide line.

[0006] According to a third aspect of an embodiment of the present application, a vehicle is provided, comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for determining an intersection guide line as described above is implemented.

[0007] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the method for determining an intersection guide line as described above is implemented.

[0008] In the solution of this application, when a vehicle is at an intersection, a first set of sample points is determined based on the vehicle's position information, and a second set of sample points is determined based on the target lane corresponding to the vehicle at the intersection. This allows a reference guide line to be determined based on the first and second sample point sets. Furthermore, a target guide line can be determined based on the obstacle information at the intersection and the reference guide line, allowing the vehicle to pass through Lulou smoothly and safely along the target guide line. This application can determine the vehicle's guide line at an intersection without relying on high-precision maps, reduce the cost of determining the intersection guide line, and improve the efficiency of vehicles passing through the intersection.

[0009] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0011] Figure 1 It is a schematic diagram of an application scenario according to an embodiment of the present application.

[0012] Figure 2 3 is a flow chart of a method for determining a guide line at an intersection according to an embodiment of the present application.

[0013] Figure 3 It is a flowchart illustrating specific steps of step 210 according to an embodiment of the present application.

[0014] Figure 4 It is a flowchart illustrating the specific steps of step 220 according to an embodiment of the present application.

[0015] Figure 5It is a flowchart illustrating the specific steps of step 220 according to another embodiment of the present application.

[0016] Figure 6 The effect of different vehicle speeds on the curvature of intersection guide lines is shown according to an embodiment of the present application.

[0017] Figure 7 It is a flowchart of a method for determining an intersection guide line according to another embodiment of the present application.

[0018] Figure 8 It is a flowchart illustrating the specific steps of step 340 according to an embodiment of the present application.

[0019] Figure 9 This is another embodiment of the present application showing the influence of obstacles on the determination of intersection guide lines.

[0020] Figure 10 4 is a block diagram of a device for determining an intersection guide line according to an embodiment of the present application.

[0021] Figure 11 It is a hardware structure diagram of a vehicle according to an embodiment of the present application.

[0022] The above-mentioned drawings have shown clear embodiments of the present invention, which will be described in more detail later. These drawings and textual descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention to computer technicians in this field through specific embodiments. DETAILED DESCRIPTION

[0023] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0024] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0026] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be executed in the order described. For example, some operations / steps may be further decomposed, while others may be combined or partially combined, so the actual execution order may vary depending on the actual situation.

[0027] Figure 1 This is an application scenario shown in an embodiment of the present application. In this application scenario, a vehicle 600 is located at an intersection 110. The central axis 120 of the vehicle and the sample points on the central axis 120 are determined based on the posture information of the vehicle 600. A first sample point set is determined based on the sample points on the central axis 120. Then, a median 131 of the target lane 130 is determined based on the target lane 130. The sampling points on the median 131 are located thereon, and a second sample point set is determined based on the sample points on the median 131. Then, a reference guide line 140 can be determined based on the first sample point set and the second sample point set.

[0028] Optionally, in order to enable the vehicle 600 to pass through the intersection 110 smoothly and safely according to the determined guide line and enter the target lane 130, obstacle information at the intersection 110 can be determined, and then the target guide line can be determined based on the obstacle information and the reference guide line 130.

[0029] See also Figure 2 , Figure 2 The method for determining a guide line at an intersection provided by an embodiment of the present application is shown. In a specific embodiment, the method for determining a guide line at an intersection can be applied to the following examples: Figure 10 The intersection guide line determination device 500 and the vehicle 600 equipped with the intersection guide line determination device 500 are shown. Figure 11). The specific process of this embodiment will be described below. Of course, it is understandable that the method can be executed by an electronic device with computing and processing capabilities, such as a server, a cloud server, etc., which is not specifically limited here. Figure 2 The process shown in FIG. 1 is described in detail. The method for determining the intersection guide line may specifically include the following steps:

[0030] Step 210 : When a vehicle is located at an intersection, obtain the position information of the vehicle, and determine a first sample point set based on the position information of the vehicle, where the sample points in the first sample point set are located on the central axis of the vehicle.

