Lane line topology connection marking method and device based on Bezier curve

Abstract

The invention discloses a Bezier curve-based lane line topology connection marking method and device, and relates to the technical field of automatic driving, and the method comprises the steps: determining a first lane center line and a second lane center line according to the obtained lane information of the intersection of a first lane and a second lane, calculating an intersection center circle according to the first lane center line and the second lane center line; determining a control point of a Bezier curve according to the first lane center line, the second lane center line and the intersection point center circle; generating an initial Bezier curve according to the control points of the Bezier curve; and determining the initial Bezier curve as a first fitting connecting line, and marking the topological connection of the lane line by using the first fitting connecting line. According to the method and the device, through the lane information and the Bezier curve at the intersection of the first lane and the second lane, the topological connection of the lane lines can be efficiently marked.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method and device for marking lane line topological connections based on Bezier curves. Background Art

[0002] With the rapid development of autonomous driving technology, high-precision maps play a vital role in autonomous driving systems. High-precision maps not only provide geometric information of roads, but also contain detailed information such as lane lines and traffic signs. In the process of building high-precision maps, the annotation of lane line topology is very important, which will directly affect the path planning and decision-making capabilities of autonomous vehicles.

[0003] At present, the traditional lane line topology connection labeling method mainly relies on manual labeling. Although the traditional manual labeling method can complete the lane line topology structure labeling task, its labeling is time-consuming, labor-intensive, inefficient, error-prone, and has poor consistency. Summary of the invention

[0004] The purpose of this application is to provide a lane line topology connection labeling method and device based on Bezier curves to improve the efficiency of lane topology connection labeling.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a method for marking lane line topological connections based on Bezier curves, comprising:

[0007] Acquire lane information at the intersection of the first lane and the second lane, and determine the center line of the first lane and the center line of the second lane according to the lane information. The road section type at the intersection of the first lane and the second lane is a conventional turn, an intersection, a high-speed ramp, or an elevated ramp;

[0008] According to the center line of the first lane and the center line of the second lane, a center circle of the intersection is calculated; the center of the center circle of the intersection is the intersection of the tangent at the endpoint of the center line of the first lane and the straight line where the center line of the second lane is located; the radius of the center circle of the intersection is determined as follows: a first distance and a second distance are calculated, and the smaller distance between the first distance and the second distance is determined as the radius of the center circle of the intersection; the endpoint of the center line of the first lane is the endpoint close to the intersection, and the first distance is the distance between the endpoint of the center line of the first lane and the center of the center circle of the intersection; the second distance is the distance between the endpoint of the center line of the second lane and the center of the center circle of the intersection.

[0009] Determining control points of an initial Bezier curve according to the first lane centerline, the second lane centerline and the intersection center circle;

[0010] Based on the control points of the initial Bezier curve, an initial Bezier curve is generated;

[0011] The initial Bezier curve is determined as a first fitting connection line, and the lane line topology connection is marked using the first fitting connection line.

[0012] In a second aspect, the present application provides another lane line topology connection annotation method based on Bezier curves, including:

[0013] Acquire lane information at the intersection of the third lane and the fourth lane, and determine the center line of the third lane and the center line of the fourth lane according to the lane information; wherein the road section type at the intersection of the third lane and the fourth lane is a lane merging;

[0014] According to the center line of the third lane and the center line of the fourth lane, calculate the center circle of the first intersection and the center circle of the second intersection; wherein the radius of the center circle of the first intersection is a times the width of the third lane; the center of the first intersection is the point where the radius of the center circle of the first intersection is extended from the endpoint of the center line of the third lane; a is a constant; the endpoint of the center line of the third lane is the endpoint close to the intersection; the radius of the center circle of the second intersection is b times the width of the fourth lane; the center of the second intersection is the point where the radius of the center circle of the second intersection is extended from the endpoint of the center line of the fourth lane; b is a constant.

[0015] Control points of an initial Bezier curve are determined according to the third lane center line, the fourth lane center line, the first intersection center circle, and the second intersection center circle.

[0016] An initial Bezier curve is generated based on the control points of the initial Bezier curve.

[0017] The initial Bezier curve is determined as a first fitting connection line, and the lane line topology connection is marked using the first fitting connection line.

