Intersection stop line construction method and device, equipment, medium and program product

Abstract

The invention discloses an intersection stop line construction method and device, equipment, a medium and a program product, and relates to the technical field of digital maps. The method comprises the following steps: determining a clustering range of intersection center points including a target intersection area, and generating at least one target point cluster based on the clustering range and a traffic road line of the target intersection area; based on an association relationship among the intersection center point, the target point clusters and a real reference line of the target intersection area, determining an association reference line of each target point cluster, the association reference line being determined through the real reference line; and generating a virtual stop line corresponding to each target point cluster in the target intersection area according to the associated reference line of each target point cluster. The intersection stop line generation accuracy can be improved, and the universality is high.

Description

Technical Field

[0001] The present application relates to the field of digital map technology, and in particular to a method and device, equipment, medium, and program product for constructing a stop line at an intersection. Background Art

[0002] A digital map is a map that represents geographic information in digital form. When composing a digital map, there may be no stop line at the section entering the intersection due to various reasons. For example, when composing a light map, there is no stop line at the section entering the intersection due to perception and vectorization. In this case, it is necessary to add a virtual stop line in the composition process. Especially when there is a traffic light at the intersection, a virtual stop line should be added.

[0003] There are some methods for generating virtual stop lines in the related art, such as generating a stop line based on a reference point corresponding to a click operation of a user.

[0004] The above method requires manual or model determination of the stop point and then generates the stop line, but it is easily affected by human subjectivity, model limitations, and map data complexity, resulting in poor accuracy of stop line generation and low universality. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a method and device, equipment, medium, and program product for constructing a stop line at an intersection, which can improve the accuracy of generating a stop line at an intersection and has high universality.

[0006] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a method for constructing a stop line at an intersection, the method comprising:

[0007] Determine a cluster range of the intersection center point including the target intersection area, and generate at least one target point cluster based on the cluster range and the passable road line of the target intersection area;

[0008] Determine the associated reference line of each of the target point clusters based on the association relationship between the intersection center point, the target point cluster and the real reference line of the target intersection area, wherein the associated reference line is determined by the real reference line;

[0009] According to the associated reference lines of each of the target point clusters, virtual stop lines corresponding to each of the target point clusters are generated in the target intersection area.

[0010] In one embodiment, after determining the associated reference lines of each of the target point clusters based on the association relationship between the intersection center point, the target point cluster, and the real reference lines of the target intersection area, the method further includes:

[0011] The following operations are performed for the fourth point cluster in each of the target point clusters:

[0012] A line between the fourth point cluster and the center point of the intersection is generated as a target line; the fourth point cluster is a target point cluster without an associated reference line, and a symmetrical point cluster of the fourth point cluster has no associated reference line, a sixth direction corresponding to the fourth point cluster and a seventh direction corresponding to the symmetrical point cluster have a preset geometric relationship, the sixth direction is a direction formed by the fourth point cluster and the center point of the intersection, and the seventh direction is a direction formed by the symmetrical point cluster and the center point of the intersection;

[0013] Generate a perpendicular line to the target line as a base line; the base line passes through the fourth point cluster;

[0014] A virtual stop line corresponding to the fourth point cluster is extracted from the base line.

[0015] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a device for constructing a stop line at an intersection, the device comprising:

[0016] A point cluster determination module, used to determine a cluster range of a center point of an intersection including a target intersection area, and generate at least one target point cluster based on the cluster range and a passable road line of the target intersection area;

[0017] A reference line association module, used to determine an associated reference line of each of the target point clusters based on an association relationship among the intersection center point, the target point cluster and a real reference line of the target intersection area, wherein the associated reference line is determined by the real reference line;

[0018] The stop line generation module is used to generate virtual stop lines corresponding to each of the target point clusters in the target intersection area according to the associated reference lines of each of the target point clusters.

[0019] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the computer program.

[0020] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0021] To achieve the above-mentioned purpose, the fifth aspect of an embodiment of the present application proposes a computer program product, which includes a computer program. The computer program is read and executed by a processor of an electronic device, so that the electronic device executes the method described in the first aspect above.

[0022] The construction method, device, equipment, medium, and program product of the stop line at an intersection proposed in the present application first determine the cluster range of the intersection center point including the target intersection area, so that the area where the stop line needs to be generated can be roughly divided. Secondly, based on the cluster range and the pass road line of the target intersection area, at least one target point cluster is generated. The pass road line is related to the road, so each generated target point cluster corresponds to a road, so that the road where the stop line needs to be generated can be carefully divided. Then, based on the correlation relationship between the intersection center point, the target point cluster, and the real reference line of the target intersection area, the associated reference line of each target point cluster is determined, so that the real reference line associated with each road where the stop line needs to be generated can be determined. Finally, the virtual stop line corresponding to each target point cluster is generated according to the associated reference line of each target point cluster, so that the virtual stop line can be generated using the potential information contained in the associated reference line.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart of a method for constructing a stop line at an intersection provided in an embodiment of the present application;

[0025] Figure 2 is a first schematic diagram of a target intersection area provided in an embodiment of the present application;

[0026] Figure 3 This is a first schematic diagram of the clustering range provided in the embodiment of the present application;

[0027] Figure 4 is a second schematic diagram of the clustering range provided in an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of a target point cluster provided in an embodiment of the present application;

[0029] Figure 6 It is a schematic diagram of the first direction provided by an embodiment of the present application;

[0030] Figure 7 is a schematic diagram of the second direction provided by an embodiment of the present application;

[0031] Figure 8 is a schematic diagram of the angle between the first direction and the second direction provided in an embodiment of the present application;

[0032] Fig. 9 is a schematic diagram of the segmented area provided in an embodiment of the present application;

[0033] Fig.10 is a second schematic diagram of a target intersection area provided in an embodiment of the present application;

[0034] Fig.11 is a schematic diagram of generating a virtual stop line on a second road provided by an embodiment of the present application;

[0035] Fig.12 is a schematic diagram of generating a baseline provided by an embodiment of the present application;

[0036] Fig.13 It is a structural schematic diagram of a device for constructing a stop line at an intersection provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0040] The construction method of the stop line at an intersection provided in the embodiment of the present application can be applied to any end of the terminal and the server end, and can also be software running on the server end or the terminal. The server end can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application or computer program that implements the construction method of the stop line at an intersection, but is not limited to the above forms.

[0041] The methods for constructing stop lines at intersections, devices for constructing stop lines at intersections, electronic devices, computer-readable storage media, and computer program products provided in the embodiments of the present application are specifically described through the following embodiments. First, the methods for constructing stop lines at intersections in the embodiments of the present application are described.

[0042] Please refer to Figure 1 , Figure 1 An optional flow chart of a method for constructing a stop line at an intersection is disclosed. Figure 1 The method may include but is not limited to steps 101 to 103.

[0043] Step 101, determining a cluster range of the intersection center point including a target intersection area, and generating at least one target point cluster based on the cluster range and the passable road lines of the target intersection area;

[0044] Step 102, determining an associated reference line of each target point cluster based on an associated relationship among the intersection center point, the target point cluster, and the real reference line of the target intersection area, wherein the associated reference line is determined by the real reference line;

[0045] Step 103 : generating virtual stop lines corresponding to the target point clusters in the target intersection area according to the associated reference lines of the target point clusters.

[0046] In the steps 101 to 103 shown in the embodiment of the present application, the target point cluster is first generated by using the clustering range and the passable road line, and then the association between the intersection center point, the target point cluster and the real reference line is used to automatically generate a virtual stop line with high accuracy. In addition, no manual operation or neural network model prediction is required, which has high flexibility and universality.

