Virtual lane generation method and device, equipment, storage medium and program product

Abstract

The invention discloses a virtual lane generation method and device, equipment, a storage medium and a program product, and relates to the technical field of intelligent traffic, the method is applied to an OBU of a first vehicle, and the method comprises the steps: obtaining map information of a target intersection; the target intersection is an intersection in a first area where the current position of the first vehicle is located; under the condition that the first information of at least one downstream road of the target intersection is missing in the map information, generating the first information of the missing downstream road according to the second information of the upstream road of the target intersection, and obtaining updated map information; and generating a virtual lane between the associated upstream road and downstream road according to the updated map information. According to the scheme, under the condition that the map information is incomplete, the virtual lane line can be generated based on the existing map information, so that vehicle driving is assisted, and the accuracy of track prediction and collision early warning is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a virtual lane generation method, device, equipment, storage medium and program product. Background Art

[0002] Vehicle to Everything (V2X) is a communication method for vehicles to exchange information with the outside world. Its main purpose is to improve the safety, effectiveness and controllability of vehicles on the road. With the rapid development of V2X technology, it has brought a higher level of safety and convenience to life. Most of the trajectory prediction technologies use the lane centerline and the virtual trajectory points in the intersection calculated based on the road center point as the reference trajectory of the vehicle. However, at traffic intersections, due to the incomplete coverage of the Road Side Unit (RSU), only partial map information sent by some RSUs can be received through vehicle to infrastructure (V2I) communication, or the map lanes and road center points are not fully marked, resulting in the vehicle being unable to obtain complete map information and difficult to generate accurate virtual lane lines in the intersection. Summary of the invention

[0003] The present application provides a virtual lane generation method, device, equipment, storage medium and program product, which solves the current problem that accurate virtual lane lines in intersections cannot be generated due to the inability to obtain complete map information.

[0004] In a first aspect, an embodiment of the present application provides a virtual lane generation method, which is applied to an on-board unit OBU on a first vehicle, and the method includes:

[0005] Acquire map information of a target intersection; the target intersection is an intersection within a first area where the current position of the first vehicle is located;

[0006] In a case where the first information of at least one downstream road of the target intersection is missing in the map information, generating the missing first information of the downstream road according to the second information of the upstream road of the target intersection to obtain updated map information;

[0007] A virtual lane between the associated upstream road and downstream road is generated according to the updated map information.

[0008] Optionally, the method further comprises:

[0009] Determine, according to the lane attribute and / or the downstream intersection ID in the second information, whether there is a downstream road corresponding to the lane attribute and / or the downstream intersection ID in the map information; if not, determine that the first information of at least one downstream road of the target intersection is missing in the map information;

[0010] The lane attribute includes at least one of going straight, turning left and turning right, and the downstream intersection ID is the ID of the downstream intersection that has a connection relationship with the upstream road corresponding to the second information.

[0011] Optionally, the second information includes:

[0012] a first center point on a stop line of a first upstream road associated with the first upstream road;

[0013] a second center point on the stop line of the second upstream road associated with the second upstream road;

[0014] Wherein, the first upstream road and the missing downstream road are symmetrically located on both sides of the target intersection, and the second upstream road and the missing downstream road are located on the same side of the target intersection;

[0015] Generating first information of a missing downstream road according to second information of an upstream road of the target intersection includes:

[0016] In the case where the map information is road-level map information, generating the first information according to the first center point, the second center point and the road width of the first upstream road;

[0017] or,

[0018] In a case where the map information is lane-level map information, the first information is generated according to the first center point, the second center point, and a lane width of the first upstream road.

[0019] Optionally, when the map information is road-level map information, generating the first information according to the first center point, the second center point and the road width of the first upstream road includes:

[0020] Determine the width of the isolation zone according to the first center point and the second center point;

[0021] Determining a first translation distance according to the width of the isolation zone and the width of the first upstream road;

[0022] The second center point is translated along a first direction by the first translation distance to obtain a third center point of the missing downstream road, wherein the first direction is perpendicular to the extension direction of the second upstream road and is toward the missing downstream road;

[0023] The first information is generated according to the third center point and the road width.

[0024] Optionally, when the map information is lane-level map information, generating the first information according to the first center point, the second center point, and the lane width of the first upstream road includes:

[0025] Determine the width of the isolation zone according to the first center point and the second center point;

[0026] According to the identifiers of the lanes of the downstream road connected to each lane of the upstream road in the second information, counting the number of lanes included in the missing downstream road;

[0027] In the missing downstream road, for an i-th lane relative to a median strip, a second translation distance is determined according to a width of the median strip, a width of the lane, the number of lanes between the second center point and the median strip, and i, wherein the median strip is located between the missing downstream road and the second upstream road;

[0028] The second center point is translated along a first direction by the second translation distance to obtain a fourth center point of the i-th lane, wherein the first direction is perpendicular to an extension direction of the second upstream road and is toward the missing downstream road;

[0029] generating first information of the i-th lane according to the fourth center point and the lane width;

[0030] The first information of the missing downstream road is generated according to the first information of each lane of the missing downstream road.

[0031] Optionally, determining the width of the isolation zone according to the first center point and the second center point includes:

[0032] Generate a first straight line passing through the second center point in the first direction, generate a second straight line passing through the first center point in the second direction, generate a third straight line passing through the second center point in the third direction, and generate a fourth straight line passing through the first center point in the fourth direction; wherein the second direction is the extension direction of the first upstream road, the third direction is the extension direction of the second upstream road, and the fourth direction is perpendicular to the extension direction of the first upstream road;

[0033] Obtaining a first intersection point between the first straight line and the second straight line, and a second intersection point between the third straight line and the fourth straight line;

[0034] The width of the isolation zone is determined according to a first distance between the second center point and the first intersection point, a second distance between the first center point and the second intersection point, and the map information.

[0035] Optionally, determining the width of the isolation zone according to a first distance between the second center point and the first intersection point, a second distance between the first center point and the second intersection point, and a level of the map information includes:

[0036] In the case where the map information is road-level map information, determining the width of the isolation zone as a difference between a first mean and a second mean, wherein the first mean is a mean of the first distance and the second distance, and the second mean is a mean of a width of the first upstream road and a width of the second upstream road;

[0037] In the case where the map information is lane-level map information, the width of the isolation zone is determined as a difference between the first mean and a first product, where the first product is a product of the number of lanes between the second center point and the first intersection and the lane width.

[0038] Optionally, generating a virtual lane between the associated upstream road and the downstream road according to the updated map information includes:

[0039] In the associated upstream road and the downstream road, a fifth center point and a sixth center point are obtained, wherein, when the map information is road-level map information, the fifth center point and the sixth center point are center points of stop lines of the associated upstream road and the downstream road; when the map information is lane-level map information, the fifth center point and the sixth center point are center points of stop lines of the upstream lane and the downstream lane relative to each other in the associated upstream road and the downstream road;

[0040] At the fifth center point, a first direction vector of driving out of the upstream road among the associated upstream roads and downstream roads is obtained, and at the sixth center point, a second direction vector of driving into the downstream road among the associated upstream roads and downstream roads is obtained;

[0041] Obtain a third intersection point between a fifth straight line where the first direction vector is located and a sixth straight line where the second direction vector is located;

[0042] Determine an arc virtual lane in the virtual lane according to the third intersection point, a third distance between the fifth center point and the third intersection point, and a fourth distance between the sixth center point and the third intersection point;

[0043] The virtual lane is generated according to the arc virtual lane, the third distance and the fourth distance.