[0018] In a third aspect, the present application provides another lane line topology connection annotation method based on Bezier curves, including:

[0019] The lane information of the intersection of the fifth lane and the sixth lane is obtained, and the center line of the fifth lane and the center line of the sixth lane are determined according to the lane information; wherein the road section type of the intersection of the fifth lane and the sixth lane is a U-turn or a U-turn.

[0020] According to the center line of the fifth lane and the center line of the sixth lane, the center circle of the third intersection and the center circle of the fourth intersection are calculated.

[0021] The control points of the initial Bezier curve are determined according to the fifth lane center line, the sixth lane center line, the third intersection center circle and the fourth intersection center circle.

[0022] An initial Bezier curve is generated based on the control points of the initial Bezier curve.

[0023] The initial Bezier curve is determined as a first fitting connection line, and the lane line topology connection is marked using the first fitting connection line.

[0024] In a fourth aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the above-mentioned methods for topological connection labeling of lane lines based on Bezier curves.

[0025] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0026] The present application provides a lane line topology connection labeling method and device based on Bezier curves, the method mainly comprising: determining the center line of the first lane and the center line of the second lane according to the acquired lane information at the intersection of the first lane and the second lane, and calculating the center circle of the intersection according to the center line of the first lane and the center line of the second lane; determining the control points of the Bezier curve according to the center line of the first lane, the center line of the second lane and the center circle of the intersection; generating an initial Bezier curve according to the control points of the Bezier curve; determining the initial Bezier curve as a first fitting connection line, and using the first fitting connection line to label the lane line topology connection. The present application calculates the center circle of the intersection based on the lane information at the intersection of the first lane and the second lane; then, determines the control points of the Bezier curve based on the lane information and the center circle of the intersection, generates the initial Bezier curve; finally, determines the Bezier curve as the first fitting connection line. Compared with the traditional manual labeling method, the present application can achieve efficient lane line topology connection labeling. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 This is an application environment diagram of a lane line topology connection marking method based on Bezier curves in one embodiment of the present application;

[0029] Figure 2A schematic diagram of a process flow of a lane line topology connection marking method based on Bezier curves provided in one embodiment of the present application;

[0030] Figure 3 A schematic diagram of lane line topology connection annotation at a conventional turning point provided by an embodiment of the present application;

[0031] Figure 4 A schematic diagram of lane line topology connection annotation at an intersection provided in an embodiment of the present application;

[0032] Figure 5 A schematic diagram of lane line topology connection annotation at a highway / elevated ramp provided in an embodiment of the present application;

[0033] Figure 6 A schematic diagram of lane line topology connection annotation at another highway / elevated ramp provided by an embodiment of the present application;

[0034] Figure 7 A schematic diagram of lane line topology connection annotation at a conventional turn after dynamically adjusting parameters provided in an embodiment of the present application;

[0035] Figure 8 A schematic flow chart of a lane topology connection marking method based on Bezier curves provided in another embodiment of the present application;

[0036] Fig. 9 A schematic diagram of lane line topology connection annotation at a lane merging point provided by an embodiment of the present application;

[0037] Fig.10 A schematic flow chart of a lane topology connection marking method based on Bezier curves provided in another embodiment of the present application;

[0038] Fig.11 A schematic diagram of lane line topology connection annotation at a U-turn / U-turn provided in an embodiment of the present application;

[0039] Fig.12 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0042] The lane line topology connection marking method based on Bezier curve provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be set up separately, integrated on the server 104, or placed on the cloud or other servers. The terminal 102 can send the lane information at the intersection of the first lane and the second lane to the server 104. After the server 104 receives the lane information at the intersection of the first lane and the second lane, for the lane information, the server 104 first determines the center line of the first lane and the center line of the second lane based on the lane information; then, according to the center line of the first lane and the center line of the second lane, the center circle of the intersection is calculated, and the control points of the initial Bezier curve are determined according to the center line of the first lane, the center line of the second lane and the center circle of the intersection; finally, based on the control points of the initial Bezier curve, an initial Bezier curve is generated, and the initial Bezier curve is determined as a first fitting connection line, and the first fitting connection line is used to mark the lane line topological connection. In addition, after obtaining the initial Bezier curve, the server 104 may also dynamically adjust the initial Bezier curve to obtain an adjusted Bezier curve, and determine the adjusted Bezier curve as a first fitting connection line, and use the first fitting connection line to mark the lane line topological connection. The server 104 may feed back the lane information at the intersection of the first lane and the second lane to the terminal 102. In addition, in some embodiments, the lane line topological connection marking method based on the Bezier curve may also be implemented separately by the server 104 or the terminal 102, such as the terminal 102 may directly process the lane information at the intersection of the first lane and the second lane, or the server 104 may obtain the lane information at the intersection of the first lane and the second lane from the data storage system, and process the lane information.

