Lane center line generation method and device, computer equipment and storage medium

Abstract

The invention relates to a lane center line generation method and device, computer equipment and a storage medium, and belongs to the technical field of intelligent driving, and the method comprises the steps: obtaining a single communication path based on a lane topology network composed of a plurality of segmented lanes, and determining a passing point of each segmented lane in the single communication path; connecting the passing points of each segmented lane to generate a first lane center line; correcting the deviation of the first lane center line according to a deviation correction center line to generate a second lane center line; and fitting the second lane center line to generate a target lane center line. According to the lane center line generation method based on optimization, the continuity, the smoothness and the trafficability of the lane center line can be well guaranteed, the intelligent driving safety is improved, and the driving experience of a user is improved.

Description

Technical Field

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

[0002] As one of the most cutting-edge research fields, intelligent driving has been widely and deeply studied. Currently, there are both map-based (high-precision map) solutions and map-free solutions. In either solution, the lane centerline plays an extremely critical role. A qualified lane centerline needs to accurately reflect the position, geometric characteristics, and topological relationship of the lanes on the road. On this basis, the lane centerline needs to further meet many requirements such as continuity, smoothness, and being within the drivable domain. In response to these more stringent requirements for lane centerlines, researchers have proposed a variety of solutions, such as establishing topology based on segmented lanes, establishing topology based on paths, extracting lane centerlines in a purely geometric way, and using lane centerline topology as a learning indicator for neural networks. However, these solutions do not fully consider the topological relationship between lane centerlines, fail to fully utilize lane line topology and driving trajectory topology, and fail to well guarantee the continuity, smoothness, and passability of the centerline, resulting in poor safety of intelligent driving.

[0003] Therefore, there is an urgent need to propose a lane centerline generation method, device, computer equipment and storage medium that can maintain the continuity, smoothness and passability of the lane centerline. Summary of the invention

[0004] Based on this, it is necessary to provide a lane centerline generation method, device, computer equipment and storage medium that can maintain the continuity, smoothness and passability of the lane centerline in response to the above technical problems.

[0005] In one aspect, a lane centerline generation method is provided, the method comprising:

[0006] Based on a lane topology network consisting of a plurality of segmented lanes, a single connected path is obtained, and a passing point of each segmented lane in the single connected path is determined;

[0007] Connecting the passing points of each segmented lane to generate a center line of the first lane;

[0008] Correcting the first lane centerline according to the correction centerline to generate a second lane centerline;

[0009] The second lane centerline is fitted to generate a target lane centerline.

[0010] Optionally, the method for determining the passing point of each segmented lane in the single connected path includes:

[0011] Get the lane width at the beginning and end of each segmented lane;

[0012] In response to detecting that the absolute value of the difference in lane widths of two segmented lanes at a connection is greater than a preset threshold, defining the segmented lane with a smaller lane width at the connection as a reference lane;

[0013] The middle point between the two lane line endpoints at the connection in the reference lane is obtained, and the middle point is defined as the passing point at the connection of the two segmented lanes.

[0014] Optionally, the method further includes:

[0015] In response to detecting that both segmented lanes between two adjacent passing points are reference lanes, determining whether lane widths at a connection point between the two reference lanes are the same;

[0016] If the lane widths at the connection of two reference lanes are the same, the middle point between the two lane line endpoints at the connection is defined as the passing point at the connection of the two reference lanes;

[0017] If the lane widths at the connection of two reference lanes are different, obtain the first middle point between the end points of the lane lines of the previous reference lane and the second middle point between the beginning points of the next reference lane, and define the first middle point and the second middle point as the passing points at the connection of the two reference lanes.

[0018] Optionally, the method further includes:

[0019] In response to detecting that both segmented lanes between two adjacent passing points are non-reference lanes, selecting a reference lane line according to the distance between the passing point and lane lines on both sides of the non-reference lane;

[0020] Based on the reference lane line and the distance between the reference lane line and the passing point, a passing point at the connection of two non-reference lanes is determined, wherein the distance relationship between two adjacent passing points and the passing point at the connection of two non-reference lanes and the reference lane line is:

[0021]

[0022] Among them, L1 represents the distance between the first passing point and the beginning end point of its corresponding reference lane line, L2 represents the distance between the passing point at the connection of two non-reference lanes and the end point of its corresponding reference lane line, L3 represents the distance between the second passing point and the end point of its corresponding reference lane line, D1 represents the length of the first non-reference lane, and D2 represents the length of the second non-reference lane.