[0044] Optionally, determining the circular arc virtual lane in the virtual lane according to the third intersection point, a third distance between the fifth center point and the third intersection point, and a fourth distance between the sixth center point and the third intersection point includes:

[0045] When the third distance and the fourth distance are not equal, on a line segment corresponding to the larger distance between the third distance and the fourth distance, a smaller distance between the third distance and the fourth distance is intercepted from the third intersection point to obtain an auxiliary point;

[0046] generating an angle bisector of the angle formed by the fifth straight line and the sixth straight line at the third intersection point;

[0047] Generate a first perpendicular line of the line segment corresponding to the larger distance and a second perpendicular line of the line segment corresponding to the smaller distance, wherein the first perpendicular line passes through the auxiliary point, and the second perpendicular line passes through an endpoint other than the third intersection point of the line segment corresponding to the smaller distance;

[0048] The center of the circular arc virtual lane is generated according to the angle bisector, the first perpendicular line and the second perpendicular line, and the circular arc virtual lane is generated according to the center of the circle and the distance between the center of the circle and the auxiliary point.

[0049] Optionally, generating the virtual lane according to the arc virtual lane, the third distance and the fourth distance includes:

[0050] When the third distance and the fourth distance are not equal, a straight virtual lane in the virtual lane is determined according to the third intersection point and the target center point, and the straight virtual lane is spliced ​​with the arc virtual lane to generate the virtual lane; wherein, when the third distance is less than the fourth distance, the target center point is the fifth center point, and when the third distance is greater than the fourth distance, the target center point is the sixth center point;

[0051] When the third distance and the fourth distance are equal, the virtual lane is determined to be the circular arc virtual lane.

[0052] In a second aspect, an embodiment of the present application provides a virtual lane generation device, which is applied to an OBU on a first vehicle, and the device includes:

[0053] An acquisition module, used to acquire map information of a target intersection; the target intersection is an intersection within a first area where the current position of the first vehicle is located;

[0054] A first generating module, configured to generate the missing first information of the downstream road according to the second information of the upstream road of the target intersection, and obtain updated map information when the first information of at least one downstream road of the target intersection is missing in the map information;

[0055] The second generating module is used to generate a virtual lane between the associated upstream road and the downstream road according to the updated map information.

[0056] In a third aspect, an embodiment of the present application provides a virtual lane generation device, comprising a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the virtual lane generation method as described in the first aspect when executing the computer program.

[0057] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the virtual lane generation method as described in the first aspect.

[0058] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the virtual lane generation method as described in the first aspect.

[0059] The beneficial effects of the above technical solution of the present application are:

[0060] In the virtual lane generation method provided by the scheme of the present application, first, the OBU obtains the map information of the target intersection; the target intersection is an intersection within the first area where the current position of the first vehicle is located; secondly, when the first information of at least one downstream road of the target intersection is missing in the map information, the OBU generates the first information of the missing downstream road based on the second information of the upstream road of the target intersection to obtain updated map information; finally, based on the updated map information, a virtual lane between the associated upstream road and the downstream road is generated. In this way, when the acquired map information is incomplete, the information of the missing road in the map information can be supplemented based on the acquired map information to obtain complete map information, and then further based on the complete map information, an accurate virtual lane line between the associated upstream road / lane and the downstream road / lane is generated in the intersection, thereby assisting vehicle driving and improving the accuracy of trajectory prediction and collision warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is one of the flowcharts of the virtual lane generation method according to an embodiment of the present application;

[0062] Figure 2 A schematic diagram showing the comparison between a complete map and a missing map in an embodiment of the present application;

[0063] Figure 3 This is a schematic diagram of a map missing scenario in an embodiment of the present application;

[0064] Figure 4 This is one of the schematic diagrams related to calculating missing road / lane information in an embodiment of the present application;

[0065] Figure 5 This is a second schematic diagram related to calculating missing road / lane information in an embodiment of the present application;

[0066] Figure 6 This is a simulation result diagram of supplementing the missing roads at the standard intersection in the embodiment of the present application;

[0067] Figure 7 This is one of the schematic diagrams of simulation results for supplementing the missing roads at the non-standard intersection in the embodiment of the present application;

[0068] Figure 8 This is a second schematic diagram of simulation results for supplementing the missing roads at the non-standard intersection in the embodiment of the present application;

[0069] Fig. 9 A schematic diagram of an arc virtual lane line for calculating a virtual lane line in an embodiment of the present application;

[0070] Fig.10 This is a second flow chart of the virtual lane generation method according to an embodiment of the present application;

[0071] Fig.11 A schematic diagram of the structure of a virtual lane generating device according to an embodiment of the present application;

[0072] Fig.12 A schematic diagram of the structure of a virtual lane generation device according to an embodiment of the present application. DETAILED DESCRIPTION

[0073] To make the technical problems, technical solutions and advantages to be solved by the present application clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, for clarity and brevity, the description of known functions and structures has been omitted.

[0074] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0075] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0076] Additionally, the terms "system" and "network" are often used interchangeably herein.

[0077] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0078] Here, the first thing that needs to be explained is that in the V2X scenario, the vehicle needs to refer to the map information sent by the RSU to make trajectory predictions in order to improve the accuracy of trajectory predictions. Among them, the RSU generally stores the map information near its placement point and sends it to the surrounding area at regular intervals. Since the range of the vehicle receiving nearby map information is limited, the map information obtained by the vehicle may be incomplete, making it difficult to generate accurate virtual lanes in the intersection, thereby affecting the accuracy of trajectory prediction and further affecting the collision warning calculation.

[0079] Based on the above situation, an embodiment of the present application provides a virtual lane generation method, which is applied to an on-board unit (OBU) on a first vehicle, such as Figure 1 As shown, the method includes:

[0080] Step 101, obtaining map information of a target intersection; the target intersection is an intersection within a first area where the current position of the first vehicle is located.

[0081] In the above steps, the OBU can obtain the map information by receiving a message sent by the RSU (such as a roadside safety message (Road Safety Unit, RSU)). For example, after receiving the RSM message, the content carried by the message can be parsed to obtain the map information (MAP information).

[0082] Here, it should also be noted that RSU can specifically be map information stored in the form of Node-Link-Lane, that is, the intersection point and the road leading to the center point and all the lanes on the road are regarded as a map set, that is: the map information includes the center point of the intersection and the relevant information of the upstream road of the intersection corresponding to the center point of the intersection (ID of the upstream road, lane ID included in the upstream road, number of lanes, center point of the upstream road, center point of the lane, relevant information of the downstream road connected to the upstream road or the lane therein, etc.), with Figure 3 For example, the area marked by the dashed box is a set corresponding to NODE1 (map information provided by RSU1), and the area marked by the dotted line box is a set corresponding to NODE2 (map information provided by RSU2).