[0043] The terminal 102 may be, but is not limited to, various desktop computers, laptop computers, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, etc. The portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers, or may be a cloud server.

[0044] In an exemplary embodiment, Figure 2As shown, a lane line topology connection labeling method based on Bezier curve is provided. The method is executed by a computer device, and can be executed by a computer device such as a terminal or a server alone, or by a terminal and a server together. In the embodiment of the present application, the method is applied to Figure 1 The server 104 in the example is used as an example to illustrate, including the following steps 201 to 205, wherein:

[0045] Step 201: Acquire lane information at the intersection of a first lane and a second lane, and determine a center line of the first lane and a center line of the second lane according to the lane information.

[0046] Among them, Figure 3 to Figure 6 As shown, the road section type at the intersection of the first lane and the second lane is a regular turn, an intersection, a highway ramp, or an elevated ramp.

[0047] As an optional implementation, in step 201, obtaining lane information at the intersection of the first lane and the second lane, and determining the center line of the first lane and the center line of the second lane according to the lane information specifically includes:

[0048] Obtain the Lidar point cloud data at the intersection of the first lane and the second lane, and establish a plane rectangular coordinate system.

[0049] A first lane centerline and a second lane centerline are determined according to the Lidar point cloud data and the plane rectangular coordinate system.

[0050] Further, in step 201, for the Lidar point cloud data at the intersection of the first lane and the second lane, a preprocessing algorithm is used to extract the mathematical expression of its center line, that is, a straight line passing through these two points is calculated according to its starting point and end point (in order to make the slope exist, the selected plane needs to be adjusted so that the center lines of the two lanes are not perpendicular):

[0051]

[0052] If the center line is a curve, then h points are taken at the end of the curve and a quadratic curve is fitted. i ,y i ), both have:

[0053] y i =px i 2 +qx i +r;

[0054] It can be expressed in matrix form as:

[0055]

[0056] Let the matrix be y=Au, and the over-constrained system can be solved by using the least squares method to obtain:

[0057] u=(A T A) -1 A T y;

[0058] Solving for the parameters of the quadratic curve gives the derivative equation of the quadratic curve:

[0059] y′(x)=2px i +q;

[0060] Substitute the coordinates of the end points of the curve into the derivative equation of the quadratic curve to obtain the slope and intercept of the tangent line.

[0061] Step 202: Calculate the center circle of the intersection according to the center line of the first lane and the center line of the second lane.

[0062] As an optional implementation, in step 202, the center of the intersection center circle is the intersection of the tangent at the endpoint of the center line of the first lane and the straight line where the center line of the second lane is located; the radius of the intersection center circle is determined as follows: a first distance and a second distance are calculated, and the smaller distance between the first distance and the second distance is determined as the radius of the intersection center circle; the endpoint of the center line of the first lane is the endpoint close to the intersection, and the first distance is the distance between the endpoint of the center line of the first lane and the center of the intersection center circle; the second distance is the distance between the endpoint of the center line of the second lane and the center of the intersection center circle.

[0063] Step 203: determining control points of an initial Bezier curve according to the first lane centerline, the second lane centerline, and the intersection center circle.

[0064] As an optional implementation, in step 203, the center of the intersection center circle is determined as the first control point of the initial Bezier curve, the intersection of the tangent line at the endpoint of the center line of the first lane and the intersection center circle is determined as the second control point of the initial Bezier curve, and the intersection of the straight line where the center line of the second lane is located and the intersection center circle is determined as the third control point of the initial Bezier curve.

[0065] Further, in step 203, the intersection point (m, n) of the two lane center lines is set as the first control point by default. The first control point is also the center of the center circle of the intersection point. The selected plane is adjusted so that the two lane center lines are not perpendicular. Then, the intersection point of the two lane center lines is:

[0066]

[0067] Among them, p1 is the starting point of the center line of the first lane, p2 is the end point of the center line of the first lane, q1 is the starting point of the center line of the second lane, and q2 is the end point of the center line of the second lane, which are the starting point and end point of the center line of the second lane respectively.