[0023] Optionally, the method for determining the starting point of the single connected path includes:

[0024] In response to detecting that the starting lane is connected to a plurality of front drive lanes, taking the middle point between the first and second end points of the corresponding lanes of the starting lane as the starting passing point;

[0025] In response to detecting that the starting lane is one of the plurality of subsequent lanes, taking a passing point of the starting lane corresponding to the preceding lane as the starting passing point;

[0026] In response to detecting that there is no preceding lane in the starting lane, if the starting lane is a reference lane, the middle point between the first and second end points of the lane corresponding to the starting lane is taken as the starting passing point; if the starting lane is a non-reference lane, the starting passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the starting lane.

[0027] Optionally, the method for determining the end point of the single connected path includes:

[0028] In response to detecting that the end lane is connected to a plurality of subsequent lanes, taking the middle point between the end endpoints of the lane lines corresponding to the end lane as the end passing point;

[0029] In response to detecting that the end lane is one of the plurality of front lanes, taking a passing point of the end lane corresponding to the subsequent lane as an end passing point;

[0030] In response to detecting that the end lane has no successor lane, if the successor lane is a reference lane, the middle point between the end endpoints of the corresponding lanes of the successor lane is used as the end passing point; if the successor lane is a non-reference lane, the end passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the end lane.

[0031] Optionally, before connecting the passing points of each segmented lane to generate the first lane centerline, the method further includes:

[0032] In response to detecting that the target segmented lane is a reference lane, taking lane lines on both sides of the target segmented lane as reference lane lines;

[0033] In response to detecting that the target segmented lane is a non-reference lane, the average distances between the two passing points and the lane lines on both sides are calculated respectively, and the lane line corresponding to the smaller average distance is defined as the reference lane line.

[0034] Optionally, connecting the passing points of each segmented lane to generate the center line of the first lane includes:

[0035] In response to detecting that the target segmented lane is a reference lane, taking a geometric mean center line corresponding to a reference lane line as a connecting line between two passing points of the target segmented lane, and connecting the two passing points based on the connecting line to generate a lane center line of the target segmented lane;

[0036] In response to detecting that the target segmented lane is a non-reference lane, connecting two passing points of the target segmented lane with the determined reference lane line according to a curve translation mechanism to generate a lane centerline of the target segmented lane;

[0037] The lane center lines of the reference lane and the non-reference lane are connected in sequence to generate the first lane center line.

[0038] Optionally, the method for determining the deviation correction center line includes:

[0039] In response to detecting that the target segmented lane is a non-reference lane, a geometric mean center line of the non-reference lane is determined as the deviation correction center line.

[0040] Optionally, correcting the first lane centerline according to the correction centerline to generate the second lane centerline includes:

[0041] Obtaining the intersection point between the lane centerline in the target non-reference lane and its corresponding deviation correction centerline;

[0042] Obtaining respectively a first vertical distance and a second vertical distance between a lane centerline between two adjacent intersection points and any point in the deviation correction centerline and a reference lane line;

[0043] In response to detecting that the second vertical distance is smaller than the first vertical distance, the lane centerline between the two adjacent intersections is corrected using the correction centerline between the two adjacent intersections to generate a second lane centerline.

[0044] Optionally, after generating the target lane centerline, the method further includes:

[0045] Determining a lane centerline of an adjacent single connected path based on the target lane centerline and the lane topology network;

[0046] splicing a plurality of lane centerlines to generate a lane centerline topological network, and fitting the lane centerline topological network;

[0047] According to the geometric range of the lane topology network, the fitted lane centerline topology network is assigned to the corresponding lane.

[0048] On the other hand, a lane centerline generating device is provided, the device comprising:

[0049] A passing point determination module, used to obtain a single connected path based on a lane topology network composed of multiple segmented lanes, and determine a passing point of each segmented lane in the single connected path;

[0050] A first lane centerline generating module, used for connecting the passing points of each segmented lane to generate a first lane centerline;

[0051] A second lane centerline generating module, configured to correct the first lane centerline according to the correction centerline to generate a second lane centerline;

[0052] The target lane centerline generation module is used to fit the second lane centerline to generate a target lane centerline.