[0047] In step 101 of some embodiments, the target intersection area can be obtained from the digital map data, and then the intersection center point of the target intersection area can be obtained. Digital map data refers to data containing geographical elements such as the target intersection area and relevant data of the target intersection area. For example, digital map data can refer to map data of a high-precision map. Digital map data can be produced from specific images or point cloud data. In practical applications, digital map data may include the intersection center point of the target intersection area and the real reference line of the target intersection area. The real reference line includes a real stop line and a real crosswalk. Digital map data can be applied to scenarios such as maps, intelligent transportation systems, and intelligent vehicle-road cooperative systems to help vehicles better adapt to traffic conditions in different lanes.

[0048] The target intersection area refers to the traffic area where the stop line is to be generated. For example, the target intersection area may include the target intersection, the pass road line, and the three-dimensional space range of the target intersection. The target intersection is also called a road intersection. The pass road line represents the road line in the direction of vehicle travel. The target intersection area includes at least one road. Each road corresponds to two pass road lines with opposite travel directions, that is, the pass road line may include an entry road line and an exit road line. The entry road line refers to the road line in which the vehicle travels in the direction of the vehicle entering the intersection. The exit road line refers to the road line in which the vehicle travels in the direction of the vehicle exiting the intersection.

[0049] In one example, refer to Figure 2 , Figure 2 : is a schematic diagram of the target intersection area provided in the embodiment of the present application. The intersection type of the target intersection area is a cross type, with a first road D1, a second road D2, a third road D3 and a fourth road D4, a total of 4 roads. There is an intersection center point A in the target intersection area. Each road corresponds to two pass road lines, a total of 8 pass road lines, specifically including the first entry road line L in1 and the first exit line L out1 , Second entry road line L in2 and the second exit road line L out2 、The third approach road line L in3 and the third exit line L out3 , and the fourth approaching road line L in4 and the fourth exit line L out4 .

[0050] It can be understood that the first incoming road line L in1 , Second entry road line L in2 、The third approach road line L in3 And the fourth entry road line L in4 The first exit road line L out1 , Second exit route L out2 , the third exit line L out3 and the fourth exit line L out4 Collectively referred to as the exit road line.

[0051] The cluster range is an area including the center point of the intersection. In one embodiment, the cluster range is obtained based on any of the following methods:

[0052] Generate a circle with the center point of the intersection as the center to obtain the cluster range;

[0053] Polygons are generated with the center point of the intersection as the center of the polygon to obtain the cluster range.

[0054] In one example, refer to Figure 3, the cluster range is represented by a circle R, and the circle R is centered at the intersection center point A. Figure 4 , the cluster range is represented by polygon X, and polygon X takes the intersection center point A as the polygon center. Figure 3 and Figure 4 Other symbols in (such as L in1 , L in2 etc.) and the above Figure 2 The explanation is the same and will not be repeated here.

[0055] The cluster range can be a regular polygon, such as a regular 4-sided polygon, 6-sided polygon, and 12-sided polygon. For example, Figure 4 The polygon X shown is a regular quadrilateral. The clustering range can also be an irregular polygon, such as an irregular 7-gon, 8-gon, and 11-gon.

[0056] In one embodiment, the process of generating a circle with the center point of the intersection as the center to obtain a cluster range may include:

[0057] Determine the reference maximum distance according to the distance between the center point of the intersection and the real reference line of the target intersection area;

[0058] Determine the intersection type of the target intersection area;

[0059] Determine the virtual radius according to the intersection type and the reference maximum distance;

[0060] A circle is generated with the center point of the intersection as the center and the virtual radius as the radius to obtain the clustering range.

[0061] In combination with the above, there is at least one road in the target intersection area, and some roads themselves have some real reference lines, such as real crosswalks and / or real stop lines. The real crosswalks and / or real stop lines on the roads are collectively referred to as the real reference lines of the target intersection area. The real reference lines of the target intersection area can be obtained from digital map data. The real reference lines obtained may be 1 or more than 2. There is a certain distance between the center point of the intersection and each real reference line, and the maximum distance can be determined as the reference maximum distance. The intersection type refers to the type of target intersection in the target intersection area. Intersection types include cross, T-shaped and U-turn types. The distances between the virtual stop lines corresponding to different intersection types and the center point of the intersection are generally different. The virtual radius can be determined based on the intersection type and the reference maximum distance. Finally, a cluster range is generated with the center point of the intersection as the center and the virtual radius as the radius.

[0062] Each road can be evenly divided into a first section and a second section according to a direction perpendicular to the road. The first section is closer to the center point of the intersection than the second section. The process of determining the reference maximum distance based on the distance between the center point of the intersection and the real reference line of the target intersection area may include: selecting a real reference line located in the first section from the real reference lines of the target intersection area to obtain at least one target intersection reference line; selecting the maximum value from the distances between the center point of the intersection and each target intersection reference line to obtain the reference maximum distance.

[0063] In one example, the process of calculating the distance between the center point of the intersection and the reference stop line of each target intersection may include: drawing a perpendicular line through the center point of the intersection to the reference line of the target intersection to obtain a vertical point; performing distance calculation based on the coordinates of the center point of the intersection and the coordinates of the vertical point to obtain the distance between the center point of the intersection and the reference stop line of the target intersection.

[0064] The above embodiment of determining a virtual radius based on the intersection type and a real reference line to generate a cluster range has high universality on the basis of being able to generate a cluster range.

[0065] In one embodiment, the step of determining the virtual radius according to the intersection type and the reference maximum distance specifically includes:

[0066] Determine the predetermined distance according to the type of intersection;

[0067] If the reference maximum distance is less than the first distance threshold, determining the predetermined distance as the virtual radius;

[0068] If the reference maximum distance is greater than or equal to the first distance threshold and less than the second distance threshold, the second distance threshold is determined as the virtual radius;

[0069] If the reference maximum distance is greater than or equal to the second distance threshold and less than the third distance threshold, the reference maximum distance is determined as the virtual radius;

[0070] If the reference maximum distance is greater than or equal to the third distance threshold, the third distance threshold is determined as the virtual radius.

[0071] In this embodiment, the first distance threshold, the second distance threshold, and the third distance threshold increase in sequence, and the second distance threshold is greater than the predetermined distance.

[0072] In one example, assuming that the intersection type is a cross type, the predetermined distance is 30 meters, the first distance threshold is 20 meters, the second distance threshold is 50 meters, and the third distance threshold is 75 meters. If the reference maximum distance (such as 15 meters) is less than 20 meters, the virtual radius is 30 meters. If the reference maximum distance (such as 40 meters) is greater than or equal to 20 meters and less than 50 meters, the virtual radius is 50 meters. If the reference maximum distance (such as 60 meters) is greater than or equal to 50 meters and less than 75 meters, the virtual radius is 60 meters. If the reference maximum distance (such as 80 meters) is greater than or equal to 75 meters, the virtual radius is 75 meters.

[0073] The benefit of the above embodiment is that the segmentation threshold is introduced to determine the virtual radius in different situations in detail, thereby improving flexibility and applicability.

[0074] In one embodiment, the intersection type of the target intersection area is a preset intersection type that matches the intersection of the target intersection area, which may include the following situations:

[0075] (1) When the preset intersection types include a cross, a T-shaped intersection, and a U-turn intersection, the third distance thresholds set for the cross, the T-shaped intersection, and the U-turn intersection are decreased in sequence.

[0076] (2) When the preset intersection types include a cross and a T-shaped intersection, the third distance threshold set for the cross is greater than the third distance threshold set for the T-shaped intersection.

[0077] (3) When the preset intersection types include a T-shaped intersection and a U-turn intersection, the third distance threshold set for the T-shaped intersection is greater than the third distance threshold set for the U-turn intersection.

[0078] (4) When the preset intersection types include a cross type and a U-turn type, the third distance threshold set for the cross type is greater than the third distance threshold set for the U-turn type.

[0079] For example, when the preset intersection types include cross, T-shaped and U-turn, the third distance threshold set for the cross is 75 meters, the third distance threshold set for the T-shaped is 50 meters, and the third distance threshold set for the U-turn is 20 meters.