[0083] In the above steps, the OBU can receive the signal set at the target intersection (in Figure 3 For example, NODE1 is the RSU near the target intersection ( Figure 3 The map information sent by RSU1 in the figure can also be received from the downstream intersections adjacent to the target intersection ( Figure 3 NODE2 in the map information (by Figure 3 ), based on the received map information of multiple intersections (such as integrating the map information of multiple intersections), the map information of the target intersection is finally obtained.

[0084] Step 102, when the first information of at least one downstream road of the target intersection is missing in the map information, generating the missing first information of the downstream road according to the second information of the upstream road of the target intersection, and obtaining updated map information;

[0085] In the above steps, the second information is information related to the upstream road. In combination with the above content, the second information includes, for example, the ID of the upstream road, the name of the upstream road, the center point of the upstream road, the boundary line of the upstream road, and the ID and / or name of the downstream road connected to the upstream road. If the map information is lane-level map information, the map information may also include the number of lanes included in the upstream road, the ID of each lane, the attributes of each lane, etc. Based on this, as an example, the above steps may be based on the ID of the downstream road associated with the upstream road in the second information, to find out whether there is a downstream road corresponding to the ID of the downstream road in the map. If not, it indicates that the map is incomplete.

[0086] The above step 102 completes the missing map based on the existing map information without the need for additional information input and computing resources, thereby reducing the map processing cost.

[0087] Step 103: Generate a virtual lane between the associated upstream road and downstream road according to the updated map information.

[0088] In the above steps, the mutually related upstream roads and downstream roads specifically refer to the upstream roads and downstream roads that are connected to each other. Figure 2 For example, the downstream road associated with the right lane of the upstream road corresponding to point A is the road corresponding to point F, and the downstream road associated with the left lane of the upstream road corresponding to point A is the road corresponding to point G.

[0089] In the above steps, the missing map is completed based on the existing information, and the virtual lane in the intersection can be generated based on the completed information, so that when the vehicle passes through the intersection again, there is no need to repeatedly calculate and generate the map and virtual lane, which saves map processing costs and improves trajectory prediction efficiency.

[0090] In the virtual lane generation method of the embodiment of the present application, first, the OBU obtains the map information of the target intersection; the target intersection is an intersection in the first area where the current position of the first vehicle is located; secondly, when the first information of at least one downstream road of the target intersection is missing in the map information, the OBU generates the first information of the missing downstream road according to the second information of the upstream road of the target intersection, and obtains the updated map information; finally, based on the updated map information, a virtual lane is generated between the associated upstream road and the downstream road. In this way, when the acquired map information is incomplete, the relevant information of the missing road in the map can be supplemented based on the acquired map information to obtain complete map information, and then further based on the complete map information, an accurate virtual lane line between the associated upstream road / lane and the downstream road / lane is generated in the intersection, thereby assisting vehicle driving and improving the accuracy of trajectory prediction and collision warning.

[0091] Further, as an optional implementation, before step 102, the method further includes:

[0092] Determine, according to the lane attribute and / or the downstream intersection ID in the second information, whether there is a downstream road corresponding to the lane attribute and / or the downstream intersection ID in the map information; if not, determine that the first information of at least one downstream road of the target intersection is missing in the map information;

[0093] The lane attribute includes at least one of going straight, turning left and turning right, and the downstream intersection ID is the ID of the downstream intersection that has a connection relationship with the upstream road corresponding to the second information.

[0094] That is to say, this optional implementation method can be: for each upstream road in the map information, on the one hand, the lane attributes of each lane of the upstream road can be read to determine whether there is a downstream road corresponding to the lane attribute in the map information (for example, if the lane attribute is right turn, then determine whether there is a road after the right turn in the map). If not, it means that the road after the right turn is missing in the map; on the other hand, the downstream intersection ID of the target intersection can be read in the map information, and then it is determined whether the downstream intersection ID exists in the map obtained by fusing the multiple map information obtained. If not, it indicates that the road between the two intersections (the target intersection and the downstream intersection of the target intersection) is missing in the map (specifically the downstream road of the target intersection).

[0095] Therefore, when judging whether the map information is complete, it is possible to judge whether there is a corresponding downstream road based on the lane attributes, or to judge whether there are two adjacent intersections to determine whether there is a road between the two adjacent intersections, thereby judging whether the map information is complete.

[0096] As an optional implementation manner, the second information includes:

[0097] a first center point on a stop line of a first upstream road associated with the first upstream road;

[0098] a second center point on the stop line of the second upstream road associated with the second upstream road;

[0099] Wherein, the first upstream road and the missing downstream road are symmetrically located on both sides of the target intersection, and the second upstream road and the missing downstream road are located on the same side of the target intersection;

[0100] As an example, when the map information is lane-level map information, the first center point / the second center point is the intersection of the center point of each lane in the first upstream road / the second upstream road and the stop line of the first upstream road / the second upstream road (i.e., the center point of each lane on the stop line); as another example, when the map information is road-level map information, the first center point / the second center point is the intersection of the center point of the first upstream road / the second upstream road and the stop line of the first upstream road / the second upstream road (i.e., the center point of the first upstream road / the second upstream road on the stop line);

[0101] Based on the above content, step 102, generating the first information of the missing downstream road according to the second information of the upstream road of the target intersection, includes:

[0102] In the case where the map information is road-level map information, the first information is generated according to the first center point, the second center point and the road width of the first upstream road; as an example, this step may be: in the case where there is no isolation strip on the road, a straight line passing through the first center point is made in the direction along the first upstream road, and a straight line passing through the second center point is made in the direction perpendicular to the second upstream road, and the intersection of the two straight lines is determined as the center point of the missing downstream road (a point on the stop line corresponding to the missing downstream road); further, with the road width of the first upstream road as a reference, two boundaries of the missing downstream road in its extension direction are determined;

[0103] or,

[0104] In the case where the map information is lane-level map information, the first information is generated according to the first center point, the second center point and the lane width of the first upstream road as an example. The first center point in this step is the center point of the leftmost lane of the first upstream road, and the second center point is the center point of the leftmost lane of the second upstream road (the lane closest to the missing downstream road). A straight line is drawn along the direction of the first upstream road passing through the first center point, and a straight line is drawn perpendicular to the second upstream road passing through the second center point. The intersection of the two straight lines is determined as the center point of the rightmost lane of the missing downstream road (the point on the stop line corresponding to the missing downstream road). Furthermore, with the lane width of the first upstream road as a reference, the two boundaries of the rightmost lane of the missing downstream road in its extension direction are determined. Thereafter, based on the lane attributes of all upstream roads, the number of lanes of the missing downstream road is determined, thereby determining the first information of the remaining lanes based on the information of the rightmost lane of the missing downstream road, and finally obtaining the first information of the missing downstream road.