[0053] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0054] Based on a lane topology network consisting of a plurality of segmented lanes, a single connected path is obtained, and a passing point of each segmented lane in the single connected path is determined;

[0055] Connecting the passing points of each segmented lane to generate a center line of the first lane;

[0056] Correcting the first lane centerline according to the correction centerline to generate a second lane centerline;

[0057] The second lane centerline is fitted to generate a target lane centerline.

[0058] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0059] Based on a lane topology network consisting of a plurality of segmented lanes, a single connected path is obtained, and a passing point of each segmented lane in the single connected path is determined;

[0060] Connecting the passing points of each segmented lane to generate a center line of the first lane;

[0061] Correcting the first lane centerline according to the correction centerline to generate a second lane centerline;

[0062] The second lane centerline is fitted to generate a target lane centerline.

[0063] The above-mentioned lane centerline generation method, device, computer equipment and storage medium, the method includes: based on a lane topology network composed of multiple segmented lanes, obtaining a single connected path, and determining the passing points of each segmented lane in the single connected path; connecting the passing points of each segmented lane to generate a first lane centerline; correcting the first lane centerline according to the correction centerline to generate a second lane centerline; fitting the second lane centerline to generate a target lane centerline. The present application is based on the optimized lane centerline generation method, which can well ensure the continuity, smoothness and passability of the lane centerline, improve the safety of intelligent driving and enhance the user driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 A diagram showing an application environment of a lane centerline generation method in one embodiment;

[0065] Figure 2 A schematic diagram of a process of generating a lane centerline in one embodiment;

[0066] Figure 3 Another schematic diagram of a process of generating a lane centerline in one embodiment;

[0067] Figure 4 A schematic diagram of a segmented lane on a single connected path of a lane centerline generation method in one embodiment;

[0068] Figure 5 (a)-5(c) are schematic diagrams of a passing point generation process of a lane centerline generation method in one embodiment;

[0069] Figure 6 (a)-6(d) are schematic diagrams of the deviation correction process of the lane centerline generation method in one embodiment;

[0070] Figure 7 is a structural block diagram of a lane centerline generating device in one embodiment;

[0071] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0073] It should be understood that in the description of the present application, unless the context clearly requires otherwise, words such as "include", "comprises", and the like throughout the specification should be interpreted as including rather than being exclusive or exhaustive; that is, as including but not limited to.

[0074] It should also be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, "plurality" means two or more.

[0075] It should be noted that the terms "S1", "S2", etc. are only used for the purpose of describing the steps, and do not specifically refer to the order or sequence, nor are they used to limit the present application. They are only for the convenience of describing the method of the present application, and cannot be understood as indicating the order of the steps. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0076] Lane centerline is one of the important inputs for intelligent driving, providing important information such as drivable domain, lane topology, reference driving trajectory, etc. In the application of intelligent driving, it is necessary to ensure that the lane centerline has the correct topology and is continuous and smooth both within and between lanes. According to the background technology, the existing technology does not fully consider the topological relationship between lane centerlines and lane lines when generating lane centerlines: adjacent lanes on conventional roads share the same lane line, and important information such as lane overlap, lane line crossing or sharing at the merge point is not utilized. When constructing the centerline topology, the lane line topology and historical driving trajectory information are not fully utilized, and the continuity, smoothness and passability of the lane centerline cannot be well guaranteed. The irregular changes in the drivable area will cause the centerline to bend or deviate unexpectedly.

[0077] In order to solve the above technical problems, the present application provides a lane centerline generation method, device, equipment and storage medium, which can make full use of perception information to generate a topologically correct, continuous and smooth lane centerline that conforms to human driving habits and is safe based on segmented lanes.

[0078] The lane centerline generation method provided in this application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the data processing platform set on the server 104 through the network, wherein the terminal 102 can be but not limited to various personal computers, laptops, smart phones, tablet computers and portable wearable devices, and the server 104 can be implemented by an independent server or a server cluster composed of multiple servers.

[0079] In one embodiment, Figure 2-Figure 3 As shown, a lane centerline generation method is provided, which is applied to Figure 1 The terminal in is used as an example to illustrate, including the following steps:

[0080] S1: Based on a lane topology network consisting of a plurality of segmented lanes, a single connected path is obtained, and a passing point of each segmented lane in the single connected path is determined.