[0080] The benefit of the above embodiment is that it takes into account the differences between the third distance thresholds of different intersection types, is more in line with actual intersection conditions, and further improves universality.

[0081] In one embodiment, after the above-mentioned step of determining the predetermined distance according to the intersection type, the method for constructing an intersection stop line provided in this embodiment may also include: obtaining the lengths of each road in the target intersection area to obtain the road length; determining the shortest road length as the reference shortest length; if the reference shortest length is less than a third distance threshold, then subtracting the predetermined length from the reference shortest length and updating it to the third distance threshold, and updating the predetermined distance, the first distance threshold and the second distance threshold according to the updated third distance threshold.

[0082] It should be noted that the above-mentioned roads may be the first road, the second road, the third road and the fourth road. Each road has a certain length. The above-mentioned predetermined length may be 1 meter or 2 meters, etc. After the predetermined distance, the first distance threshold and the second distance threshold are updated according to the updated third distance threshold, it is necessary to ensure that the first distance threshold, the second distance threshold and the third distance threshold increase in sequence, and the second distance threshold is greater than the predetermined distance.

[0083] The above embodiment can ensure that the generated cluster range intersects with the road with the shortest length, further improving the universality.

[0084] In conjunction with the above, the passable road line includes an entry road line and an exit road line. In one embodiment, the process of generating at least one target point cluster based on the clustering range and the passable road line of the target intersection area may include:

[0085] Determine the intersection point of the cluster range and the incoming road line to obtain the first target intersection point;

[0086] Determine the intersection point of the cluster range and the exit road line to obtain a second target intersection point;

[0087] The first target intersection point and the second target intersection point are clustered to obtain at least one target point cluster.

[0088] The first target intersection point refers to the intersection point of the clustering range and the incoming road line. The second target intersection point refers to the intersection point of the clustering range and the outgoing road line. Clustering means clustering the intersection points into a target point cluster according to the distance relationship between the intersection points. For example, the distance between the first target intersection point and the second target intersection point is calculated to obtain the intersection distance, and the first target intersection point and the second target intersection point corresponding to the intersection distance less than the distance threshold are regarded as a target point cluster.

[0089] In one example, refer to Figure 5, the clustering range is represented by circle R. The first intersection J1, the third intersection J3, the fifth intersection J5, and the seventh intersection J7 are the intersections of circle R with the four incoming road lines, that is, a total of four first target intersections. The second intersection J2, the fourth intersection J4, the sixth intersection J6, and the eighth intersection J8 are the intersections of circle R with the four outgoing road lines, that is, a total of four second target intersections. Clustering based on the four first target intersections and the four second target intersections can obtain the first candidate point cluster C1, the second candidate point cluster C2, the third candidate point cluster C3, and the fourth candidate point cluster C4, a total of four target point clusters. The first target intersection of the first candidate point cluster C1 is the first intersection J1. The first target intersection of the second candidate point cluster C2 is the third intersection J3. The first target intersection of the third candidate point cluster C3 is the fifth intersection J5. The first target intersection of the fourth candidate point cluster C4 is the seventh intersection J7.

[0090] It can be understood that, for a cross-shaped intersection, four target point clusters can be obtained, for a T-shaped intersection, three target point clusters can be obtained, and for a U-turn-shaped intersection, two target point clusters can be obtained.

[0091] In one embodiment, before step 102, the method for constructing a stop line at an intersection provided in this embodiment may further include: acquiring the number of target point clusters to obtain a target number; if the target number is less than a set number threshold, filtering out a separate target point cluster from the target point cluster; and symmetrically supplementing the target point cluster according to the separate target point cluster to obtain an updated point cluster.

[0092] In this embodiment, the target point cluster also includes a fifth point cluster. The eighth direction corresponding to the individual target point cluster and the ninth direction corresponding to the fifth point cluster do not have a preset geometric relationship. The eighth direction is the direction formed by the individual target point cluster and the center point of the intersection. The ninth direction is the direction formed by the fifth point cluster and the center point of the intersection. The tenth direction corresponding to the update point cluster has a preset geometric relationship with the eighth direction. The tenth direction is the direction formed by the update point cluster and the center point of the intersection. The preset geometric relationship refers to the geometric relationship between any two directions set in advance. This geometric relationship can specifically be a parallel relationship. For the case where the eighth direction and the ninth direction do not have a preset geometric relationship, it means that the eighth direction and the ninth direction do not satisfy the parallel relationship, and it also means that the individual target point cluster and the fifth point cluster are asymmetric relative to the center point of the intersection. For the case where the eighth direction and the tenth direction have a preset geometric relationship, it means that the eighth direction and the tenth direction satisfy the parallel relationship, and it also means that the individual target point cluster and the update point cluster are symmetric relative to the center point of the intersection. The setting quantity threshold can be set according to actual needs, such as setting the quantity threshold to 4.

[0093] It should be noted that when determining whether any two directions have a preset geometric relationship, it can be determined based on whether the angle between the two directions is within a predetermined angle range. The specific value of the predetermined angle range can be set according to actual needs, and can be basically close to 0 degrees or 180 degrees.

[0094] For example, assume that the number threshold is set to 4. When the intersection type is a cross type, there are 4 target point clusters in total, that is, the number of targets is 4. When the number of targets is 4, in the counterclockwise direction or clockwise direction, two target point clusters separated by one target point cluster are symmetrical relative to the center point of the intersection, and there is no need to filter out a separate target point cluster from the target point clusters. When the intersection type is a T-shaped, there are 3 target point clusters in total, that is, the number of targets is 3, and it is less than the number threshold. When the number of targets is 3, there is at least one target point cluster that is asymmetrical with any of the other two target point clusters relative to the center point of the intersection, and the target point cluster is taken as a separate target point cluster. When the intersection type is a U-turn type, there are 2 target point clusters in total, that is, the number of targets is 2, and it is less than the number threshold. When the number of targets is 2, if the two target point clusters are symmetrical relative to the center point of the intersection, a separate target point cluster cannot be filtered out from the target point cluster. If the two target point clusters are asymmetrical relative to the center point of the intersection, the two target point clusters are taken as separate target point clusters. When one of the two target point clusters is used as a separate target point cluster, the other is used as the fifth point cluster. After obtaining the separate target point cluster, the target point cluster is supplemented with a symmetrical point cluster according to the separate target point cluster to obtain an updated point cluster. The obtained updated point cluster is symmetrical with the separate target point cluster relative to the center point of the intersection.

[0095] The benefit of the above embodiment is that it can screen out a single target cluster and supplement an updated point cluster that is symmetrical to the single target cluster, ensuring that each target cluster has a symmetrical point cluster that is symmetrical with respect to the center point of the intersection.

[0096] In step 102 of some embodiments, the real reference line of the target intersection area can be obtained from the digital map data. The digital map data, the target intersection area and the real reference line have been explained above and will not be repeated here. The associated reference line of each target point cluster can be determined by using the association relationship between the intersection center point, the target point cluster and the real reference line of the target intersection area.

[0097] The above association relationship may refer to the direction relationship between the direction formed by the intersection center point and the real reference line and the direction formed by the intersection center point and the target point cluster. In one embodiment, step 102 may include:

[0098] Based on the directions formed by the center point of the intersection and each real reference line, determine the first direction corresponding to each real reference line, and based on the directions formed by the center point of the intersection and each target point cluster, determine the second direction corresponding to each target point cluster;

[0099] Based on the directional relationship between the first direction and the second direction, an associated reference line of each target point cluster is determined.

[0100] The first direction corresponding to each real reference line may refer to the direction from the center point of the intersection to the real reference line, or may refer to the direction from the real reference line to the center point of the intersection.

[0101] The real reference line includes a real stop line, and the process of determining the first direction corresponding to each real reference line based on the direction formed by the center point of the intersection and each real reference line may include: taking any point from the real stop line as a reference point, and obtaining the first direction according to the direction formed by the center point of the intersection and the reference point. In another embodiment, the center point of the intersection is first projected onto the real stop line to obtain a line projection point; and then the first direction is obtained according to the direction formed by the center point of the intersection and the line projection point.