[0031] When a vehicle is at an intersection, it is relatively difficult for the vehicle to pass through the intersection because there are usually no road markings in the intersection. In addition, there are usually no road markings in the intersection. Map data is obtained from the high-precision map to generate a high-precision guide line. Then, when the vehicle turns on the automatic driving or assisted driving function, it can drive according to the guide line obtained in the high-precision map to pass the intersection. However, high-precision maps have disadvantages such as high collection cost and high subsequent maintenance cost, and users do not rely on high-precision maps when driving the vehicle. Therefore, in order to improve the smooth and safe driving of the vehicle in the intersection scenario, the sampling point set is determined by sampling the vehicle's position, so as to facilitate the subsequent determination of the vehicle's guide line at the intersection.

[0032] As a method, the vehicle's position information can be determined by the Global Positioning System (GPS) and Inertial Measurement Unit (IMU) in the vehicle, wherein the vehicle's current position information (such as coordinate information) can be determined based on the GPS, and then the vehicle's three-axis attitude angle can be determined by the IMU, and then the vehicle's attitude in the world coordinate system can be determined based on the vehicle's coordinate information and the three-axis attitude angle, thereby obtaining the vehicle's position information.

[0033] As one approach, after determining the vehicle's positional information, a first sampling point can be determined based on the vehicle's positional information. This first sampling point can be a coordinate point at the front or rear of the vehicle. The location of the first sampling point can be determined based on actual needs and is not limited here. After determining the first sampling point, other sampling points are then determined along the vehicle's rearward direction to determine the first set of sampling points. Optionally, each sampling point in the first set of sampling points can be sampled on the vehicle's central axis or based on the left or right side of the vehicle.

[0034] In some embodiments, as Figure 3 As shown, the step 210 comprises:

[0035] Step 211, determining the center axis of the vehicle based on the pose information of the vehicle.

[0036] As a way, after determining the pose information of the traffic flow, a point on the center axis of the vehicle can be determined according to the coordinates of the front wheel or the rear wheel of the vehicle in the world coordinate system and the attitude of the vehicle in the world coordinate system, and the center axis of the vehicle is determined based on the point and the attitude of the vehicle in the world coordinate system.

[0037] As another way, the lane center line of the current lane at the current position of the vehicle can also be determined according to the pose information of the vehicle, and then the sampling is performed based on the lane center line. Optionally, the sampling points can also be on the route determined by the automatic driving function or the auxiliary driving function of the vehicle.

[0038] Step 212, sampling along the rear of the vehicle on the center axis to determine the first sample point coordinates.

[0039] As a way, since the vehicle is currently located at an intersection, i.e., there is no lane line or other identifier in front of the vehicle, in order to make the determined guide line more accurate, it is necessary to sample along the rear of the vehicle on the center axis of the vehicle to ensure the accuracy of the sampling points, and thus the accuracy of the determined guide line. Optionally, the rear sampling can also be performed along the longitudinal direction of the vehicle.

[0040] Optionally, in order to facilitate sampling, a sampling point can be first determined on the center axis as the first sample point, and the coordinates of the first sampling point are determined to obtain the first sample point coordinates. Then the first sample point coordinates are used as reference points to determine the next sampling point.

[0041] Step 213, determining a first preset number of sample point coordinates according to a preset route point interval and the first sample point coordinates, and obtaining the first sample point set based on the first preset number of sample point coordinates, wherein the first preset number of sample point coordinates includes the first sample point coordinates.

[0042] As one approach, the intervals between sampling points can be pre-set, and the sampling points can be determined based on these intervals. Optionally, to make the determined guideline more accurate, the number of sample points in the first sample point set can be pre-set, thereby determining the sample points corresponding to the first preset number. Optionally, after determining the coordinates of the first sample point, the distances are superimposed based on the preset waypoint interval to determine the coordinates of the other sampling points and other sampling points. For example, if the first preset waypoint interval is 0.5m, after determining the coordinates of the first sampling point, the vertical coordinates of the other sampling points are superimposed by 0.5, 1, 1.5, etc., respectively, and the horizontal coordinates of the other sampling points are the same as the horizontal coordinate of the first sampling point, thereby determining the coordinates of the first preset number of sample points, and thus obtaining the first sample point set. The preset waypoint interval and the first preset number can be set according to actual needs and are not specifically limited here.

[0043] As another method, a distance threshold may be set, and the difference between the vertical coordinates of the sample points in the first sample point set shall not be less than the distance threshold, so that random sampling is performed on the central axis of the vehicle to determine the first sample point set.