[0081] It should be noted that the lane topology network includes lane line topology and historical trajectory topology, wherein the historical trajectory topology is the lane topology. The lane topology network that has been segmented is used in this embodiment to determine the lane centerline. The lane segmentation algorithm is a commonly used method and will not be described in detail here. A single connected path means that in a single connected path, adjacent segmented lanes are each other's only predecessors and successors. There are no breakpoints or jump points on the path. The number of predecessors of the segmented lane at the beginning of the single connected path is not 1 (there is no predecessor or there are multiple predecessors), and the number of successors of the segmented lane at the end is not 1, that is, a single connected path. There is no fork in the path, and its starting and ending points can be connected to multiple forks. The fork corresponding to the starting point is the front lane of the starting segmented lane, and the fork corresponding to the ending point is the successor lane of the ending segmented lane. The generation of the lane centerline takes the single connected path of the lane as the basic unit, which has the following advantages: the path can ensure the continuity of the drivable domain and is sufficient for vehicles to drive smoothly from beginning to end; the lane lines on both sides of each segmented lane on the path are continuous and smooth, but the lane lines on both sides between adjacent segmented lanes may not have topology (that is, they may not be continuous and balanced), and continuity and smoothness cannot be guaranteed. Figure 4 As shown, a single connected path is extracted, which includes segmented lane 1, segmented lane 2, ... and segmented lane 5, and its forward direction is segmented lane 1-segmented lane 2, ...-segmented lane 5. According to the forward direction, the starting point of the segmented lane is defined as the starting end or the head end, and the end point is defined as the end. The first segmented lane of the single connected path is defined as the starting lane, the starting lane head end passing point is the starting passing point, the last segmented lane is defined as the ending lane, and the ending lane end passing point is the ending passing point. The lane lines on both sides of the individual segmented lanes are continuous and smooth, and the lane lines on both sides of the segmented lanes 1 and segmented lanes 2 are discontinuous and not smooth, and so on, which will not be repeated here.

[0082] In some specific implementations, a method for determining a passing point of each segmented lane in a single connected path includes:

[0083] Get the lane width at the beginning and end of each segmented lane, where the beginning lane width is the distance between the beginning end points of the two lane lines of the segmented lane, and the end lane width is the distance between the end end points of the two lane lines of the segmented lane;

[0084] In response to detecting that the absolute value of the difference in lane widths of two segmented lanes at the connection is greater than a preset threshold, the segmented lane with the smaller lane width at the connection is defined as the reference lane, wherein the preset threshold can be set according to actual needs. Generally, the threshold is set to be relatively small, such as 5 cm. If the absolute value of the difference in lane widths of two adjacent lanes at the connection is greater than 5 cm, the segmented lane with the smaller lane width at the connection is defined as the reference lane. For example, the end of segmented lane 1 is connected to the starting end of segmented lane 2. If the distance between the end endpoints of the lane lines on both sides of segmented lane 1 (i.e., the lane width of segmented lane 1 at the connection) is 300 cm, and the distance between the starting endpoints of the lane lines on both sides of segmented lane 2 (i.e., the lane width of segmented lane 2 at the connection) is 320 cm, and the absolute value of the difference in lane widths is greater than 5 cm, segmented lane 1 is defined as the reference lane. The generation methods of other reference lanes are similar and will not be repeated here.

[0085] The middle point between the two lane line endpoints at the connection in the reference lane is obtained, and the middle point is defined as the passing point at the connection of the two segmented lanes, wherein the middle point refers to the middle point between the lane line endpoints. For example, if the lane width is 300 cm, the point 150 cm away from one of the endpoints in the connecting line of the two end points is taken as the middle point. For example, Figure 4 As shown, the reference lanes obtained in the previous step are segmented lane 1, segmented lane 3 and segmented lane 4, and the non-reference lanes are segmented lane 2 and segmented lane 5. The midpoint of the two end points of the end of the segmented lane 1, that is, the end of the segmented lane 1, is used as the passing point between the end of the segmented lane 1 and the starting end of the segmented lane 2. The connection passing points corresponding to the segmented lane 2 and the segmented lane 3, and the segmented lane 4 and the segmented lane 5 are inferred from this, and the passing points obtained are as follows: Figure 5 (a) shown.