[0102] The real reference line includes a real crosswalk. In the digital map data, the real crosswalk can be represented as a rectangular area. In one embodiment, any point in the rectangular area can be selected as a reference point, such as the center point of the rectangular area as the reference point; then the first direction is obtained according to the direction formed from the center point of the intersection to the reference point. In another embodiment, the center point of the intersection is first projected onto the rectangular area to obtain a projection point; then the first direction is obtained according to the direction formed by the center point of the intersection and the projection point.

[0103] In one example, it is assumed that the real reference line includes a real crosswalk. Figure 6 , the first direction may include a first point direction L AZ1 、The second point direction L AZ2 and the third point direction L AZ3 Specifically, the target intersection area has a first rectangular area h1, which represents a real pedestrian crossing on the first road D1. The first point Z1 represents the center point of the rectangular area h1. According to the direction formed by the intersection center point A to the first point Z1, the first point road direction L is obtained. AZ1 The target intersection area also has a second rectangular area h2, which represents a real pedestrian crossing on the second road D2. The second point Z2 represents the center point of the second rectangular area h2. According to the direction formed by the intersection center point A to the second point Z2, the second point road direction L is obtained. AZ2 The target intersection area has a third rectangular area h3, which represents a real pedestrian crossing on the third road D3. The third point Z3 represents the center point of the third rectangular area h3. According to the direction formed by the intersection center point A to the third point Z3, the third point road direction L is obtained. AZ3 .

[0104] The second direction corresponding to each target point cluster can refer to the direction from the center point of the intersection to the target point cluster, or the direction from the target point cluster to the center point of the intersection. Each target point cluster has a first target intersection point and a second target intersection point, so the second direction can specifically be the direction from the center point of the intersection to the first target intersection point of the target point cluster, or the direction from the first target intersection point of the target point cluster to the center point of the intersection.

[0105] In one example, refer to Figure 7 , the second direction may include the first candidate point cluster direction L AC1 , the direction of the second candidate point cluster L AC2 , the direction of the third candidate point cluster L AC3 And the fourth candidate point cluster direction L AC4 In combination with the above, the first target intersection includes the first intersection J1, the third intersection J3, the fifth intersection J5 and the seventh intersection J7. The first candidate point cluster direction L AC1 It refers to the direction formed by the intersection center point A pointing to the first intersection point J1 of the first candidate point cluster C1. The second candidate point cluster direction L AC2 It refers to the direction formed by the intersection center point A pointing to the third intersection point J3 of the second candidate point cluster C2. The third candidate point cluster direction L AC3 It refers to the direction formed by the intersection center point A pointing to the fifth intersection point J5 of the third candidate point cluster C3. The fourth candidate point cluster direction L AC4 It refers to the direction formed by the intersection center point A pointing to the seventh intersection point J7 of the fourth candidate point cluster C4.

[0106] The above-mentioned direction relationship includes the target angle. In one embodiment, the process of determining the associated reference line of each target point cluster based on the direction relationship between the first direction and the second direction may include:

[0107] Determine the angle between the second direction corresponding to each target point cluster and each first direction, and obtain the target angle corresponding to each real reference line;

[0108] The real reference line corresponding to the target angle less than the angle threshold is determined as the candidate reference line corresponding to the target point cluster;

[0109] Determine the associated reference line of the target point cluster from the candidate reference lines.

[0110] The smaller the target angle, the more it indicates that the target point cluster and the true reference line correspond to the same road. The angle threshold represents the maximum angle between the true reference line and the target point cluster corresponding to the same road. The true reference line corresponding to the target angle less than the angle threshold can be used as a candidate reference line. The true reference line corresponding to the target angle greater than or equal to the angle threshold cannot be used as a candidate reference line. There may be more than one candidate reference line determined from the true reference line. Finally, the associated reference line of the target point cluster is determined from the candidate reference lines, and the associated reference line and the target point cluster correspond to the same road.

[0111] The above embodiment evaluates whether the real reference line and the target point cluster correspond to the same road according to the size of the target angle, and can flexibly determine the associated reference line of the target point cluster.

[0112] It should be noted that the associated reference line may include the following situations: (1) When the real reference line includes a real crosswalk and a real stop line, the associated reference line includes an associated crosswalk and an associated stop line. (2) When the real reference line includes a real crosswalk, the associated reference line includes an associated crosswalk. (3) When the real reference line includes a real stop line, the associated reference line includes an associated stop line.

[0113] For example, refer to Figure 6 and Figure 7 , assuming that the second direction is the direction of the first candidate point cluster L AC1 , and the first direction includes the first point direction L AZ1 、The second point direction L AZ2 and the third point direction L AZ3 The following three target angles can be determined: (1) Determine the direction L of the first candidate point cluster AC1 and the first point direction L AZ1 The angle between them is obtained to obtain the target angle corresponding to the real pedestrian crossing represented by the first rectangular area h1. (2) Determine the direction L of the first candidate point cluster AC1 and the second point in the direction L AZ2 The angle between them is obtained to obtain the target angle corresponding to the real pedestrian crossing represented by the second rectangular area h2. (3) Determine the direction L of the first candidate point cluster AC1 and the third point direction L AZ3 The angle between them is used to obtain the target angle corresponding to the real crosswalk represented by the third rectangular area h3.

[0114] In one example, refer to Figure 6 , Figure 7 and Figure 8 , assuming that the angle threshold is 15 degrees, and the first direction is the first point direction L AZ1 , the second direction is the direction of the first candidate point cluster L AC1 . The first point is the direction L AZ1and the direction L of the first candidate point cluster AC1 The angle θ between them is 10 degrees, and since 10 degrees is less than 15 degrees, the real crosswalk represented by the first rectangular area h1 is determined as the associated crosswalk of the first candidate point cluster C1. Similarly, the real crosswalk represented by the second rectangular area h2 can be determined as the associated crosswalk of the second candidate point cluster C2, and the real crosswalk represented by the third rectangular area h3 can be determined as the associated crosswalk of the third candidate point cluster C3.

[0115] In one embodiment, the process of determining the associated reference line of the target point cluster from the candidate reference lines may include:

[0116] In response to the number of candidate reference lines being less than or equal to a first preset number, determining each candidate reference line as an associated reference line of the target point cluster;

[0117] In response to the number of candidate reference lines being greater than a first preset number, associated reference lines of the target point cluster are determined from the candidate reference lines based on position distribution characteristics of the candidate reference lines.

[0118] This embodiment uses the size relationship between the number of candidate reference lines and the first preset number to select different determination rules, which can improve the diversity of determining associated reference lines.

[0119] The first preset number can be set according to actual needs, for example, the first preset number is 1. The position distribution feature of the candidate reference lines is used to characterize the position distribution of the candidate reference lines in the target intersection area.

[0120] The candidate reference lines include at least one of the following: a candidate stop line, a candidate crosswalk. In one embodiment, the above-mentioned determining the associated reference line of the target point cluster from the candidate reference lines based on the position distribution characteristics of each candidate reference line includes at least one of the following steps:

[0121] Based on the position distribution characteristics of the candidate stop lines, selecting less than or equal to the first preset number of candidate stop lines from the candidate stop lines greater than a first preset number as associated reference lines of the target point cluster;

[0122] Based on the position distribution characteristics of the candidate crosswalks, candidate crosswalks less than or equal to the first preset number are selected from the candidate crosswalks greater than the first preset number as associated reference lines of the target point cluster.

[0123] The benefit of the above embodiment is that the position distribution characteristics can be used to select candidate reference lines to obtain associated reference lines, which helps to improve the accuracy of generating virtual stop lines using associated reference lines.