[0068] The distance between the center point of the first lane centerline endpoint and the center circle of the intersection and the distance between the center point of the second lane centerline endpoint and the center circle of the intersection are calculated respectively, and the endpoint of the lane centerline closer to the center is determined as the second control point.

[0069] For the lane centerline that is far from the center of the circle, extend it to intersect with the center circle, and determine the first intersection point as the third control point. The specific process is as follows:

[0070] For the lane centerline equation:

[0071] y=k i +b i (i = 1·or 2);

[0072] Substituting this into the central circle equation:

[0073] (xm) 2 +(yn) 2 =r 2 ;

[0074] get:

[0075] (xm) 2 +(k i ·x+b i -n) 2 =r 2 ;

[0076] Solving the equation, the solution is:

[0077]

[0078] or

[0079]

[0080] Where Δ=[2·(k i ·(b i -n)-m)] 2 -4·(1+k i 2 )(m 2 +(b i -n) 2 -r 2 ).

[0081] For the coordinates of the two intersection points corresponding to the two solutions, the point closer to the starting point of the extended midline is selected as the third control point.

[0082] Step 204: Generate an initial Bezier curve based on the control points of the initial Bezier curve.

[0083] As an optional implementation, in step 204, generating the initial Bezier curve based on the control points of the initial Bezier curve includes:

[0084] Get the preset number of curve sampling points.

[0085] The control point coordinates of the Bezier curve and the preset number of curve sampling points are input into a second-order Bezier curve equation, and an initial Bezier curve is output.

[0086] Furthermore, in step 204, the equation of the second-order Bezier curve is:

[0087] B(t)=(1-t) 2 C0+2(1-t)tC1+t 2 C2,t∈[0,1].

[0088] The coordinates of the three control points C0, C1 and C2 and the parameter t representing the position on the curve are input into the equation of the second-order Bezier curve to generate the point at position t on the Bezier curve. Multiple points can be obtained by changing the value of t, and connecting multiple points is the initial Bezier curve.

[0089] Step 205: determine the initial Bezier curve as a first fitting connection line, and use the first fitting connection line to mark the lane line topology connection.

[0090] As an optional implementation, in step 205, the initial Bezier curve is determined as a first fitting connection line, and the lane line topology connection is marked using the first fitting connection line, specifically including:

[0091] The initial Bezier curve is dynamically adjusted to obtain an adjusted Bezier curve; the adjusted Bezier curve is determined as a first fitting connection line, and the lane line topology connection is marked using the first fitting connection line.

[0092] The dynamic adjustment of the initial Bezier curve includes two aspects, as follows:

[0093] On the one hand, for the radius of the center circle, the default is the distance from the center of the circle to the nearest lane endpoint. During dynamic adjustment, a new radius value can be set (this value is usually smaller than the distance from the center of the circle to the nearest lane endpoint), and the first intersection point of the center lines of the two lanes and the center circle of the intersection is calculated respectively, and these two intersection points are used as new control points. This dynamic adjustment method can meet the actual situation of larger lane spans. On the other hand, the center of the center circle is a control point by default. In order to realize the generation of Bezier curves with dynamic and continuously variable curvature, the straight line passing through the other two control points can be calculated first, and then the perpendicular line of the straight line passing through the center of the center circle can be calculated. The line segment range from the center of the circle to the foot point of the perpendicular is the sliding range of the original default control point. By changing the position of the control point within this line segment range, the curvature of the Bezier curve can be changed.

[0094] By implementing the above steps 201 to 205, the present application calculates the center circle of the intersection based on the lane information at the intersection of the first lane and the second lane, and determines the control points of the initial Bezier curve based on the lane information and the center circle of the intersection, generates an initial Bezier curve, and determines the Bezier curve as a fitting connection line to achieve rapid labeling of lane line topological connections. In addition, the present application can also dynamically adjust the initial Bezier curve to obtain an adjusted Bezier curve; determine the adjusted Bezier curve as a first fitting connection line, and use the first fitting connection line to label the lane line topological connections. Compared with the initial Bezier curve, the adjusted Bezier curve is more in line with the actual road conditions, further improving the accuracy of topological connection labeling.