[0086] In some embodiments, the method further comprises:

[0087] In response to detecting that both the segmented lanes between two adjacent passing points are reference lanes, it is determined whether the lane widths at the connection between the two reference lanes are the same, wherein the passing point here refers to the passing point obtained in the previous step, such as Figure 5 (b) The passing points shown;

[0088] If the lane widths at the junction of the two reference lanes are the same, the middle point between the two lane line endpoints at the junction is defined as the passing point at the junction of the two reference lanes. For example, Figure 5 The segmented lanes 3 and 4 in (b) are two reference lanes. The lane width at the junction refers to the lane width at the end of segmented lane 3 and the lane width at the beginning of segmented lane 4. If the two lanes have the same width, the middle point is defined as the passing point at the junction of the two reference lanes, such as Figure 5 (b)

[0089] If the lane widths at the connection of two reference lanes are different, the first middle point between the end points of the lane lines of the previous reference lane and the second middle point between the beginning points of the next reference lane are obtained, and the first middle point and the second middle point are defined as the passing points at the connection of the two reference lanes. That is, when the lane widths at the connection of the two reference lanes are different, the passing points at the connection can be staggered. The first middle point is the middle point between the end points of the previous reference lane of the two adjacent reference lanes, and the second middle point is the middle point between the beginning points of the next reference lane of the two adjacent reference lanes.

[0090] In some specific embodiments, the method further comprises:

[0091] In response to detecting that both segmented lanes between two adjacent passing points are non-reference lanes, a reference lane line is selected according to the distance between the passing point and the lane lines on both sides of the non-reference lane. Specifically, the passing points here include the first passing point and the last passing point of the non-reference lane. The reference lane line may be the lane line on either side of the segmented lane. The distances between the first passing point and the last passing point and the lane lines on both sides are calculated respectively, and the lane line on one side corresponding to the shorter distance is used as the reference lane line. For example, if the distance between the first passing point and the first lane line is 120 cm, and the distance between the first passing point and the second lane line is 150 cm, the first lane line is used as the reference lane line, and the reference lane lines at both ends may not be the lane lines on the same side.

[0092] Based on the reference lane line and the distance between the reference lane line and the passing point, a passing point at the connection of two non-reference lanes is determined, wherein the distance relationship between two adjacent passing points and the passing point at the connection of two non-reference lanes and the reference lane line is:

[0093]

[0094] Among them, L1 represents the distance between the first passing point and the beginning end point of its corresponding reference lane line, L2 represents the distance between the passing point at the connection of two non-reference lanes and the end point of its corresponding reference lane line, L3 represents the distance between the second passing point and the end point of its corresponding reference lane line, D1 represents the length of the first non-reference lane, and D2 represents the length of the second non-reference lane.

[0095] Specifically, the passing points at both ends of the non-reference lane have been determined by the above steps, and at least two non-reference lanes are included here. The first end passing point is the passing point of the first non-reference lane, and the terminal passing point is the passing point of the second non-reference lane. According to the reference lane line selected above, the distance between the first end passing point and the first end point of its corresponding reference lane line is calculated as L1, and the distance between the terminal passing point and the terminal end point of its corresponding reference lane line is calculated as L3. d1 is the length of the segmented lane to which the first end passing point belongs, and D2 is the length of other segmented lanes except the segmented lane to which the first end passing point belongs. A point is selected from the connection of the two non-reference lanes, so that the distance L2 between the point and the corresponding reference lane line endpoint (the endpoint can be the terminal end point of the reference lane line corresponding to the first end passing point, or the first end point of the reference lane line corresponding to the terminal passing point) satisfies the above formula, then the point is defined as the passing point at the connection of the two non-reference lanes. Based on this, the lane centerline generated in the non-reference lane can be made to change uniformly along the forward direction.

[0096] In some specific implementations, the method for determining the starting point of the single connected path includes:

[0097] In response to detecting that the starting lane is connected to multiple front lanes, that is, multiple bifurcated lanes converge at the beginning of the starting lane, the middle point between the corresponding lane head end points of the starting lane is used as the starting passing point;

[0098] In response to detecting that the starting lane is one of the plurality of subsequent lanes, that is, the starting lane is one of the plurality of bifurcated lanes, taking a passing point of the starting lane corresponding to the front lane as the starting passing point;

[0099] In response to detecting that there is no preceding lane in the starting lane, if the starting lane is a reference lane, the middle point between the first and second end points of the lane corresponding to the starting lane is taken as the starting passing point; if the starting lane is a non-reference lane, the starting passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the starting lane.