[0105] As a specific implementation manner, when the map information is road-level map information, generating the first information according to the first center point, the second center point, and the road width of the first upstream road includes:

[0106] Determine the width of the isolation zone according to the first center point and the second center point; as an example, this step may be: draw a straight line passing through the first center point in the direction along the first upstream road, and draw a straight line passing through the second center point in the direction perpendicular to the second upstream road, obtain the intersection of the two straight lines, and determine the width of the isolation zone as: the difference between the distance between the intersection and the second center point and the average of the width of the first upstream road and the width of the second upstream road;

[0107] Determine a first translation distance according to the width of the isolation zone and the width of the first upstream road; for example, the first translation distance is the sum of the width of the isolation zone and the width of the first upstream road;

[0108] The second center point is translated along the first direction by the first translation distance to obtain a third center point of the missing downstream road, where the third center point is specifically the center point of the missing downstream road on its corresponding stop line; wherein the first direction is perpendicular to the extension direction of the second upstream road and is toward the missing downstream road;

[0109] The first information is generated according to the third center point and the road width. Here, as mentioned above, the first information includes the boundary line, the center line, etc. of the extension direction of the missing downstream road.

[0110] As another specific implementation manner, when the map information is lane-level map information, generating the first information according to the first center point, the second center point, and the lane width of the first upstream road includes:

[0111] Determine the width of the isolation zone according to the first center point and the second center point; the implementation of this step can refer to the implementation process of the isolation zone width in the previous specific implementation, which will not be repeated here;

[0112] According to the identification of the lanes of the downstream road connected to each lane of the upstream road in the second information, the number of lanes included in the missing downstream road is counted; this step may specifically be: through all upstream roads (with Figure 2 For example, if point F corresponds to a missing road, then the roads corresponding to points A, B, and G are all upstream roads of the missing road) and the number of lanes of the missing road is determined by accumulating lane attributes. Specifically, each upstream lane in the map information has a downstream road ID and downstream lane ID connected to it. The number of lanes of the missing road can be known by calculating the cumulative number of lane IDs whose downstream road ID is the missing road ID after deduplication. Specifically: first, obtain the ID of the downstream road corresponding to each lane of each upstream road and the lane ID corresponding to the ID of the downstream road; secondly, extract the missing downstream road ID and the corresponding lane ID from the acquired downstream road ID and lane ID; thirdly, deduplicate the extracted lane ID, and count the number of lanes contained in the missing downstream road based on the deduplicated lane ID. Here, Figure 2For example, if the lane ID of the downstream road F corresponding to point A is lane0; the lane IDs of the downstream road F corresponding to point G are lane0 and lane1; the lane ID of the downstream road F corresponding to point B is lane1; then the deduplication accumulation results show that there are two lanes in the missing road F, namely lane0 and lane1;

[0113] In the missing downstream road, for the i-th lane relative to the isolation belt (the lane closest to the isolation belt is the first lane), the second translation distance is determined according to the isolation belt width, the lane width, the number of lanes between the second center point and the isolation belt and i, wherein the isolation belt is located between the missing downstream road and the second upstream road; here, the sum of the number of lanes between the second center point and the isolation belt and i is the number of lanes between the second center point and the i-th lane; wherein the second translation distance is: the product of the number of lanes between the second center point and the i-th lane and the lane width, and the sum of the isolation belt width;

[0114] The second center point is translated along a first direction by the second translation distance to obtain a fourth center point of the i-th lane, wherein the first direction is perpendicular to an extension direction of the second upstream road and is toward the missing downstream road;

[0115] Generate first information of the i-th lane according to the fourth center point and the lane width; wherein the first information includes a boundary line and a center line of an extension direction of the i-th lane;

[0116] The first information of the missing downstream road is generated according to the first information of each lane of the missing downstream road. Here, the first information of the missing downstream road includes the first information of each lane included in the missing downstream road.

[0117] Based on the above two specific implementations, as a more specific implementation, determining the width of the isolation zone according to the first center point and the second center point includes:

[0118] Generate a first straight line passing through the second center point in the first direction, generate a second straight line passing through the first center point in the second direction, generate a third straight line passing through the second center point in the third direction, and generate a fourth straight line passing through the first center point in the fourth direction; wherein the second direction is the extension direction of the first upstream road, the third direction is the extension direction of the second upstream road, and the fourth direction is perpendicular to the extension direction of the first upstream road;

[0119] Obtaining a first intersection point between the first straight line and the second straight line, and a second intersection point between the third straight line and the fourth straight line;

[0120] by Figure 4 For example, assuming that the missing downstream road is the road corresponding to point C; the above two steps are: extend A along the center line of the lane\road to obtain the aforementioned second straight line, take B as the starting point, perpendicular to the lane\road generating straight line (the aforementioned first straight line) to which B belongs, and intersect at point C (the aforementioned first intersection point), extend B along the center line of the lane\road to obtain the aforementioned third straight line, take A as the starting point, perpendicular to the lane\road generating straight line (the aforementioned fourth straight line) to which A belongs, and intersect at point D (the aforementioned second intersection point);

[0121] The width of the isolation zone is determined according to a first distance between the second center point and the first intersection point, a second distance between the first center point and the second intersection point, and the map information.

[0122] Specifically, determining the width of the isolation zone according to a first distance between the second center point and the first intersection point, a second distance between the first center point and the second intersection point, and the level of the map information includes:

[0123] In the case where the map information is road-level map information, the width of the isolation zone is determined as the difference between a first mean and a second mean, wherein the first mean is the mean of the first distance and the second distance, and the second mean is the mean of the width of the first upstream road and the width of the second upstream road; Figure 4 For example, assuming that the above points A and B are the center points of the road, the width of the isolation zone = (BC + AD) / 2-(A road width + B road width) / 2, where the A / B road width is the width of the road where point A / point B is located;

[0124] In the case where the map information is lane-level map information, the width of the isolation zone is determined as a difference between the first mean and a first product, where the first product is the product of the number of lanes between the second center point and the first intersection and the lane width; Figure 4 For example, assuming that the above-mentioned points A and B are the center points of the lanes, the width of the isolation strip = (BC+AD) / 2-the number of lanes between point A and point B*lane width.