[0095] like Figure 3 to Figure 6 As shown in the figure, the blue solid line is the first fitting connection line, the green point is the intersection point of the lane center line, and the red point is the control point of the Bezier curve. There are three control points on the center circle of each intersection, namely the first control point, the second control point and the third control point. The second control point and the third control point are on the arc of the center circle of the intersection.

[0096] Regarding the position of the first control point, it should be noted that the default position of the first control point is the center of the intersection circle, and the corresponding control point offset coefficient is 1. Figure 3 and Figure 4 In , the control point offset coefficient is not 1, and the position of the first control point will also be offset to a certain extent. Figure 5 and Figure 6 In , the control point offset coefficient is 1, and the position of the first control point coincides with the center of the intersection center circle.

[0097] Further, Figure 7The figure shows the fitted Bezier curve after the parameters are dynamically adjusted. The dynamically adjusted parameters include the control point offset coefficient and the radius coefficient of the center circle of the intersection. The turning radius of the fitted connecting line can be changed by adjusting the control point offset coefficient, and the turning timing of the fitted connecting line can be changed by adjusting the radius coefficient of the center circle.

[0098] In another exemplary embodiment of the present application, in order to adapt to lane line topology connection annotation under different road conditions, such as Figure 8 As shown, the above steps 201 to 205 are replaced by the following steps 301 to 305:

[0099] Step 301, obtaining lane information at the intersection of the third lane and the fourth lane, and determining the center line of the third lane and the center line of the fourth lane according to the lane information.

[0100] Among them, Fig. 9 As shown in the figure, the road section type at the intersection of the third lane and the fourth lane is a lane merge. The topological connection of the lane merge requires two intersection center circles to complete, which control the first half of the turn and the second half of the turn respectively. The control points corresponding to the first intersection center circle are the fourth control point, the fifth control point and the sixth control point, which are used to control the first half of the turn; the control points corresponding to the second intersection center circle are the seventh control point, the eighth control point and the ninth control point, which are used to control the second half of the turn.

[0101] refer to Figures 3 to 7 It can be seen that Fig. 9 The positions of the fourth control point and the seventh control point shown in FIG. 1 are also offset from the center of the intersection center circle, which is caused by the control point offset coefficient of 0.66.

[0102] It should be noted that Fig. 9 The reason why the case where the control point offset coefficient is 1 is not shown is that the fitting effect of the fitting connection line is not ideal when the control point offset coefficient is 1. The fitting effect is better when the control point offset coefficient is 0.66, which does not affect the initial position of the fourth control point and the seventh control point at the center of the intersection center circle.

[0103] Step 302: Calculate a first intersection center circle and a second intersection center circle according to the third lane center line and the fourth lane center line.

[0104] As an optional implementation, in step 302, the radius of the first intersection center circle is 1.5 times the width of the third lane; the center of the first intersection center circle is the point where the radius of the first intersection center circle is extended from the end point of the center line of the third lane. The end point of the center line of the third lane is the end point close to the intersection; the radius of the second intersection center circle is 1.5 times the width of the fourth lane; the center of the second intersection center circle is the point where the radius of the second intersection center circle is extended from the end point of the center line of the fourth lane.

[0105] Step 303: determining control points of an initial Bezier curve according to the third lane centerline, the fourth lane centerline, the first intersection center circle, and the second intersection center circle.

[0106] As an optional implementation, in step 303, determining the control points of the initial Bezier curve according to the third lane centerline, the fourth lane centerline, the first intersection center circle, and the second intersection center circle specifically includes:

[0107] The center of the first intersection center circle is determined as the fourth control point of the initial Bezier curve.

[0108] The endpoint of the third lane centerline is determined as the fifth control point of the initial Bezier curve.

[0109] An intersection point of the first intersection center circle and an edge line of the fourth lane is determined as a sixth control point of the initial Bezier curve, and the edge line of the fourth lane is an edge line away from the third lane.

[0110] The center of the second intersection center circle is determined as the seventh control point of the initial Bezier curve.

[0111] The endpoint of the fourth lane centerline is determined as the eighth control point of the initial Bezier curve.