[0044] Please continue reading Figure 2 In step 220, a target lane corresponding to the vehicle at the intersection is determined, and a second sample point set is determined based on the target lane, where the sample points in the second sample point set are located on the median line of the target lane.

[0045] As a way to ensure the accuracy of the determined guide line, it is necessary to determine the lane that the vehicle should enter, that is, the target lane, and then determine a second sample point set in the target lane, so as to ensure the accuracy of the guide line.

[0046] Optionally, the vehicle's image acquisition device can be used to collect information about the vehicle's surrounding environment at the intersection, and then the determined lane lines and the lanes corresponding to the lane lines can be identified based on the collected information, and then the target lane can be determined based on the vehicle's navigation information, so that a second sample point set can be determined in the target lane.

[0047] Optionally, in order to ensure that the vehicle can pass through the intersection smoothly and safely based on the guide line and drive safely in the target lane, it is necessary to determine the center line of the target lane in the target lane, and then, a second sample point set can be determined on the center line of the target lane.

[0048] In some embodiments, as Figure 4 As shown, step 220 includes:

[0049] Step 221 , obtaining each exit of the intersection where the vehicle is located, and determining the road surface characteristics of each exit.

[0050] As a manner, there are multiple exits at the intersection, for example, there are 3 exits at the crossroads, in order to make the vehicle enter the target lane, it is necessary to determine the target exit first. Optionally, the surrounding environment information of the intersection where the vehicle is located can be collected by the image collection device of the vehicle (such as a driving recorder or a camera), and then identification and clustering analysis are performed to determine the exits corresponding to the intersection, and the road surface features corresponding to the intersection are determined. Optionally, the road surface features of each intersection at least include the lane line of each exit, the red traffic light, the road sign and the like.

[0051] Step 222, obtaining the navigation route of the vehicle, and determining the target exit from the exits according to the navigation route.

[0052] As a manner, in order to determine the guide line of the vehicle, it is necessary to determine the target exit of the vehicle, so that the vehicle can smoothly reach the destination. Optionally, the navigation route can be at least one route planned by the navigation module of the vehicle based on the destination and the position of the vehicle when the destination is input by the user, wherein the navigation route can be a route selected by the user based on the planned route.

[0053] As another manner, the navigation route can also be a route selected by the user after inputting the destination in the navigation client of the electronic device in communication connection with the vehicle. Optionally, after the user selects the route, the electronic device sends the route information to the vehicle through the communication connection, and the vehicle determines the navigation route according to the received route. The electronic device in communication connection with the vehicle can be a smart phone, a tablet computer, a smart wearable device and the like; the communication connection can be a wireless network connection, a Bluetooth connection, a Zigbee network connection, a limited connection and the like, which is not limited here.

[0054] As a manner, after the navigation route is obtained, the target exit can be determined among the multiple exits at the intersection according to the navigation route, so as to facilitate the determination of the target lane. Optionally, the navigation route can indicate the driving direction of the vehicle. For example, the navigation route indicates any one of the driving directions of the vehicle at the crossroads, such as straight driving, left turning, right turning and U-turn, and then the target exit can be determined based on the driving direction.

[0055] Step 223, determining the target lane according to the road surface features corresponding to the target exit, and determining the second sample point set according to the target lane.

[0056] As one approach, after determining the target exit, since there is at least one lane corresponding to the target exit, in order for the vehicle to pass through the intersection smoothly and travel according to the navigation route, it is necessary to determine the lane that the vehicle should enter at the exit, i.e., the target lane. Optionally, after determining the target exit, the lane lines of the exit can be determined based on the road surface characteristics of the target exit, and then the lanes of the target exit can be determined based on the lane lines, and finally the target lane can be determined based on the navigation route. The navigation route can indicate the target lane of the vehicle at the target exit. For example, the navigation route indicates that the vehicle should go straight at the intersection and then enter the right lane, where the right lane is the target lane.

[0057] In other embodiments, Figure 5 As shown, the step 220 further includes:

[0058] Step 224 , obtaining the current speed of the vehicle and determining the center line of the target lane.