[0125] As an optional implementation, step 103 includes:

[0126] In the associated upstream road and the downstream road, a fifth center point and a sixth center point are obtained, wherein, when the map information is road-level map information, the fifth center point and the sixth center point are center points of stop lines of the associated upstream road and the downstream road; when the map information is lane-level map information, the fifth center point and the sixth center point are center points of stop lines of the upstream lane and the downstream lane relative to each other in the associated upstream road and the downstream road;

[0127] In the above steps, the associated upstream road / lane and downstream road / lane refer to the upstream road / lane and downstream road / lane that have a connection relationship. For example, if the upstream road has a right-turn lane attribute, the downstream road associated with it is the downstream road on the right side of the upstream road, that is, the road that the vehicle enters after turning right on the upstream road; the fifth center point is the intersection of the center line of the upstream road / lane and its stop line, and the sixth center point is the intersection of the center line of the downstream road / lane and its stop line;

[0128] At the fifth center point, a first direction vector of driving out of the upstream road among the associated upstream roads and downstream roads is obtained, and at the sixth center point, a second direction vector of driving into the downstream road among the associated upstream roads and downstream roads is obtained;

[0129] In the above steps, the first direction vector is a vector from the point on the center line of the upstream road / lane closest to the fifth center point toward the fifth center point (the distance between the two points is a unit length), and the second direction vector is a unit vector from the point on the center line of the downstream road / lane closest to the sixth center point toward the sixth center point; here, Fig. 9 For example, the first direction vector is V1 vector, and the second direction vector is V2 vector;

[0130] Obtain the third intersection point of the fifth straight line where the first direction vector is located and the sixth straight line where the second direction vector is located; Here, Fig. 9 For example, the third intersection point is point Q;

[0131] The arc virtual lane in the virtual lane is determined according to the third intersection point, the third distance between the fifth center point and the third intersection point, and the fourth distance between the sixth center point and the third intersection point; Figure 3 For example, the fifth center point is point S, the sixth center point is point E, the third distance is the distance between point S and point Q, and the fourth distance is the distance between point E and point Q; the arc virtual lane can be represented by the arc between S' and E;

[0132] The virtual lane is generated according to the arc virtual lane, the third distance and the fourth distance; here, according to different situations, the virtual lane can be the arc virtual lane, or the virtual lane can be the arc virtual lane and a straight virtual lane connected thereto. The above different situations will be described in detail later.

[0133] As a specific implementation manner, determining the arc virtual lane in the virtual lane according to the third intersection, a third distance between the fifth center point and the third intersection, and a fourth distance between the sixth center point and the third intersection includes:

[0134] When the third distance and the fourth distance are not equal, on the line segment corresponding to the larger distance between the third distance and the fourth distance, the smaller distance between the third distance and the fourth distance is intercepted from the third intersection to obtain an auxiliary point; Fig. 9 For example, the third distance (the length of line segment SQ) is greater than the fourth distance (the length of line segment QE). On this basis, on line segment SQ, starting from endpoint Q, the length of the fourth distance is intercepted to obtain auxiliary point S', that is, the length of line segment QS' is the fourth distance;

[0135] Generate an angle bisector of the angle formed by the fifth straight line and the sixth straight line at the third intersection; Fig. 9 For example, the angle bisector is the straight line QO;

[0136] Generate a first perpendicular line of the line segment corresponding to the larger distance and a second perpendicular line of the line segment corresponding to the smaller distance, wherein the first perpendicular line passes through the auxiliary point, and the second perpendicular line passes through an endpoint other than the third intersection point of the line segment corresponding to the smaller distance; and Fig. 9 For example, the first perpendicular line is the straight line OS', and the second perpendicular line is OE;

[0137] The center of the circle corresponding to the arc virtual lane is generated according to the angle bisector, the first perpendicular line and the second perpendicular line, and the arc virtual lane is generated according to the center of the circle and the distance between the center of the circle and the auxiliary point. Here, the intersection of the angle bisector, the first perpendicular line and the second perpendicular line is the center of the circle ( Fig. 9 The arc virtual lane is: the arc formed between point S' and point E with point O as the center and the distance between the center and the auxiliary point as the radius;

[0138] Below, Fig. 9 Take as an example to illustrate the implementation process of the above specific implementation method:

[0139] First, calculate the Q coordinate of the intersection point of the vectors entering and exiting the two lanes:

[0140]

[0141] Among them, S and E are the starting point and end point coordinates respectively. and They represent the direction vectors of the starting point and the end point (i.e., the heading angle direction vector), and Q is the intersection of the two straight lines in the plane coordinate system. Since the heading angle calculation cannot take the elevation into account, in short-distance calculations, the z-axis is approximately half of the relative elevation, that is, the intersection coordinates are: Q(q x ,q y ,q z ), where q z =(E z -S z ) / 2; E z is the z-axis coordinate of point E, S z is the z-axis coordinate of point S;

[0142] Second, calculate the center O and radius R:

[0143] Take the short sides of the two line segments SQ and QE to form an isosceles triangle. Assume that |SQ|>|QE|, then take S' on the line segment SQ through point Q, let |S'Q|=|QE|, then the angle bisector through ∠S'QE and the perpendiculars S' and E must intersect at the center of the circle, point O;

[0144]

[0145] Among them, L QE is the length of line segment QE, is the angle bisector unit direction vector.

[0146] Third, a circle is made based on the center O and the radius R, wherein the arc between S' and E represents the arc virtual lane.

[0147] As a specific implementation manner, generating the virtual lane according to the arc virtual lane, the third distance and the fourth distance includes:

[0148] When the third distance and the fourth distance are not equal, a straight virtual lane in the virtual lane is determined according to the third intersection point and the target center point, and the straight virtual lane is spliced ​​with the arc virtual lane to generate the virtual lane; wherein, when the third distance is less than the fourth distance, the target center point is the fifth center point, and when the third distance is greater than the fourth distance, the target center point is the sixth center point;

[0149] The above steps also Fig. 9For example, a straight virtual lane can be represented by a straight line where points S and Q are located. Therefore, the virtual lane can be represented by a straight line where points S and Q are located and an arc between points S' and E. Specifically, the virtual lane is represented by a straight line segment SS' and an arc segment S'E. Specifically, a virtual lane (or virtual lane line) can be obtained by marking dots at fixed length intervals on a straight line segment and an arc segment.

[0150] When the third distance and the fourth distance are equal, the virtual lane is determined to be the arc virtual lane; Fig. 9 For example, since the third distance and the fourth distance are equal, the generated virtual lane does not include the straight line segment SS', but only includes the arc segment S'E, wherein the virtual lane (or virtual lane line) can be obtained by marking points at fixed length intervals on the arc segment.

[0151] Next, combine Fig.10 , an example of completing the map in the method for generating a virtual lane in an embodiment of the present application is described, and the example specifically includes the following steps:

[0152] Step 1001, receiving MAP information from RSU; here, the MAP information corresponds to the aforementioned map information;

[0153] Step 1002, determine whether the map is complete; if so, execute step 1004, if not, execute step 1003; specifically, this step can be to parse the MAP information, and then determine whether the map information is complete by matching the lane attributes in the map information and whether the downstream road exists. Specifically, the lane attributes mainly include straight, left turn, right turn and mixed attributes of these attributes, such as straight + left turn. Based on this attribute, further determine whether there is a road corresponding to the turn in the map, such as Figure 2 , respectively, the map is complete and the map is missing. The map is complete, that is, the downstream roads corresponding to each lane attribute exist. Figure 2In the middle right map, the lane corresponding to point A at the bottom has a right-turn lane attribute for the lane entering the intersection, but the road for right turns does not exist, so it is determined to be missing from the map. The number of lanes of the missing road is unknown, and the number of lanes of the missing road can be determined by accumulating the lane attributes of all upstream roads (for example, point F corresponds to the missing road, so the roads corresponding to points A, B, and G are all its upstream roads). Specifically, each upstream lane in the map information has a downstream road ID and downstream lane ID connected to it. The number of lanes of the missing road can be known by calculating the cumulative number of lane IDs whose downstream road ID is the missing road ID after deduplication (for example, the lane ID of A corresponding to the downstream road ID F is lane0; the lane IDs of G corresponding to the downstream road ID F are lane0 and lane1; the lane ID of B corresponding to the downstream road ID F is lane1; then the deduplication accumulation shows that there are two lanes in the missing road F, namely lane0 and lane1)