[0112] An intersection point of the second intersection center circle and an edge line of the third lane is determined as a ninth control point of the initial Bezier curve, and the edge line of the third lane is an edge line away from the fourth lane.

[0113] Step 304: Generate an initial Bezier curve based on the control points of the initial Bezier curve.

[0114] Step 305: determine the initial Bezier curve as a first fitting connection line, and use the first fitting connection line to mark the lane line topology connection.

[0115] In another exemplary embodiment of the present application, in order to adapt to lane line topology connection annotation under different road conditions, such as Fig.10As shown, the above steps 201 to 205 are replaced by the following steps 401 to 405:

[0116] Step 401, obtaining lane information at the intersection of the fifth lane and the sixth lane, and determining the center line of the fifth lane and the center line of the sixth lane according to the lane information; wherein the road section type at the intersection of the fifth lane and the sixth lane is a U-turn or a U-turn.

[0117] like Fig.11 As shown, the road section type at the intersection of the fifth lane and the sixth lane is a U-turn or U-turn. The topological connection during a U-turn or U-turn requires two intersection center circles to complete, which control the first half of the turn and the second half of the turn respectively. The control points corresponding to the third intersection center circle are the tenth control point, the eleventh control point, and the fourteenth control point, which are used to control the first half of the turn; the control points corresponding to the fourth intersection center circle are the twelfth control point, the thirteenth control point, and the fourteenth control point, which are used to control the second half of the turn. Among them, the fourteenth control point is the intersection of the third intersection center circle and the fourth intersection center circle.

[0118] refer to Figures 3 to 7 It can be seen that Fig.11 The positions of the tenth control point and the twelfth control point shown in FIG. 1 are offset from the center of the intersection center circle because the control point offset coefficient is 0.93.

[0119] It should be noted that Fig.11 The reason why the case where the control point offset coefficient is 1 is not shown is that the fitting effect of the fitting connection line is not ideal when the control point offset coefficient is 1. The fitting effect is better when the control point offset coefficient is 0.93, which does not affect the initial position of the tenth control point and the twelfth control point at the center of the intersection center circle.

[0120] Step 402, calculating the third intersection center circle and the fourth intersection center circle according to the fifth lane center line and the sixth lane center line.

[0121] Among them, the radius of the center circle of the third intersection is 0.5 times the third distance; the third distance is the distance between the center line of the fifth lane and the center line of the sixth lane; the center of the third intersection circle is the point where the radius of the third intersection circle is extended from the endpoint of the center line of the fifth lane; the endpoint of the center line of the fifth lane is the endpoint close to the intersection, and the radius of the fourth intersection circle is 0.5 times the third distance; the center of the fourth intersection circle is the point where the radius of the fourth intersection circle is extended from the endpoint of the center line of the sixth lane; the endpoint of the center line of the sixth lane is the endpoint close to the intersection.

[0122] Step 403: Determine the control points of the initial Bezier curve according to the fifth lane center line, the sixth lane center line, the third intersection center circle and the fourth intersection center circle.

[0123] As an optional implementation, in step 403, determining the control points of the initial Bezier curve according to the fifth lane centerline, the sixth lane centerline, the third intersection center circle, and the fourth intersection center circle specifically includes:

[0124] Determine the center of the third intersection center circle as the tenth control point of the initial Bezier curve;

[0125] Determine the endpoint of the center line of the fifth lane as the eleventh control point of the initial Bezier curve;

[0126] Determine the center of the fourth intersection center circle as the twelfth control point of the initial Bezier curve;

[0127] Determine the endpoint of the center line of the sixth lane as the thirteenth control point of the initial Bezier curve;

[0128] The intersection point of the third intersection center circle and the fourth intersection center circle is determined as the fourteenth control point of the initial Bezier curve.

[0129] Step 404: Generate an initial Bezier curve based on the control points of the initial Bezier curve.

[0130] Step 405: determine the initial Bezier curve as a first fitting connection line, and use the first fitting connection line to mark the lane line topology connection.

[0131] The present application also provides an application scenario, which applies the above-mentioned lane line topological connection labeling method based on Bezier curves. Specifically: the lane line topological connection labeling method based on Bezier curves provided in this embodiment can be applied in the scenario of generating an autonomous driving map. The generation of the autonomous driving map includes a lane centerline generation link and a lane centerline topological connection link at the lane intersection. The lane line topological connection labeling method based on Bezier curves provided in this embodiment belongs to the lane centerline topological connection link at the lane intersection. Specifically, in the process of lane centerline topological connection, the lane centerline topological connection can be based on the initial Bezier curve or the adjusted Bezier curve.