[0059] As a way, the distance of the sampling location of each sample point in the second set of sample points can directly determine the steepness of the curvature of the generated guide line, thereby further affecting the comfort of the vehicle at the intersection and even the driving safety. Therefore, the curvature of the determined guide line must match the current speed of the vehicle. For example, when the current speed of the vehicle is fast, the curvature of the corresponding determined guide line should be smaller, so as to ensure the driving comfort and driving safety of the vehicle. Figure 6 As shown, 610 is the guide line determined when the current vehicle speed is V1, and 620 is the guide line determined when the current vehicle speed is V2, where V1 < V2, the distance between each sample point in the second sample point set in 620 should be greater than the distance between each sample point in the second sample point set in 610, and the curvature of the guide line in 620 is less than the curvature of the guide line in 610. Optionally, the current vehicle speed can be directly obtained by the vehicle control module or the vehicle's automatic driving module.

[0060] As one approach, after determining the target lane, the lane lines of the target lane can be randomly sampled to determine multiple waypoint coordinates corresponding to the lane lines of the target lane. The median of the target lane can then be calculated based on the multiple waypoint coordinates corresponding to the lane lines of the target lane. Alternatively, multiple waypoint coordinates can be determined for lane lines on one side of the target lane, or for lane lines on both sides of the target lane. If multiple waypoint coordinates are determined for lane lines on both sides of the target lane, then each lane line has its own corresponding waypoint coordinate set, and the waypoints in the corresponding waypoint coordinate sets for each lane line can be sampled one-to-one or in other ways.

[0061] Please continue reading Figure 5, step 225, determining a distance threshold of each sample point in the second sample point set on the median line of the target lane according to the current vehicle speed, and determining the coordinates of the second sample point on the median line of the target lane.

[0062] As a method, in order to ensure that the determined guide line can ensure the vehicle's driving comfort and safety, it can be selected based on the vehicle's current speed on the median line of the target lane. Optionally, the distance threshold between the longitudinal distances of each sample point in the second sample point set can be determined based on the vehicle's current speed. In order to match the curvature of the determined guide line with the vehicle's current speed, the formula S = V*η can be used, where S is the distance threshold, V is the current speed, and η is an adjustable coefficient. Optionally, η is a coefficient determined by testing the vehicle before it leaves the factory, and the user can also adjust this coefficient to improve the user experience.

[0063] Optionally, to facilitate sampling, a sampling point may be first determined on the median line of the target lane as the second sampling point, and the coordinates of the second sampling point may be determined to obtain the second sampling point coordinates. The second sampling point coordinates may then be used as a reference point to determine the next sampling point, thereby confirming the second sampling point set.

[0064] Step 226: Sampling is performed on the median line of the target lane along the driving direction of the vehicle according to the distance threshold to determine a second preset number of sample point coordinates, and a second sample point set is obtained based on the second preset number of sample point coordinates, wherein the second preset number of sample point coordinates includes the second sample point coordinates, and the distance between each sample point in the second sample point set is not less than the distance threshold.

[0065] As a method to more accurately determine the guide line, the number of sample points in the second sample point set can be pre-set to determine the corresponding second preset number of sample points. Optionally, after determining the coordinates of the second sample point, the coordinates of other sample points and other sample points are determined based on a distance threshold. Optionally, in the second sample point set, the horizontal coordinates of the other sample points are the same as the horizontal coordinate of the second sample point. The second preset number can be the same as or different from the first preset number and can be set according to actual needs and is not specifically limited here.

[0066] Please continue reading Figure 2 , step 230, determining a reference guide line according to the first sample point set and the second sample point set.

[0067] As one approach, the first sample point combination and the second sample point set can be integrated into a set of sample points. Then, using cubic spline interpolation, a guideline can be planned within the intersection. Optionally, the guideline's initial trend follows the vehicle's current direction of travel, passes through the sample points in the first sample point combination, and merges into the target lane with an appropriate route curvature. Following this guideline, the vehicle can pass through the intersection and enter the target lane.

[0068] In some embodiments, step 230 includes: determining target point coordinates based on the first sample point set and the second sample point set; performing trajectory planning based on the target point coordinates and a cubic spline curve interpolation method to determine the reference guide line.

[0069] As a method to ensure the accuracy of the determined guide lines, each sample point in the first sample point set and the second sample point set can be screened, and sample points that do not meet the sample point selection rules can be filtered out to determine the target point and target point coordinates. The sample point selection rules for the first sample point set can be: each sample point is located on the vehicle's centerline, and the longitudinal distance interval between each sample point must not be less than a preset waypoint interval; the sample point selection rules for the second sample point set can be: each sample point is located on the centerline of the target lane, and the longitudinal distance difference between each sample point must not be less than a distance threshold.