[0154] Step 1003, fill in the center points of the entrance and exit roads and lanes; specifically, to realize the calculation of virtual lane points in the intersection, it is necessary to fill in the coordinates of the center points of each downstream road according to the center point information of the current Node map. The center point of the downstream road / lane can be obtained by translating the known coordinates of point B (the center point of the road or the center point of the leftmost lane) along the vertical direction of the road / lane at point B, where the translation distance is:

[0155] (Lane-level map) Translation distance = expected number of lanes * lane width + median width;

[0156] (Road level map) Translation distance = road width + isolation belt width;

[0157] Among them, the road width and lane width can be obtained through map information. The expected number of lanes is the downstream i-th lane that is currently to be drawn. The width of the isolation belt needs to be calculated through map information. For example, Figure 4 As shown, the road corresponding to point C is the missing part. Extend A along the center line of the lane / road, and generate a straight line perpendicular to the lane / road to which B belongs, starting from B, and intersecting at point C. Extend B along the center line of the lane / road, and generate a straight line perpendicular to the lane / road to which A belongs, starting from A, and intersecting at point D. The width of the isolation belt is:

[0158] The width of the isolation zone in the lane-level map = (BC + AD) / 2 - the number of lanes * lane width;

[0159] The width of the isolation zone of the road-level map = (BC + AD) / 2-(A road width + B road width) / 2;

[0160] Step 1004, generate virtual roads and lane lines; specifically, after calculating the width of the isolation zone, if it is a lane-level map, it is necessary to further infer the number of downstream lanes through known map information. The specific method is to obtain the laneID of the downstream connected Lane in the current Node map information, and at the same time take out all the downstream laneIDs corresponding to the Link. The number of different laneIDs indicates how many different lanes there are downstream. After obtaining the number of lanes, the position coordinates of the center point of each lane are inferred through the above translation formula, and then the predicted trajectory in the intersection can be calculated.

[0161] However, it should be noted that if Figure 5 As shown in the figure, when the intersection is a non-standard intersection, the downstream lane\road center point may deviate from the actual point. According to the simulation, a two-way 4-lane intersection is taken as an example, where the lane width is 3.5m and the sidewalk width is 2m. Figure 5 In the case of midpoint C, the errors of generated points corresponding to different deflection angles of roads A and B are shown in Table 1. When the relative deflection angle is within plus or minus 6.5°, the error can be guaranteed to be within 1m. If it is a two-way 6-lane road, other conditions remain unchanged. When the relative deflection angle is within plus or minus 4.7°, the error can be guaranteed to be within 1m.

[0162] Table 1 Bidirectional 4-lane deflection error table

[0163]

[0164]

[0165] The simulation results based on a two-way 4-lane, no dividing strip, and a 2m wide sidewalk are as follows: Figure 6 , Figure 7 and Figure 8 As shown, there are two possible situations: situation 1: standard crossroad, no offset in both directions, no error in calculation (such as Figure 6 Case 2: Non-standard intersection, the opposite road has relative deflection. The calculation error of this scenario will increase as the deflection angle increases (as shown in Figure 7 and Figure 8 shown).

[0166] After the map is completed, as described above, the virtual road in the intersection can be generated by relying on the straight line + arc calculation method. If the lane attribute is turning, the virtual road trajectory in the intersection exists in the form of arc + straight line (current road width ≠ downstream road width) or arc (current road width = downstream road width). The specific implementation process can be referred to in the above combined method. Fig. 9 The description of the example is not repeated here.

[0167] In response to the problem that the aforementioned virtual lane lines are difficult to generate accurately, the virtual lane generation method of the embodiment of the present application proposes a virtual lane calculation method that is compatible with incomplete maps. It determines whether the received map is complete through analysis, and for incomplete maps, calculates and completes the center coordinate points of the downstream road through known map information. This achieves the goal of not requiring additional information input and computing resources, and only uses existing information to calculate and complete the map each time the map is received, and generates a virtual lane in the intersection based on the completed map. This solves the problem that it is difficult to generate accurate virtual lane lines in intersections when the map is incomplete, and improves the accuracy of trajectory prediction and collision warning.

[0168] The embodiment of the present application provides a virtual lane generation device, which is applied to an OBU on a first vehicle, such as Fig.11 As shown, the device comprises:

[0169] The acquisition module 1101 is used to acquire map information of a target intersection; the target intersection is an intersection in a first area where the current position of the first vehicle is located;

[0170] A first generating module 1102 is used to generate the missing first information of the downstream road according to the second information of the upstream road of the target intersection to obtain updated map information when the first information of at least one downstream road of the target intersection is missing in the map information;

[0171] The second generating module 1103 is used to generate a virtual lane between the associated upstream road and the downstream road according to the updated map information.

[0172] Optionally, the device further comprises:

[0173] a determination module, configured to determine, based on the lane attribute and / or the downstream intersection ID in the second information, whether there is a downstream road corresponding to the lane attribute and / or the downstream intersection ID in the map information; if not, determining that first information of at least one downstream road of the target intersection is missing in the map information;

[0174] The lane attribute includes at least one of going straight, turning left and turning right, and the downstream intersection ID is the ID of the downstream intersection that has a connection relationship with the upstream road corresponding to the second information.

[0175] Optionally, the second information includes:

[0176] a first center point on a stop line of a first upstream road associated with the first upstream road;

[0177] a second center point on the stop line of the second upstream road associated with the second upstream road;

[0178] Wherein, the first upstream road and the missing downstream road are symmetrically located on both sides of the target intersection, and the second upstream road and the missing downstream road are located on the same side of the target intersection;

[0179] On this basis, the first generating module 1102 includes:

[0180] a first generating submodule, configured to generate the first information according to the first center point, the second center point and the road width of the first upstream road when the map information is road-level map information;

[0181] or,

[0182] The second generating submodule is used to generate the first information according to the first center point, the second center point and the lane width of the first upstream road when the map information is lane-level map information.

[0183] Optionally, the first generating submodule includes:

[0184] A first determining unit, configured to determine a width of an isolation zone according to the first center point and the second center point;

[0185] a second determining unit, configured to determine a first translation distance according to the width of the isolation zone and the width of the first upstream road;

[0186] A first acquisition unit, configured to translate the second center point along a first direction by the first translation distance to obtain a third center point of the missing downstream road, wherein the first direction is perpendicular to an extension direction of the second upstream road and is toward the missing downstream road;

[0187] The first generating unit is used to generate the first information according to the third center point and the road width.