[0132] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Fig.12As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store video label processing data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a lane line topology connection labeling method based on Bezier curves is implemented.

[0133] Those skilled in the art will understand that Fig.12 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0134] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above-mentioned method embodiments when executing the computer program.

[0135] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the above-mentioned method embodiments are implemented.

[0136] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the above-mentioned method embodiments are implemented.

[0137] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0138] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0139] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0140] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0141] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A lane line topology connection labeling method based on Bezier curve, characterized in that: The lane line topology connection marking method based on Bezier curves includes: Acquire lane information at the intersection of the first lane and the second lane, and determine the center line of the first lane and the center line of the second lane according to the lane information; wherein the road section type at the intersection of the first lane and the second lane is a conventional turn, an intersection, a highway ramp, or an elevated ramp; According to the center line of the first lane and the center line of the second lane, a center circle of the intersection is calculated; the center of the center circle of the intersection is the intersection of the tangent line at the endpoint of the center line of the first lane and the straight line where the center line of the second lane is located; the radius of the center circle of the intersection is determined by: calculating a first distance and a second distance, and determining the smaller distance between the first distance and the second distance as the radius of the center circle of the intersection; the endpoint of the center line of the first lane is the endpoint close to the intersection, and the first distance is the distance between the endpoint of the center line of the first lane and the center of the center circle of the intersection; the second distance is the distance between the endpoint of the center line of the second lane and the center of the center circle of the intersection; Determining control points of an initial Bezier curve according to the first lane centerline, the second lane centerline and the intersection center circle; Based on the control points of the initial Bezier curve, an initial Bezier curve is generated; The initial Bezier curve is determined as a first fitting connection line, and the lane line topology connection is marked using the first fitting connection line.

2. The lane line topology connection labeling method based on Bezier curve according to claim 1, characterized in that: Determining the initial Bezier curve as a first fitting connection line, and using the first fitting connection line to mark the lane line topology connection, specifically includes: Dynamically adjusting the initial Bezier curve to obtain a dynamically adjusted Bezier curve; The dynamically adjusted Bezier curve is determined as a first fitting connection line, and the lane line topology connection is marked using the first fitting connection line.

3. The lane line topology connection labeling method based on Bezier curve according to claim 1, characterized in that: Acquiring lane information at the intersection of the first lane and the second lane, and determining the center line of the first lane and the center line of the second lane according to the lane information, specifically includes: Obtain Lidar point cloud data at the intersection of the first lane and the second lane; Establish a plane rectangular coordinate system; A first lane centerline and a second lane centerline are determined according to the Lidar point cloud data and the plane rectangular coordinate system.

4. The lane line topology connection labeling method based on Bezier curve according to claim 1, characterized in that: Determining the control points of the initial Bezier curve according to the first lane centerline, the second lane centerline and the intersection center circle specifically includes: The center of the center circle of the intersection is determined as the first control point of the initial Bezier curve; Determine the intersection point of the tangent line at the endpoint of the center line of the first lane and the center circle of the intersection point as the second control point of the initial Bezier curve; The intersection point of the straight line where the center line of the second lane is located and the center circle of the intersection point is determined as the third control point of the initial Bezier curve.

5. The lane line topology connection marking method based on Bezier curve according to claim 1, characterized in that: Based on the control points of the initial Bezier curve, generating the initial Bezier curve specifically includes: Get the preset number of curve sampling points; The coordinates of the control points of the initial Bezier curve and the preset number of curve sampling points are input into a second-order Bezier curve equation to obtain the initial Bezier curve.