[0124] Specifically, the location distribution characteristics of the candidate stop lines include at least one of the following: a first distance, and the area to which the location of the candidate stop lines belongs. The first distance is the distance between the location point of the candidate stop line and the center point of the intersection. The area to which the location of the candidate stop line belongs means that the candidate stop line is located in the middle waiting area of ​​the intersection or is not located in the middle waiting area of ​​the intersection. The location distribution characteristics of the candidate crosswalks include at least one of the following characteristics: a second distance, and the overlapping relationship of the candidate crosswalks. The second distance is the distance between the location point of the candidate crosswalk and the center point of the intersection. The overlapping relationship of the candidate crosswalks means that the candidate crosswalks overlap or do not overlap. For example, if the candidate crosswalks overlap, repeat, or overlap, the overlapping relationship indicates that the candidate crosswalks overlap.

[0125] In one embodiment, the determining of the associated reference line of the target point cluster from the candidate reference lines based on the position distribution characteristics of each candidate reference line comprises at least one of the following steps:

[0126] Executing a first target step, the first target step comprising any one of the following: determining an associated reference line of a target point cluster from the candidate stop line based on a first distance of the candidate stop line; determining an associated reference line of a target point cluster from the candidate stop line based on an area to which the position of the candidate stop line belongs; determining an associated reference line of a target point cluster from the candidate stop line based on the first distance and the area to which the position of the candidate stop line belongs;

[0127] Execute the second target step, the second target step including any one of the following: determining the associated reference line of the target point cluster from the candidate crosswalk based on the second distance of the candidate crosswalk; determining the associated reference line of the target point cluster from the candidate crosswalk based on the overlapping relationship of the candidate crosswalk; determining the associated reference line of the target point cluster from the candidate crosswalk based on the second distance and overlapping relationship of the candidate crosswalk.

[0128] The benefit of the above embodiment is that the diversity of methods for determining associated reference lines is increased.

[0129] In one example, the process of determining the associated reference line of the target point cluster from the candidate stop lines based on the first distance of the candidate stop lines may include: determining the candidate stop lines corresponding to the first distance being less than a preset stop line distance threshold as associated stop lines, and adding the associated stop lines to the associated reference lines. Deleting the candidate stop lines whose first distance is greater than or equal to the preset stop line distance threshold.

[0130] In one example, the process of determining the associated reference line of the target point cluster from the candidate stop lines based on the area to which the position of the candidate stop line belongs may include: if the area to which the position of the candidate stop line belongs indicates that the candidate stop line is not located in the middle waiting area of ​​the intersection, then the candidate stop line is determined as the associated stop line, and the associated stop line is added to the associated reference line. If the area to which the position of the candidate stop line belongs indicates that the candidate stop line is located in the middle waiting area of ​​the intersection, then the candidate stop line is deleted.

[0131] In one example, the process of determining the associated reference line of the target point cluster from the candidate stop lines based on the first distance and the area to which the position of the candidate stop line belongs may include: if the area to which the position of the candidate stop line belongs indicates that the candidate stop line is located in the middle waiting area of ​​the intersection, deleting the candidate stop line; determining the candidate stop line corresponding to the first distance less than the preset stop line distance threshold as the associated stop line, and adding the associated stop line to the associated reference line.

[0132] In one example, the process of determining the associated reference line of the target point cluster from the candidate crosswalks based on the second distance of the candidate crosswalks may include: determining the candidate crosswalks corresponding to the second distance less than the preset crosswalk distance threshold as the associated crosswalks, and adding the associated crosswalks to the associated reference line. Deleting the candidate crosswalks whose second distance is greater than or equal to the preset crosswalk distance threshold.

[0133] In one example, the process of determining the associated reference line of the target point cluster from the candidate crosswalks based on the overlapping relationship of the candidate crosswalks may include: if the overlapping relationship of the candidate crosswalks indicates that the candidate crosswalks do not overlap, determining the candidate crosswalk as an associated crosswalk and adding the associated crosswalk to the associated reference line. If the overlapping relationship of the candidate crosswalks indicates that the candidate crosswalks overlap, deleting the candidate crosswalk.

[0134] In one example, the process of determining the associated reference line of the target point cluster from the candidate crosswalks based on the second distance and overlapping relationship of the candidate crosswalks may include: deleting the candidate crosswalk if the overlapping relationship of the candidate crosswalks indicates that there is overlap among the candidate crosswalks; determining the candidate crosswalk corresponding to the second distance less than a preset crosswalk distance threshold as an associated crosswalk, and adding the associated crosswalk to the associated reference line.

[0135] In one embodiment, the process of calculating the above-mentioned first distance may include: drawing a perpendicular line through the center point of the intersection to the candidate stop line to obtain a perpendicular point of the line; performing distance calculation based on the coordinates of the center point of the intersection and the coordinates of the perpendicular point of the line to obtain the first distance. The process of calculating the above-mentioned second distance may include: drawing a perpendicular line through the center point of the intersection to the candidate crosswalk to obtain a perpendicular point of the road; performing distance calculation based on the coordinates of the center point of the intersection and the coordinates of the perpendicular point of the road to obtain the second distance. Other distance calculation methods may also be used, and this embodiment does not specifically limit this. The preset stop line distance threshold may be set to 70 meters. The preset crosswalk distance threshold may be set to 65 meters. The specific values ​​of the first distance and the second distance may be set according to actual needs.

[0136] In step 103 of some embodiments, the associated reference line includes at least one of the following: an associated crosswalk and an associated stop line. A first point cluster can be determined from the target point cluster. The first point cluster is a target point cluster with an associated crosswalk. More specifically, the first point cluster is a target point cluster with an associated crosswalk but no associated stop line.

[0137] In one embodiment, step 103 may include: performing the following operations on the first point cluster in each target point cluster:

[0138] Based on the associated crosswalk of the first point cluster, a virtual stop line corresponding to the first point cluster is generated.

[0139] The benefit of this embodiment is that a virtual stop line can be generated for the road corresponding to the first point cluster by using the associated crosswalk.

[0140] In one embodiment, the process of generating a virtual stop line corresponding to the first point cluster based on the associated crosswalk of the first point cluster may include:

[0141] Determine the segmentation area according to the incoming road segmentation line of the target intersection area;

[0142] According to the associated crosswalk, a virtual stop line corresponding to the first point cluster is generated in the segmented area.

[0143] The entry road dividing line of the target intersection area can be obtained from the digital map data. In combination with the above, the target intersection area may include multiple roads. Each road can be divided into an entry road and an exit road according to the vehicle travel direction. The vehicle travel direction includes the entry direction and the exit direction. The entry direction corresponds to the entry road. The exit direction corresponds to the exit road. The entry road dividing line is a line that divides the entry road, specifically including the entry road left dividing line and the entry road right dividing line. After obtaining the entry road left dividing line and the entry road right dividing line, the segmentation area can be determined according to the entry road left dividing line and the entry road right dividing line. The exit road dividing line is a line that divides the exit road, specifically including the exit road left dividing line and the exit road right dividing line. Generally, the entry road left dividing line and the exit road left dividing line are represented by the same line in the target intersection area.

[0144] In one example, refer to Fig. 9 The first road D1 includes a first entrance road and a first exit road. The entrance road dividing line corresponding to the first entrance road includes a first left dividing line L in11 and the first right dividing line L in12 . According to the first left dividing line L in11 and the first right dividing line L in12 Similarly, the second road includes a second entrance road and a second exit road, and the entrance road dividing line corresponding to the second entrance road includes a second left dividing line L in21 and the second right dividing line L in22 , so that the second segmentation area F2 can be obtained. The third road D3 includes a third entry intersection road and a third exit intersection. The entry road segmentation line corresponding to the third entry intersection road includes a third left segmentation line L in31 and the third right dividing line L in32 , thus the third segmentation area F3 can be obtained. The fourth road D4 includes a fourth entrance road and a fourth exit road. The fourth entrance road corresponding to the fourth entrance road is the fourth left segmentation line L in41 and the fourth right dividing line L in42 , thus the fourth segmented region F4 can be obtained.