[0188] Optionally, the second generating submodule includes:

[0189] A third determining unit, configured to determine a width of the isolation zone according to the first center point and the second center point;

[0190] a counting unit, configured to count the number of lanes included in the missing downstream road according to the identifiers of the lanes of the downstream road connected to the lanes of the upstream road in the second information;

[0191] a fourth determining unit, configured to determine, in the missing downstream road, for an i-th lane relative to a median strip, according to a width of the median strip, a width of the lane, a number of lanes between the second center point and the median strip, and i, wherein the median strip is located between the missing downstream road and the second upstream road;

[0192] a second acquisition unit, configured to translate the second center point along a first direction by the second translation distance to obtain a fourth center point of the i-th lane, wherein the first direction is perpendicular to an extension direction of the second upstream road and is toward the missing downstream road;

[0193] A second generating unit, configured to generate first information of the i-th lane according to the fourth center point and the lane width;

[0194] The third generating unit is used to generate the first information of the missing downstream road according to the first information of each lane of the missing downstream road.

[0195] Optionally, the first determining unit and the third determining unit respectively include:

[0196] a generating subunit, configured to generate a first straight line passing through the second center point in the first direction, generate a second straight line passing through the first center point in the second direction, generate a third straight line passing through the second center point in the third direction, and generate a fourth straight line passing through the first center point in the fourth direction; wherein the second direction is an extension direction of the first upstream road, the third direction is an extension direction of the second upstream road, and the fourth direction is perpendicular to the extension direction of the first upstream road;

[0197] an acquisition subunit, configured to acquire a first intersection point between the first straight line and the second straight line, and a second intersection point between the third straight line and the fourth straight line;

[0198] A determination subunit is used to determine the width of the isolation zone according to a first distance between the second center point and the first intersection point, a second distance between the first center point and the second intersection point, and the map information.

[0199] Optionally, the determining subunit is specifically used for:

[0200] In the case where the map information is road-level map information, determining the width of the isolation zone as a difference between a first mean and a second mean, wherein the first mean is a mean of the first distance and the second distance, and the second mean is a mean of a width of the first upstream road and a width of the second upstream road;

[0201] In the case where the map information is lane-level map information, the width of the isolation zone is determined as a difference between the first mean and a first product, where the first product is a product of the number of lanes between the second center point and the first intersection and the lane width.

[0202] Optionally, the second generating module 1103 includes:

[0203] A first acquisition submodule is used to acquire a fifth center point and a sixth center point in the associated upstream road and the downstream road, wherein, when the map information is road-level map information, the fifth center point and the sixth center point are center points of stop lines of the associated upstream road and the downstream road; when the map information is lane-level map information, the fifth center point and the sixth center point are center points of stop lines of the corresponding upstream lane and the downstream lane in the associated upstream road and the downstream road;

[0204] A second acquisition submodule is used to acquire a first direction vector of driving out of the upstream road among the associated upstream road and downstream road at the fifth center point, and to acquire a second direction vector of driving into the downstream road among the associated upstream road and downstream road at the sixth center point;

[0205] A third acquisition submodule, used to acquire a third intersection point between a fifth straight line where the first direction vector is located and a sixth straight line where the second direction vector is located;

[0206] a determination submodule, configured to determine an arc virtual lane in the virtual lane according to the third intersection point, a third distance between the fifth center point and the third intersection point, and a fourth distance between the sixth center point and the third intersection point;

[0207] The third generating submodule is used to generate the virtual lane according to the arc virtual lane, the third distance and the fourth distance.

[0208] Optionally, the determining submodule includes:

[0209] a fourth acquisition unit, configured to, when the third distance and the fourth distance are not equal, intercept the smaller distance between the third distance and the fourth distance from the third intersection on a line segment corresponding to the larger distance between the third distance and the fourth distance to obtain an auxiliary point;

[0210] A fourth generating unit, configured to generate an angle bisector of an angle formed by the fifth straight line and the sixth straight line at the third intersection;

[0211] A fifth generating unit, configured to generate a first perpendicular line to the line segment corresponding to the larger distance and a second perpendicular line to the line segment corresponding to the smaller distance, wherein the first perpendicular line passes through the auxiliary point, and the second perpendicular line passes through an endpoint other than the third intersection point of the line segment corresponding to the smaller distance;

[0212] The sixth generating unit is used to generate the center point of the circular arc virtual lane according to the angle bisector, the first perpendicular line and the second perpendicular line, and to generate the circular arc virtual lane according to the center point and the distance between the center point and the auxiliary point.

[0213] Optionally, the third generation submodule includes:

[0214] a seventh generating unit, configured to determine, when the third distance and the fourth distance are not equal, a straight virtual lane in the virtual lane according to the third intersection point and the target center point, and to splice the straight virtual lane with the arc virtual lane to generate the virtual lane; wherein, when the third distance is less than the fourth distance, the target center point is the fifth center point, and when the third distance is greater than the fourth distance, the target center point is the sixth center point;

[0215] The fifth determining unit is used to determine that the virtual lane is the circular arc virtual lane when the third distance is equal to the fourth distance.

[0216] It should be noted here that the above-mentioned virtual lane generation device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned virtual lane generation method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0217] An embodiment of the present application also provides a virtual lane generation device, including a transceiver 1210, a processor 1200, a memory 1220, and a program stored on the memory 1220 and executable on the processor 1200; wherein, when the processor 1200 executes the program, the virtual lane generation method as described above is implemented.

[0218] The transceiver 1210 is used to receive and send data under the control of the processor 1200.

[0219] Among them, Fig.1212, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1200 and memory represented by memory 1220. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1210 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium.

[0220] The processor 1200 is responsible for managing the bus architecture and general processing, and the memory 1220 can store data used by the processor 1200 when performing operations.

[0221] It should be noted here that the above-mentioned virtual lane generation device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned virtual lane generation method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0222] The embodiment of the present application also provides a readable storage medium, on which a program is stored, and when the program is executed by a processor, each process of the above-mentioned virtual lane generation method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0223] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD), and includes a number of instructions for executing the methods described in each embodiment of the present application.

[0224] Therefore, an embodiment of the present application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the steps in the virtual lane generation method as described above and can achieve the same technical effect. To avoid repetition, they will not be described here.

[0225] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0226] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A virtual lane generation method, characterized in that: The method is applied to an on-board unit (OBU) on a first vehicle, and comprises: Acquire map information of a target intersection; the target intersection is an intersection within a first area where the current position of the first vehicle is located; In a case where the first information of at least one downstream road of the target intersection is missing in the map information, generating the missing first information of the downstream road according to the second information of the upstream road of the target intersection to obtain updated map information; A virtual lane between the associated upstream road and downstream road is generated according to the updated map information.

2. The method according to claim 1, characterized in that The method further comprises: Determine, according to the lane attribute and / or the downstream intersection ID in the second information, whether there is a downstream road corresponding to the lane attribute and / or the downstream intersection ID in the map information; if not, determine that the first information of at least one downstream road of the target intersection is missing in the map information; The lane attribute includes at least one of going straight, turning left and turning right, and the downstream intersection ID is the ID of the downstream intersection that has a connection relationship with the upstream road corresponding to the second information.