6. A lane line topology connection labeling method based on Bezier curve, characterized in that: The lane line topology connection marking method based on Bezier curves includes: Acquire lane information at the intersection of the third lane and the fourth lane, and determine the center line of the third lane and the center line of the fourth lane according to the lane information; wherein the road section type at the intersection of the third lane and the fourth lane is a lane merging; According to the center line of the third lane and the center line of the fourth lane, calculate the center circle of the first intersection and the center circle of the second intersection; wherein the radius of the center circle of the first intersection is a times the width of the third lane; the center of the first intersection is the point where the radius of the center circle of the first intersection is extended from the end point of the center line of the third lane; a is a constant; the end point of the center line of the third lane is the end point close to the intersection; the radius of the center circle of the second intersection is b times the width of the fourth lane; the center of the second intersection is the point where the radius of the center circle of the second intersection is extended from the end point of the center line of the fourth lane; b is a constant; Determining control points of an initial Bezier curve according to the third lane centerline, the fourth lane centerline, the first intersection center circle, and the second intersection center circle; Based on the control points of the initial Bezier curve, an initial Bezier curve is generated; The initial Bezier curve is determined as a first fitting connection line, and the lane line topology connection is marked using the first fitting connection line.

7. The lane line topology connection labeling method based on Bezier curve according to claim 6, characterized in that: Determining the control points of the initial Bezier curve according to the third lane center line, the fourth lane center line, the first intersection center circle, and the second intersection center circle specifically includes: Determine the center of the first intersection center circle as the fourth control point of the initial Bezier curve; Determine the endpoint of the center line of the third lane as the fifth control point of the initial Bezier curve; Determine the intersection point of the first intersection center circle and the edge line of the fourth lane as the sixth control point of the initial Bezier curve; the edge line of the fourth lane is the edge line away from the third lane; Determine the center of the second intersection center circle as the seventh control point of the initial Bezier curve; Determine the endpoint of the center line of the fourth lane as the eighth control point of the initial Bezier curve; The intersection point of the second intersection center circle and the edge line of the third lane is determined as the ninth control point of the initial Bezier curve; the edge line of the third lane is the edge line away from the fourth lane.

8. A lane line topology connection labeling method based on Bezier curve, characterized in that: The lane line topology connection marking method based on Bezier curves includes: Acquire lane information at the intersection of the fifth lane and the sixth lane, and determine the center line of the fifth lane and the center line of the sixth lane according to the lane information; wherein the road section type at the intersection of the fifth lane and the sixth lane is a U-turn or a U-turn; Calculate the central circles of the third intersection point and the fourth intersection point based on the centerlines of the fifth lane and the sixth lane; wherein, the radius of the central circle of the third intersection point is p times the third distance; the third distance is the distance between the centerlines of the fifth lane and the sixth lane; 0 < p < 1; the center of the central circle of the third intersection point is the point where, starting from the end point of the centerline of the fifth lane, the radius length of the central circle of the third intersection point is extended; the end point of the centerline of the fifth lane is the end point close to the intersection; the radius of the central circle of the fourth intersection point is q times the third distance; 0 < q < 1; the center of the central circle of the fourth intersection point is the point where, starting from the end point of the centerline of the sixth lane, the radius length of the central circle of the fourth intersection point is extended; the end point of the centerline of the sixth lane is the end point close to the intersection. Determine the control points of the initial Bézier curve according to the centerline of the fifth lane, the centerline of the sixth lane, the central circle of the third intersection point, and the central circle of the fourth intersection point. Generate an initial Bézier curve based on the control points of the initial Bézier curve. Determine the first fitting connection line as the initial Bézier curve, and use the first fitting connection line to mark the topological connection of the lane lines.

9. The lane line topology connection labeling method based on Bezier curve according to claim 8, characterized in that: Determine the control points of the initial Bézier curve according to the centerline of the fifth lane, the centerline of the sixth lane, the central circle of the third intersection point, and the central circle of the fourth intersection point, specifically including: Determine the center of the central circle of the third intersection point as the tenth control point of the initial Bézier curve. Determine the end point of the centerline of the fifth lane as the eleventh control point of the initial Bézier curve. Determine the center of the central circle of the fourth intersection point as the twelfth control point of the initial Bézier curve. Determine the end point of the centerline of the sixth lane as the thirteenth control point of the initial Bézier curve. Determine the intersection point of the central circle of the third intersection point and the central circle of the fourth intersection point as the fourteenth control point of the initial Bézier curve.

10. A computer device comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement a method for topological connection annotation of lane lines based on Bézier curves according to any one of claims 1-5, a method for topological connection annotation of lane lines based on Bézier curves according to any one of claims 6-7, or a method for topological connection annotation of lane lines based on Bézier curves according to any one of claims 8-9.

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