[0145] It should be noted that the first segmentation area F1, the second segmentation area F2, the third segmentation area F3 and the fourth segmentation area F4 can be collectively referred to as segmentation areas. in11 , the second left dividing line L in21 , the third left dividing line L in31 , and the fourth left dividing line L in41 It can be collectively referred to as the left dividing line of the road. The first right dividing line Lin12 , the second right dividing line L in22 , the third right dividing line L in32 , and the fourth right dividing line L in42 It can be collectively referred to as entering the right dividing line of the road.

[0146] It should be noted that if a virtual stop line needs to be generated for a road entering an intersection, the road entering the intersection has no associated stop line. Fig.10 , there is no associated stop line on the second entrance road of the second road D2, so a virtual stop line needs to be generated. There is an associated stop line on the first entrance road of the first road D1, so there is no need to generate a virtual stop line on the first entrance road. Similarly, there is no need to generate a virtual stop line on the third entrance road of the third road D3 and the fourth entrance road of the fourth road D4.

[0147] In one embodiment, the process of generating a virtual stop line corresponding to the first point cluster in the segmented area based on the associated crosswalk may include: generating an initial virtual stop line based on the edge of the associated crosswalk away from the center point of the intersection and a predetermined spacing distance; and extracting the virtual stop line corresponding to the first point cluster from the initial virtual stop line based on the segmented area.

[0148] For example, refer to Fig.11 , assuming that the first point cluster is the target point cluster corresponding to the second road D2. There is no associated stop line on the second approach road of the second road D2, but there is an associated crosswalk, and the associated crosswalk is represented by the second rectangular area h2. A virtual stop line can be generated in the segmented area F2 according to the edge of the second rectangular area h2 away from the center point of the intersection and the predetermined interval distance of 1 meter. The virtual stop line will not exceed the second segmented area F2. The first approach road of the first road D1, the third approach road of the third road D3, and the fourth approach road of the fourth road D4 all have associated stop lines, and there is no need to generate virtual stop lines, so they will not be described further. The predetermined interval distance can be set according to actual needs. For example, the predetermined interval distance can be 0.5 meters, 0.9 meters, 1 meter, etc.

[0149] The benefit of the above embodiment is that the generated virtual stop line will not exceed the segmented area, which is more in line with the actual situation that the road entering the intersection has a stop line but the road leaving the intersection does not need to have a stop line, and has high practicality.

[0150] In the above embodiment, a first point cluster is determined from a target point cluster. In another embodiment, a second point cluster is determined from a target point cluster. The second point cluster is a target point cluster without an associated reference line. More specifically, the second point cluster is a target point cluster without an associated stop line and without an associated crosswalk.

[0151] In one embodiment, step 103 may include: performing the following operations on the second point cluster in each target point cluster:

[0152] Based on the associated reference line of the symmetrical point cluster of the second point cluster, a virtual stop line corresponding to the second point cluster is generated.

[0153] Specifically, the third direction corresponding to the symmetrical point cluster and the fourth direction corresponding to the second point cluster have a preset geometric relationship. The third direction is the direction formed by the symmetrical point cluster and the center point of the intersection. The fourth direction is the direction formed by the second point cluster and the center point of the intersection. Having a preset geometric relationship may mean that the angle between the third direction and the fourth direction is substantially close to 0 degrees or 180 degrees, and the threshold of the angle may be set according to demand.

[0154] The benefit of the above embodiment is that even if there is no associated reference line for the second point cluster, a virtual stop line can be generated by using the associated reference line of the symmetrical point cluster of the second point cluster.

[0155] In one embodiment, before generating a virtual stop line corresponding to the second point cluster based on the associated reference line of the symmetrical point cluster of the second point cluster, step 103 may further include: performing the following operations for each second point cluster:

[0156] Determine a fourth direction corresponding to the second point cluster, and determine a fifth direction corresponding to a third point cluster in the target point cluster; the third point cluster is a target point cluster other than the second point cluster, and the fifth direction is a direction formed by the third point cluster and the center point of the intersection;

[0157] A fifth direction parallel to the third direction is determined, and a third point cluster corresponding to the determined fifth direction is determined as a symmetrical point cluster of the second point cluster.

[0158] The benefit of the above embodiment is that the symmetrical point cluster of the second point cluster can be determined according to whether there is a parallel relationship between the two directions, which is simple and accurate.

[0159] In one embodiment, the associated reference line includes an associated stop line, and the process of generating a virtual stop line corresponding to the second point cluster based on the associated reference line of the symmetrical point cluster of the second point cluster may include: symmetry supplementing the associated stop line of the symmetrical point cluster of the second point cluster to obtain a virtual stop line corresponding to the second point cluster.

[0160] Symmetrical supplementation refers to using the symmetry of two target point clusters relative to the center point of the intersection to supplement a virtual stop line for one of the target point clusters that does not have an associated stop line.

[0161] In one embodiment, the process of symmetric supplementation of the associated stop line of the symmetrical point cluster based on the second point cluster to obtain the virtual stop line corresponding to the second point cluster may include:

[0162] Determine the first point end direction based on the direction formed by the first end of the associated real stop line from the center point of the intersection to the symmetrical point cluster of the second point cluster, and obtain the second point end direction based on the direction of the second end of the associated real stop line from the center point of the intersection to the symmetrical point cluster of the second target cluster;

[0163] generating a direction opposite to the first point end direction as a third point end direction, and generating a direction opposite to the second point end direction as a fourth point end direction;

[0164] Determine the distance from the center point of the intersection to the first end to obtain the first point-to-end distance, determine the distance from the center point of the intersection to the second end to obtain the second point-to-end distance;

[0165] Determining a first virtual point based on the third direction and the first point end distance, and determining a second virtual point based on the fourth direction and the second point end distance;

[0166] A line connecting the first virtual point and the second virtual point is generated as a virtual stop line corresponding to the second point cluster.

[0167] The above embodiment makes full use of the symmetric point cluster of the second point cluster and the characteristics that the second point cluster is symmetric with respect to the center point of the intersection to generate a virtual stop line for the second point cluster, which has high accuracy and universality.

[0168] In one embodiment, the process of generating the connection line between the first virtual point and the second virtual point as the virtual stop line corresponding to the second point cluster may further include: determining a segmentation area according to the segmentation line of the entrance road of the target intersection area, and generating the connection line between the first virtual point and the second virtual point as the virtual stop line corresponding to the second point cluster in the segmentation area. In this way, the generated virtual stop line will not exceed the segmentation area, which is more in line with the actual situation that the entrance road has a stop line but the exit road does not need to have a stop line, and has high practicality.

[0169] In one embodiment, after step 102, the method for constructing a stop line at an intersection provided by this embodiment may further include: performing the following operations on the fourth point cluster in each target point cluster:

[0170] Generate a line between the fourth point cluster and the center point of the intersection as the target line;

[0171] The vertical line connecting the target is generated as the basic line; the basic line passes through the fourth point cluster;

[0172] A virtual stop line corresponding to the fourth point cluster is intercepted from the base line.

[0173] Specifically, the fourth point cluster is a target point cluster without an associated reference line and the symmetrical point cluster of the fourth point cluster has no associated reference line. The sixth direction corresponding to the fourth point cluster and the seventh direction corresponding to the symmetrical point cluster have a preset geometric relationship. The sixth direction is the direction formed by the fourth point cluster and the center point of the intersection. The seventh direction is the direction formed by the symmetrical point cluster and the center point of the intersection. Having a preset geometric relationship may mean that the angle between the sixth direction and the seventh direction is substantially close to 0 degrees or 180 degrees, and the threshold of the angle may be set as required.