[0070] As a method, after determining the coordinates of the target points, the cubic spline curve interpolation method is used to first calculate the distance between the target points, and then the distance between the target points and the coordinates of the target points are substituted into the cubic function, and the cubic function is differentiated to determine the first-order derivative and the second-order derivative of the cubic function, wherein the first-order derivative of the first sample point coordinate substituted into the cubic function and the first-order derivative of the second sample point coordinate substituted into the cubic function are equal, and the second-order derivative of the first sample point coordinate substituted into the cubic function and the second-order derivative of the second sample point coordinate substituted into the cubic function are equal and zero, thereby determining the reference guide line.

[0071] Step 240: Determine obstacle information at the intersection, and determine a target guide line based on the obstacle information and the reference guide line.

[0072] As a method, after determining the reference guideline, it is necessary to check whether the reference guideline will collide with any obstacles that may exist at the intersection to determine the target guideline. Optionally, the target guideline can be determined by first determining whether there are any obstacles at the intersection. If there are no obstacles, the reference guideline can be used as the target guideline. If there are obstacles, the target guideline needs to be re-determined based on the obstacle information and the reference guideline. Optionally, the obstacle information can be image information captured by the vehicle's image acquisition device, or it can be obstacle location information detected by the vehicle's radar.

[0073] Optionally, the target guideline can be determined by determining whether the vehicle will collide with obstacles at the intersection if traveling along the reference guideline. If the reference guideline is likely to collide with an obstacle, obstacle information at the intersection is determined and used as a constraint to redefine the target guideline. If the reference guideline is unlikely to collide with an obstacle, the reference guideline is used as the target guideline, allowing the vehicle to smoothly and safely pass through the intersection according to the target guideline.

[0074] In an embodiment of the present application, when a vehicle is at an intersection, a first set of sample points is determined based on the vehicle's position information, and a second set of sample points is determined for the target lane corresponding to the vehicle at the intersection. This allows a reference guide line to be determined based on the first and second sample point sets. Furthermore, a target guide line can be determined based on the obstacle information at the intersection and the reference guide line, allowing the vehicle to smoothly and safely pass through Lulou along the target guide line. The present application can determine the vehicle's guide line at an intersection without relying on high-precision maps, reduce the cost of determining the intersection guide line, and improve the efficiency of vehicles passing through the intersection.

[0075] See also Figure 7 , Figure 7 The following is a method for determining the intersection guide line provided by an embodiment of the present application. Figure 7 The process shown in FIG. 1 is described in detail. The method for determining the intersection guide line may specifically include the following steps:

[0076] Step 310 : When a vehicle is located at an intersection, obtain the position information of the vehicle, and determine a first sample point set based on the position information of the vehicle, where the sample points in the first sample point set are located on the central axis of the vehicle.

[0077] Step 320 : Determine a target lane corresponding to the vehicle at the intersection, and determine a second sample point set based on the target lane, where the sample points in the second sample point set are located on the median line of the target lane.

[0078] At step 330, a reference guide line is determined according to the first set of sample points and the second set of sample points.

[0079] The detailed steps of steps 310-330 can refer to steps 210-230, which are not repeated here.

[0080] At step 340, if it is determined that there is an obstacle at the intersection based on the obstacle information, the target guide line is determined based on the obstacle and the reference guide line.

[0081] As one way, when it is determined that there is an obstacle at the intersection, the vehicle driving according to the reference guide line can collide with the obstacle, so collision detection is needed. When the vehicle driving according to the reference guide line will not collide with the obstacle, the reference guide line is taken as the target guide line. When the vehicle driving according to the reference guide line will collide with the obstacle, the target guide line needs to be determined again based on the obstacle information and the reference guide line. Optionally, the obstacle can be a static obstacle or a road shoulder.

[0082] In some embodiments, as shown in FIG. 3B, the step 340 includes: Figure 8

[0083] At step 341, if it is determined that there is an obstacle at the intersection based on the obstacle information, the position information of the obstacle and the feature information of the obstacle are obtained.

[0084] As one way, after it is determined that there is an obstacle at the intersection, the image acquisition device of the vehicle and the radar detection device of the vehicle are controlled to obtain the feature information of the vehicle and the position information of the vehicle, respectively. Optionally, the feature information of the obstacle can be the shape information of the obstacle.