3. The method according to claim 1, characterized in that The second information includes: a first center point on a stop line of a first upstream road associated with the first upstream road; a second center point on the stop line of the second upstream road associated with the second upstream road; Wherein, the first upstream road and the missing downstream road are symmetrically located on both sides of the target intersection, and the second upstream road and the missing downstream road are located on the same side of the target intersection; Generating first information of a missing downstream road according to second information of an upstream road of the target intersection includes: In the case where the map information is road-level map information, generating the first information according to the first center point, the second center point and the road width of the first upstream road; or, In a case where the map information is lane-level map information, the first information is generated according to the first center point, the second center point, and a lane width of the first upstream road.

4. The method according to claim 3, characterized in that In the case where the map information is road-level map information, generating the first information according to the first center point, the second center point, and the road width of the first upstream road includes: Determine the width of the isolation zone according to the first center point and the second center point; Determining a first translation distance according to the width of the isolation zone and the width of the first upstream road; The second center point is translated along a first direction by the first translation distance to obtain a third center point of the missing downstream road, wherein the first direction is perpendicular to the extension direction of the second upstream road and is toward the missing downstream road; The first information is generated according to the third center point and the road width.

5. The method according to claim 3, characterized in that: In a case where the map information is lane-level map information, generating the first information according to the first center point, the second center point, and the lane width of the first upstream road includes: Determine the width of the isolation zone according to the first center point and the second center point; According to the identifiers of the lanes of the downstream road connected to each lane of the upstream road in the second information, counting the number of lanes included in the missing downstream road; In the missing downstream road, for an i-th lane relative to a median strip, a second translation distance is determined according to a width of the median strip, a width of the lane, the number of lanes between the second center point and the median strip, and i, wherein the median strip is located between the missing downstream road and the second upstream road; The second center point is translated along a first direction by the second translation distance to obtain a fourth center point of the i-th lane, wherein the first direction is perpendicular to an extension direction of the second upstream road and is toward the missing downstream road; generating first information of the i-th lane according to the fourth center point and the lane width; The first information of the missing downstream road is generated according to the first information of each lane of the missing downstream road.

6. The method according to claim 4 or 5, characterized in that: Determining the width of the isolation zone according to the first center point and the second center point includes: Generate a first straight line passing through the second center point in the first direction, generate a second straight line passing through the first center point in the second direction, generate a third straight line passing through the second center point in the third direction, and generate a fourth straight line passing through the first center point in the fourth direction; wherein the second direction is the extension direction of the first upstream road, the third direction is the extension direction of the second upstream road, and the fourth direction is perpendicular to the extension direction of the first upstream road; Obtaining a first intersection point between the first straight line and the second straight line, and a second intersection point between the third straight line and the fourth straight line; The width of the isolation zone is determined according to a first distance between the second center point and the first intersection point, a second distance between the first center point and the second intersection point, and the map information.

7. The method according to claim 6, characterized in that Determining the width of the isolation zone according to a first distance between the second center point and the first intersection point, a second distance between the first center point and the second intersection point, and a level of the map information includes: In the case where the map information is road-level map information, determining the width of the isolation zone as a difference between a first mean and a second mean, wherein the first mean is a mean of the first distance and the second distance, and the second mean is a mean of a width of the first upstream road and a width of the second upstream road; In the case where the map information is lane-level map information, the width of the isolation zone is determined as a difference between the first mean and a first product, where the first product is a product of the number of lanes between the second center point and the first intersection and the lane width.

8. The method according to claim 1, characterized in that Generating a virtual lane between an associated upstream road and a downstream road according to the updated map information includes: In the associated upstream road and the downstream road, a fifth center point and a sixth center point are obtained, wherein, when the map information is road-level map information, the fifth center point and the sixth center point are center points of stop lines of the associated upstream road and the downstream road; when the map information is lane-level map information, the fifth center point and the sixth center point are center points of stop lines of the upstream lane and the downstream lane relative to each other in the associated upstream road and the downstream road; At the fifth center point, a first direction vector of driving out of the upstream road among the associated upstream roads and downstream roads is obtained, and at the sixth center point, a second direction vector of driving into the downstream road among the associated upstream roads and downstream roads is obtained; Obtain a third intersection point of a fifth straight line where the first direction vector is located and a sixth straight line where the second direction vector is located; Determine an arc virtual lane in the virtual lane according to the third intersection point, a third distance between the fifth center point and the third intersection point, and a fourth distance between the sixth center point and the third intersection point; The virtual lane is generated according to the arc virtual lane, the third distance and the fourth distance.

9. The method according to claim 8, characterized in that Determining the arc virtual lane in the virtual lane according to the third intersection point, a third distance between the fifth center point and the third intersection point, and a fourth distance between the sixth center point and the third intersection point includes: When the third distance and the fourth distance are not equal, on a line segment corresponding to the larger distance between the third distance and the fourth distance, a smaller distance between the third distance and the fourth distance is intercepted from the third intersection point to obtain an auxiliary point; generating an angle bisector of the angle formed by the fifth straight line and the sixth straight line at the third intersection point; Generate a first perpendicular line of the line segment corresponding to the larger distance and a second perpendicular line of the line segment corresponding to the smaller distance, wherein the first perpendicular line passes through the auxiliary point, and the second perpendicular line passes through an endpoint other than the third intersection point of the line segment corresponding to the smaller distance; The center of the circular arc virtual lane is generated according to the angle bisector, the first perpendicular line and the second perpendicular line, and the circular arc virtual lane is generated according to the center of the circle and the distance between the center of the circle and the auxiliary point.

10. The method according to claim 8, characterized in that Generating the virtual lane according to the arc virtual lane, the third distance and the fourth distance includes: When the third distance and the fourth distance are not equal, a straight virtual lane in the virtual lane is determined according to the third intersection point and the target center point, and the straight virtual lane is spliced ​​with the arc virtual lane to generate the virtual lane; wherein, when the third distance is less than the fourth distance, the target center point is the fifth center point, and when the third distance is greater than the fourth distance, the target center point is the sixth center point; When the third distance and the fourth distance are equal, the virtual lane is determined to be the circular arc virtual lane.

11. A virtual lane generation device, characterized in that: The OBU applied to the first vehicle comprises: An acquisition module, used to acquire map information of a target intersection; the target intersection is an intersection within a first area where the current position of the first vehicle is located; A first generating module, configured to generate the missing first information of the downstream road according to the second information of the upstream road of the target intersection, and obtain updated map information when the first information of at least one downstream road of the target intersection is missing in the map information; The second generating module is used to generate a virtual lane between the associated upstream road and the downstream road according to the updated map information.

12. A virtual lane generation device, comprising a transceiver, a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the virtual lane generation method according to any one of claims 1 to 10 is implemented.

13. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the virtual lane generation method according to any one of claims 1 to 10 is implemented.

14. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the virtual lane generation method according to any one of claims 1 to 10.

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