[0174] The process of extracting the virtual stop line corresponding to the fourth point cluster from the base line may include: extracting the virtual stop line corresponding to the fourth point cluster from the base line according to the entry road dividing line of the target intersection area. More specifically, the entry road dividing line includes the entry road left dividing line and the entry road right dividing line. The intersection point between the entry road left dividing line and the base line may be determined first to obtain a first interception point, and the intersection point between the entry road right dividing line and the base line may be determined to obtain a second interception point; the virtual stop line corresponding to the fourth point cluster may be extracted from the base line according to the first interception point and the second interception point.

[0175] Reference Fig.12 In one example, assuming that the fourth point cluster is the first candidate point cluster C1, the first target intersection point of the fourth point cluster is the first intersection point J1. The line between the first intersection point J1 and the intersection center point A is generated as the first line L L1 . Generate the first line L L1 The perpendicular line is the first base line L q1 . According to the first left dividing line L in11 and the first right dividing line L in12 From the first base line L q1 The virtual stop line corresponding to the first candidate point cluster C1 is intercepted. Assuming that the fourth point cluster is the second candidate point cluster C2, the first target intersection point of the fourth point cluster is the third intersection point J3. The line between the third intersection point J3 and the intersection center point A is generated as the second line L L2 Generate the second line L L2 The perpendicular line is the second base line L q2 According to the second left dividing line L in21 and the second right dividing line L in22 From the second base line L q2 The virtual stop line corresponding to the second candidate point cluster C2 is intercepted. Assuming that the fourth point cluster is the third candidate point cluster C3, the first target intersection point of the fourth point cluster is the fifth intersection point J5. The line between the fifth intersection point J5 and the intersection center point A is the third line L L3 . Generate the third line L L3 The perpendicular line is the third base line L q3 According to the third left dividing line L in31 and the third right dividing line Lin32 From the third base line L q3 The virtual stop line corresponding to the third candidate point cluster C3 is intercepted. Assuming that the fourth point cluster is the fourth candidate point cluster C4, the first target intersection point of the fourth point cluster is the seventh intersection point J7. The line between the seventh intersection point J7 and the center point A of the intersection is the fourth line L L4 Generate the fourth line L L4 The perpendicular line is the fourth base line L q4 According to the fourth left dividing line L in41 and the fourth right dividing line L in42 From the fourth base line L q4 The virtual stop line corresponding to the fourth candidate point cluster C4 is intercepted.

[0176] It should be noted that the first line L L1 , the second line L L2 , the third line L L3 , the fourth line L L4 They can be collectively referred to as target lines. q1 , the second base line L q2 , the third base line L q3 , the fourth base line L q4 They can be collectively referred to as the baseline.

[0177] The benefit of the above embodiment is that when the fourth point cluster has no associated reference line and the symmetrical point cluster of the fourth point cluster has no associated reference line, a virtual stop line can be generated for the fourth point cluster using the intersection center point and the fourth point cluster itself, further improving the universality of virtual stop line generation.

[0178] The various technical features in the above embodiments can be arbitrarily combined as long as there is no conflict or contradiction between the combinations of features. However, due to space limitations, they are not described one by one. Therefore, any combination of the various technical features in the above embodiments also falls within the scope of this specification.

[0179] The present application also discloses a device for constructing a stop line at an intersection. Fig.13The device for constructing a stop line at an intersection includes: a point cluster determination module 1301, a reference line association module 1302, and a stop line generation module 1303. The point cluster determination module 1301 is used to determine the cluster range of the intersection center point including the target intersection area, and generate at least one target point cluster based on the cluster range and the pass road line of the target intersection area; the reference line association module 1302 is used to determine the associated reference line of each target point cluster based on the association relationship between the intersection center point, the target point cluster and the real reference line of the target intersection area, wherein the associated reference line is determined by the real reference line; the stop line generation module 1303 is used to generate virtual stop lines corresponding to each target point cluster in the target intersection area according to the associated reference line of each target point cluster.

[0180] In one embodiment, the device for constructing a stop line at an intersection also includes: a stop line interception module: used to perform the following operations for the fourth point cluster in each target point cluster: generate a line between the fourth point cluster and the center point of the intersection as the target line; generate a perpendicular line to the target line as a base line; the base line passes through the fourth point cluster; and intercept a virtual stop line corresponding to the fourth point cluster from the base line.

[0181] It should be noted that the specific implementation of the device for constructing the stop line at an intersection is substantially the same as the specific implementation of the method for constructing the stop line at an intersection, and will not be described in detail herein.

[0182] An embodiment of the present application also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for constructing a stop line at an intersection as described above is implemented.

[0183] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method for constructing a stop line at an intersection as described above is implemented.

[0184] An embodiment of the present application also provides a computer program product, which includes a computer program. The computer program is read and executed by a processor of an electronic device, so that the electronic device executes the method for constructing a stop line at an intersection as described above.

[0185] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0186] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0187] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0188] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0189] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0190] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application 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 data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising 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.

[0191] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0192] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0193] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0194] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0195] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0196] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for constructing a stop line at an intersection, characterized in that: include: Determine a cluster range of the intersection center point including the target intersection area, and generate at least one target point cluster based on the cluster range and the passable road line of the target intersection area; Determine the associated reference line of each of the target point clusters based on the association relationship between the intersection center point, the target point cluster and the real reference line of the target intersection area, wherein the associated reference line is determined by the real reference line; According to the associated reference lines of each of the target point clusters, virtual stop lines corresponding to each of the target point clusters are generated in the target intersection area.

2. The method according to claim 1, characterized in that The determining of the associated reference lines of each of the target point clusters based on the associated relationship among the intersection center point, the target point cluster and the real reference line of the target intersection area comprises: Based on the directions formed by the center point of the intersection and each of the real reference lines, determining a first direction corresponding to each of the real reference lines, and based on the directions formed by the center point of the intersection and each of the target point clusters, determining a second direction corresponding to each of the target point clusters; Based on the directional relationship between the first direction and the second direction, an associated reference line of each of the target point clusters is determined.

3. The method according to claim 2, characterized in that The determining, based on the directional relationship between the first direction and the second direction, the associated reference line of each of the target point clusters comprises: The following operations are performed for each target point cluster: Determine the angle between the second direction corresponding to the target point cluster and each of the first directions to obtain the target angle corresponding to each real reference line; Determine the real reference line corresponding to the target angle less than the angle threshold as the candidate reference line corresponding to the target point cluster; An associated reference line of the target point cluster is determined from the candidate reference lines.

4. The method according to claim 3, characterized in that The determining the associated reference line of the target point cluster from the candidate reference lines includes: In response to the number of the candidate reference lines being less than or equal to a first preset number, determining each of the candidate reference lines as an associated reference line of the target point cluster; In response to the number of the candidate reference lines being greater than the first preset number, an associated reference line of the target point cluster is determined from the candidate reference lines based on position distribution characteristics of each of the candidate reference lines.

5. The method according to claim 4, characterized in that The candidate reference lines include at least one of the following: a candidate stop line, a candidate crosswalk; The determining the associated reference line of the target point cluster from the candidate reference lines based on the position distribution characteristics of each of the candidate reference lines comprises at least one of the following steps: Based on the position distribution characteristics of the candidate stop lines, selecting candidate stop lines less than or equal to the first preset number from the candidate stop lines greater than the first preset number as associated reference lines of the target point cluster; Based on the position distribution characteristics of the candidate crosswalks, candidate crosswalks less than or equal to the first preset number are selected from the candidate crosswalks greater than the first preset number as associated reference lines of the target point cluster.

6. The method according to claim 5, characterized in that The position distribution feature of the candidate stop line includes at least one of the following: a first distance, and an area to which the position of the candidate stop line belongs, wherein the first distance is the distance between the position point of the candidate stop line and the center point of the intersection; and / or The location distribution characteristics of the candidate crosswalks include at least one of the following characteristics: a second distance, and an overlapping relationship of the candidate crosswalks, wherein the second distance is the distance between the location point of the candidate crosswalk and the center point of the intersection.