[0085] At step 342, whether the vehicle driving along the reference guide line will collide with the obstacle is determined according to the position information of the obstacle and the reference guide line.

[0086] As one way, the position information of the obstacle can be input into the equation corresponding to the reference guide line to determine whether the vehicle driving along the reference guide line will collide with the obstacle. Optionally, collision demonstration can also be performed in a two-dimensional map based on the position information of the obstacle and the reference guide line, so as to determine whether the vehicle driving along the reference guide line will collide with the reference guide line.

[0087] At step 343, if it is determined that the vehicle will collide, the coordinate information of the obstacle is determined according to the position information of the obstacle and the feature information of the obstacle, and the reference guide line is updated based on the coordinate information to determine the target guide line.

[0088] ​As a method, when it is determined that a vehicle will collide with an obstacle if traveling along a reference guideline, the reference guideline is updated using the obstacle's location information or characteristic information as a constraint, thereby replanning a new guideline and using this new guideline as the target guideline. Optionally, the characteristic information of the obstacle can include the obstacle's outer contour information or the obstacle's waypoint information (e.g., the location of a road shoulder's trend point).

[0089] In some embodiments, step 343 includes: if a collision with the vehicle occurs, determining the coordinate information of the obstacle based on the position information of the obstacle and the characteristic information of the obstacle; updating the reference guide line based on the coordinate information to determine the target guide line.

[0090] As a method, when it is determined that the vehicle will collide with an obstacle when traveling along the reference guide line, the outer contour coordinate information of the obstacle can be determined based on the position information and outer contour information of the obstacle. In this way, the outer contour coordinates of the obstacle can be used as a constraint condition for determining the target guide line, and the reference guide line can be updated to obtain the target guide line, so that the vehicle can avoid the obstacle and safely enter the target lane according to the determined target guide line. Figure 9 As shown, 710 is a schematic diagram of a vehicle traveling along a reference guideline. At this point, the vehicle may collide with an obstacle. 720 is a diagram of updating the reference guideline using the outer contour coordinates of the obstacle as constraints to obtain a target guideline. At this point, the vehicle traveling along the target guideline will avoid the obstacle and smoothly and safely enter the target lane.

[0091] Optionally, the reference guideline can be updated by using the outer contour coordinates of the obstacle close to the vehicle as a constraint. The reference guideline can be updated by using the outer contour coordinates of the obstacle close to the vehicle as one of the constraints for determining a cubic spline interpolation method, and re-determining the cubic function to determine the target guideline.

[0092] Please continue reading Figure 8 In step 350, if it is determined based on the obstacle information that there is no obstacle at the intersection, the reference guide line is determined as the target guide line.

[0093] As a way, when it is determined that there are no obstacles at the intersection, it can be determined that the vehicle can pass through the intersection smoothly and safely and enter the target lane by driving according to the reference guide line. The reference guide line can be used as the target guide line so that the vehicle can drive based on the target guide line.

[0094] In this embodiment, by determining the obstacles at the intersection where the vehicle is located and performing collision detection based on the obstacles, when the vehicle collides with the obstacle while traveling along the vehicle reference guide line, the reference guide line is updated based on the position information of the obstacle and the characteristic information of the obstacle to obtain the target guide line, making the target guide line more accurate, thereby ensuring the driving safety of the vehicle.

[0095] Figure 10 FIG. 1 is a block diagram of a device for determining an intersection guide line according to an embodiment of the present application. Figure 10 As shown, the intersection guide line determination 400 includes: a first sample point set determination module 410 , a second sample point set determination module 420 , a reference guide line determination module 430 and a target guide line determination module 440 .

[0096] A first sample point set determination module 410 is used to obtain the vehicle's posture information when the vehicle is located at an intersection, and determine a first sample point set based on the vehicle's posture information, wherein the sample points in the first sample point set are located on the center axis of the vehicle; a second sample point set determination module 420 is used to determine the target lane corresponding to the vehicle at the intersection, and determine a second sample point set based on the target lane, wherein the sample points in the second sample point set are located on the center line of the target lane; a reference guide line determination module 430 is used to determine a reference guide line based on the first sample point set and the second sample point set; and a target guide line determination module 440 is used to determine obstacle information at the intersection, and determine a target guide line based on the obstacle information and the reference guide line.