7. The method according to claim 1, characterized in that The associated reference line at least includes an associated crosswalk; Generating virtual stop lines corresponding to each of the target point clusters in the target intersection area according to the associated reference lines of each of the target point clusters includes: The following operations are performed for the first point cluster in each of the target point clusters: Based on the associated crosswalk of the first point cluster, a virtual stop line corresponding to the first point cluster is generated; the first point cluster is a target point cluster where the associated crosswalk exists.

8. The method according to claim 7, characterized in that The generating a virtual stop line corresponding to the first point cluster based on the associated crosswalk of the first point cluster includes: Determine a segmentation area according to an incoming road segmentation line of the target intersection area; According to the associated crosswalk, a virtual stop line corresponding to the first point cluster is generated in the segmented area.

9. The method according to claim 1, characterized in that: Generating virtual stop lines corresponding to each of the target point clusters in the target intersection area according to the associated reference lines of each of the target point clusters includes: The following operations are performed for the second point cluster in each of the target point clusters: Based on the associated reference line of the symmetrical point cluster of the second point cluster, a virtual stop line corresponding to the second point cluster is generated; the second point cluster is a target point cluster without an associated reference line; the third direction corresponding to the symmetrical point cluster and the fourth direction corresponding to the second point cluster have a preset geometric relationship, the third direction is the direction formed by the symmetrical point cluster and the center point of the intersection, and the fourth direction is the direction formed by the second point cluster and the center point of the intersection.

10. The method according to claim 9, characterized in that Before generating a virtual stop line corresponding to the second point cluster based on the associated reference line of the symmetrical point cluster of the second point cluster, the method further includes: The following operations are performed for each of the second point clusters: Determine a fourth direction corresponding to the second point cluster, and determine a fifth direction corresponding to a third point cluster in the target point cluster; the third point cluster is a target point cluster other than the second point cluster, and the fifth direction is a direction formed by the third point cluster and the center point of the intersection; A fifth direction parallel to the third direction is determined, and a third point cluster corresponding to the determined fifth direction is determined as a symmetrical point cluster of the second point cluster.

11. The method according to claim 9 or 10, characterized in that: The associated reference line at least includes an associated stop line; The step of generating a virtual stop line corresponding to the second point cluster based on an associated reference line of a symmetric point cluster of the second point cluster comprises: Symmetrical supplementation is performed based on the associated stop line of the symmetrical point cluster of the second point cluster to obtain a virtual stop line corresponding to the second point cluster.

12. The method according to claim 1, characterized in that After determining the associated reference lines of each of the target point clusters based on the association relationship between the intersection center point, the target point cluster and the real reference lines of the target intersection area, the method further includes: The following operations are performed for the fourth point cluster in each of the target point clusters: A line between the fourth point cluster and the center point of the intersection is generated as a target line; the fourth point cluster is a target point cluster without an associated reference line, and a symmetrical point cluster of the fourth point cluster has no associated reference line, a sixth direction corresponding to the fourth point cluster and a seventh direction corresponding to the symmetrical point cluster have a preset geometric relationship, the sixth direction is a direction formed by the fourth point cluster and the center point of the intersection, and the seventh direction is a direction formed by the symmetrical point cluster and the center point of the intersection; Generate a perpendicular line to the target line as a base line; the base line passes through the fourth point cluster; A virtual stop line corresponding to the fourth point cluster is extracted from the base line.

13. The method according to claim 12, characterized in that The step of extracting a virtual stop line corresponding to the fourth point cluster from the base line comprises: According to the entry road dividing line of the target intersection area, a virtual stop line corresponding to the fourth point cluster is intercepted from the base line.

14. The method according to any one of claims 1 to 10, characterized in that: The passing road line includes an entry road line and an exit road line. The generating at least one target point cluster based on the clustering range and the passable road line of the target intersection area includes: Determine the intersection point of the cluster range and the incoming road line to obtain a first target intersection point; Determine the intersection point of the cluster range and the exit road line to obtain a second target intersection point; The first target intersection point and the second target intersection point are clustered to obtain the at least one target point cluster.

15. The method according to any one of claims 1 to 10, characterized in that The clustering range is obtained based on any of the following methods: Generate a circle with the center point of the intersection as the center to obtain the cluster range; Polygon generation is performed with the center point of the intersection as the center of the polygon to obtain the cluster range.

16. The method according to claim 15, characterized in that The step of generating a circle with the center point of the intersection as the center to obtain the cluster range includes: Determining a reference maximum distance according to the distance between the center point of the intersection and the real reference line of the target intersection area; Determining the intersection type of the target intersection area; Determining a virtual radius according to the intersection type and the reference maximum distance; A circle is generated with the center point of the intersection as the center and the virtual radius as the radius to obtain the cluster range.

17. The method according to claim 16, characterized in that The determining of the virtual radius according to the intersection type and the reference maximum distance includes: Determining a predetermined distance according to the type of intersection; If the reference maximum distance is less than a first distance threshold, determining the predetermined distance as the virtual radius; If the reference maximum distance is greater than or equal to the first distance threshold and less than a second distance threshold, determining the second distance threshold as the virtual radius; If the reference maximum distance is greater than or equal to the second distance threshold and less than a third distance threshold, determining the reference maximum distance as the virtual radius; If the reference maximum distance is greater than or equal to the third distance threshold, the third distance threshold is determined as the virtual radius; wherein: The first distance threshold, the second distance threshold, and the third distance threshold increase in sequence, and the second distance threshold is greater than the predetermined distance.

18. The method according to claim 17, characterized in that The intersection type of the target intersection area is a preset intersection type that matches the intersection of the target intersection area; When the preset intersection types include a cross, a T-shaped intersection, and a U-turn intersection, the third distance thresholds respectively set for the cross, the T-shaped intersection, and the U-turn intersection are reduced in sequence; When the preset intersection types include a cross and a T-shaped intersection, the third distance threshold set for the cross is greater than the third distance threshold set for the T-shaped intersection; When the preset intersection type includes a T-shaped intersection and a U-turn intersection, the third distance threshold set for the T-shaped intersection is greater than the third distance threshold set for the U-turn intersection; When the preset intersection types include a cross type and a U-turn type, the third distance threshold set for the cross type is greater than the third distance threshold set for the U-turn type.

19. The method according to any one of claims 1 to 10, characterized in that: Before determining the associated reference lines of each of the target point clusters based on the associated relationship among the center point of the intersection, the target point cluster, and the real reference lines of the target intersection area, the method further includes: Obtaining the number of target point clusters to obtain the target number; If the number of targets is less than a set number threshold, a separate target point cluster is screened out from the target point cluster; wherein the target point cluster further includes a fifth point cluster, an eighth direction corresponding to the separate target point cluster and a ninth direction corresponding to the fifth point cluster do not have a preset geometric relationship, the eighth direction is a direction formed by the separate target point cluster and the center point of the intersection, and the ninth direction is a direction formed by the fifth point cluster and the center point of the intersection; The target point cluster is symmetrically supplemented according to the separate target point cluster to obtain an updated point cluster, wherein the tenth direction corresponding to the updated point cluster has a preset geometric relationship with the eighth direction, and the tenth direction is the direction formed by the updated point cluster and the center point of the intersection.

20. A device for constructing a stop line at an intersection, characterized in that: include: A point cluster determination module, used to determine a cluster range of a center point of an intersection including a target intersection area, and generate at least one target point cluster based on the cluster range and a passable road line of the target intersection area; A reference line association module, configured to determine an associated reference line of each of the target point clusters based on an association relationship among the intersection center point, the target point cluster, and a real reference line of the target intersection area, wherein the associated reference line is determined by the real reference line; The stop line generation module is used to generate virtual stop lines corresponding to each of the target point clusters in the target intersection area according to the associated reference lines of each of the target point clusters.

21. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 19 when executing the computer program.

22. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 19 is implemented.

23. A computer program product, characterized in that The computer program product comprises a computer program, and the computer program is read and executed by a processor of an electronic device, so that the electronic device executes the method according to any one of claims 1 to 19.

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