[0097] In some embodiments, the first sample point set determination module 410 includes: a central axis determination submodule, used to determine the central axis of the vehicle based on the posture information of the vehicle; a first sample point coordinate determination submodule, used to sample along the forward and backward directions of the vehicle on the central axis to determine the coordinates of the first sample points; a first sample point set determination submodule, used to determine a first preset number of sample point coordinates based on a first preset waypoint interval and the first sample point coordinates, and obtain the first sample point set based on the first preset number of sample point coordinates, wherein the first preset number of sample point coordinates includes the first sample point coordinates.

[0098] In some embodiments, the second sample point set determination module 420 includes: a determination submodule, used to obtain each exit of the intersection where the vehicle is located and determine the road surface characteristics of each exit; a target exit determination submodule, used to obtain the navigation route of the vehicle and determine the target exit from the exits based on the navigation route; a target lane determination submodule, used to determine the target lane based on the road surface characteristics corresponding to the target exit, and determine the second sample point set based on the target lane.

[0099] In some embodiments, the second sample point set determination module 420 further includes: a median determination submodule, configured to obtain the current speed of the vehicle and determine the median of the target lane; a second sample point coordinate determination submodule, configured to determine a distance threshold of each sample point in the second sample point set on the median of the target lane according to the current speed, and determine the coordinates of the second sample point on the median of the target lane; a second sample point set determination submodule, configured to perform sampling on the median of the target lane along the driving direction of the vehicle according to the distance threshold, determine a second preset number of sample point coordinates, and obtain the second sample point set based on the second preset number of sample point coordinates, wherein the second preset number of sample point coordinates includes the second sample point coordinate, and the distance between each sample point in the second sample point set is not less than the distance threshold.

[0100] In some embodiments, the reference guide line determination module 430 includes: a target point coordinate determination submodule, used to determine the target point coordinates based on the first sample point set and the second sample point set; a reference guide line determination submodule, used to perform trajectory planning based on the target point coordinates and the cubic spline curve interpolation method to determine the reference guide line.

[0101] In some embodiments, the target guide line determination module 440 includes: a first target guide line determination submodule, which is used to determine the target guide line based on the obstacle and the reference guide line if it is determined based on the obstacle information that there is an obstacle at the intersection; and a second target guide line determination submodule, which is used to determine the reference guide line as the target guide line if it is determined based on the obstacle information that there is no obstacle at the intersection.

[0102] In some embodiments, the target guide line first determining sub-module comprises: an information obtaining unit, configured to, if it is determined based on the obstacle information that there is an obstacle at the intersection, obtain position information of the obstacle and characteristic information of the obstacle; a collision detecting unit, configured to determine whether the vehicle will collide with the obstacle when traveling along the reference guide line according to the position information of the obstacle and the reference guide line; and a target guide line determining unit, configured to, if it is determined that a collision will occur, determine the target guide line according to the position information of the obstacle, the characteristic information of the obstacle and the reference guide line.

[0103] In some embodiments, the target guide line determining unit comprises: a coordinate information determining sub-unit, configured to, if a collision with the vehicle will occur, determine coordinate information of the obstacle according to the position information of the obstacle and the characteristic information of the obstacle; and an updating sub-unit, configured to update the reference guide line based on the coordinate information to determine the target guide line.

[0104] According to an aspect of some embodiments of the present application, a computer program product or computer program is provided, which comprises computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method in any of the above embodiments.

[0105] According to an aspect of some embodiments of the present application, a vehicle is also provided, as shown in the figure, the vehicle 500 comprises a processor 510 and one or more memories 520, the one or more memories 520 are configured to store program instructions executed by the processor 510, and the processor 510 executes the program instructions to implement the above-mentioned method for determining an intersection guide line. Figure 11

[0106] ​Furthermore, the processor 510 may include one or more processing cores. The processor 510 runs or executes instructions, programs, code sets or instruction sets stored in the memory 520, and calls data stored in the memory 520. Optionally, the processor 510 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 510 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to handle wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor and may be implemented separately through a communication chip.

[0107] According to one aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently without being incorporated into the electronic device. The computer-readable storage medium carries computer-readable instructions. When the computer-readable storage instructions are executed by a processor, the method of any of the above embodiments is implemented.

[0108] It should be noted that the computer readable medium shown in the embodiments of the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the 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, device or apparatus. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired or the like, or any suitable combination thereof.

[0109] The units described in the embodiments of the present application can be implemented in software or hardware, and the described units can also be arranged in a processor. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0110] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0111] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed herein.

[0112] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for determining a guide line at an intersection, characterized in that: The method comprises: When a vehicle is located at an intersection, obtaining position information of the vehicle, and determining a first set of sample points based on the position information of the vehicle, where the sample points in the first set of sample points are located on a central axis of the vehicle; Determining a target lane corresponding to the vehicle at the intersection, and determining a second sample point set based on the target lane, where sample points in the second sample point set are located on a median line of the target lane; determining a reference guide line according to the first sample point set and the second sample point set; Obstacle information of the intersection is determined, and a target guide line is determined based on the obstacle information and the reference guide line.

2. The method according to claim 1, characterized in that The determining of a first set of sample points based on the posture information of the vehicle includes: Determining a center axis of the vehicle based on the posture information of the vehicle; Sampling along the forward and rearward directions of the vehicle on the central axis to determine the coordinates of a first sample point; A first preset number of sample point coordinates are determined according to a preset waypoint interval and the first sample point coordinates, and the first sample point set is obtained based on the first preset number of sample point coordinates, wherein the first preset number of sample point coordinates includes the first sample point coordinates.

3. The method according to claim 1, characterized in that The determining of a target lane corresponding to the vehicle at the intersection, and determining a second set of sample points based on the target lane, includes: Obtaining each exit of the intersection where the vehicle is located, and determining road surface characteristics of each exit; Obtaining a navigation route of the vehicle, and determining a target exit from the exits according to the navigation route; The target lane is determined according to the road surface features corresponding to the target exit, and the second sample point set is determined according to the target lane.

4. The method according to claim 1, wherein The determining the second sample point set according to the target lane includes: Obtaining the current speed of the vehicle and determining the center line of the target lane; Determining a distance threshold of each sample point in a second sample point set on the median line of the target lane according to the current vehicle speed, and determining the coordinates of the second sample point on the median line of the target lane; Sampling is performed on the median line of the target lane along the driving direction of the vehicle according to the distance threshold to determine a second preset number of sample point coordinates, and a second sample point set is obtained based on the second preset number of sample point coordinates, wherein the second preset number of sample point coordinates includes the second sample point coordinate, and a distance between each sample point in the second sample point set is not less than the distance threshold.

5. The method according to any one of claims 1 to 4, characterized in that The determining of a reference guide line according to the first sample point set and the second sample point set includes: Determine the coordinates of a target point according to the first sample point set and the second sample point set; Trajectory planning is performed according to the target point coordinates and the cubic spline curve interpolation method to determine the reference guide line.

6. The method according to any one of claims 1 to 4, characterized in that The determining of obstacle information at the intersection and determining a target guide line based on the obstacle information and the reference guide line includes: If it is determined based on the obstacle information that there is an obstacle at the intersection, determining the target guide line based on the obstacle and the reference guide line; If it is determined based on the obstacle information that no obstacle exists at the intersection, the reference guide line is determined as the target guide line.

7. The method according to claim 6, characterized in that If it is determined based on the obstacle information that there is an obstacle at the intersection, determining the target guide line based on the obstacle and the reference guide line includes: If it is determined based on the obstacle information that there is an obstacle at the intersection, obtaining location information and feature information of the obstacle; determining, based on the position information of the obstacle and the reference guide line, whether the vehicle will collide with the obstacle when traveling along the reference guide line; If it is determined that a collision will occur with the vehicle, coordinate information of the obstacle is determined according to the position information of the obstacle and the characteristic information of the obstacle, and the reference guide line is updated based on the coordinate information to determine a target guide line.

8. A device for determining a guide line at an intersection, characterized in that: The device comprises: a first sample point set determining module, configured to obtain, when a vehicle is located at an intersection, position information of the vehicle, and determine a first sample point set based on the position information of the vehicle, wherein the sample points in the first sample point set are located on a central axis of the vehicle; a second sample point set determining module, configured to determine a target lane corresponding to the vehicle at the intersection, and determine a second sample point set based on the target lane, wherein the sample points in the second sample point set are located on a median line of the target lane; a reference guide line determining module, configured to determine a reference guide line according to the first sample point set and the second sample point set; The target guide line determination module is used to determine the obstacle information of the intersection and determine the target guide line according to the obstacle information and the reference guide line.

9. A vehicle, characterized in that: The vehicle comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, which can be called by a processor to execute the method according to any one of claims 1 to 7.

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