[0100] In some specific implementations, the method for determining the end point of the single connected path includes:

[0101] In response to detecting that the end lane is connected to a plurality of subsequent lanes, taking the middle point between the end endpoints of the lane lines corresponding to the end lane as the end passing point;

[0102] In response to detecting that the end lane is one of the plurality of front lanes, taking a passing point of the end lane corresponding to the subsequent lane as an end passing point;

[0103] In response to detecting that the end lane has no successor lane, if the successor lane is a reference lane, the middle point between the end endpoints of the corresponding lanes of the successor lane is used as the end passing point; if the successor lane is a non-reference lane, the end passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the end lane.

[0104] Specifically, if there are multiple predecessor / successor lanes in the segmented lane at the endpoint of a single connected path, the middle point of the endpoints of the lane lines on both sides is used as the passing point. If the segmented lane at the endpoint is one of multiple predecessor / successor lanes, the passing point of the predecessor / successor segmented lane is used as the passing point at the endpoint. In other cases, such as if there is no predecessor / successor lane in the segmented lane at the endpoint, if the segmented lane is a reference lane, the middle point of the lane lines on both sides is used as the passing point. If the segmented lane is a non-reference lane, the passing point closest to the endpoint and one of the lane lines are selected as the reference lane line (wherein the reference lane line is a lane line on one side of the segmented lane that is closer to the passing point), the distance between the passing point and the endpoint of the reference lane line is calculated, and the ratio between the distance and the length of the segmented lane to determine the passing point is calculated. A point is selected from the starting end or the end end of the target segmented lane so that the ratio between the distance between the point and the endpoint of the reference lane line and the length of the segmented lane is equal to the above ratio. At this time, the point is defined as the starting passing point or the ending passing point, and the generated passing point is as follows: Figure 5 (c) as shown.

[0105] S2: Connect the passing points of each segmented lane to generate a first lane centerline.

[0106] In some specific implementations, before connecting the passing points of each segmented lane to generate the first lane centerline, the method further includes:

[0107] In response to detecting that the target segmented lane is a reference lane, taking lane lines on both sides of the target segmented lane as reference lane lines;

[0108] In response to detecting that the target segmented lane is a non-reference lane, the average distances between the two passing points and the lane lines on both sides are calculated respectively, and the lane line corresponding to the smaller distance average is defined as the reference lane line, that is, in a non-reference lane, the distances between the starting end passing point and the end passing point and the lane line on one side are calculated respectively, and the average of the two distances is calculated. The distance average on the other side is calculated in the same way, which will not be repeated here. The two distance averages are compared, and the smaller one is selected as the reference lane line corresponding to the distance average.

[0109] In some specific implementations, connecting the passing points of each segmented lane to generate the first lane centerline includes:

[0110] In response to detecting that the target segmented lane is a reference lane, a geometric mean center line corresponding to a reference lane line is used as a connecting line between two passing points of the target segmented lane, and the two passing points are connected based on the connecting line to generate a lane center line of the target segmented lane, wherein the geometric mean center line is a middle line between the two lane lines, and one end of the geometric mean center line is connected to the corresponding passing point according to the forward direction, and the other end is connected to another passing point in the segmented lane;

[0111] In response to detecting that the target segmented lane is a non-reference lane, the determined reference lane line is connected to two passing points of the target segmented lane according to a curve translation mechanism to generate a lane centerline of the target segmented lane, wherein the curve translation mechanism is to translate the starting point of the reference lane line determined in the above step to the corresponding passing point of the segmented lane according to the forward direction, and translate the end point of the reference lane line to another passing point of the segmented lane, that is, to make the first and last points of the reference lane line overlap with the first and last passing points of the segmented lane respectively in a curve translation manner;

[0112] The lane center lines of the reference lane and the non-reference lane are connected in sequence to generate the first lane center line, that is, the lane center lines of adjacent segmented lanes are connected in the forward direction to generate the first lane center line.

[0113] S3: Correcting the first lane centerline according to the correction centerline to generate a second lane centerline.

[0114] It should be noted that the deviation centerline is generally used to correct the lane centerline in the non-reference lane. For the initial lane centerline in the non-reference lane, it may be too close to the boundary line (that is, a lane line other than the reference line in the segmented lane), resulting in the vehicle being partially outside the drivable area when driving along the lane centerline, such as pressing the line or the edge of the road. Therefore, the initial lane centerline needs to be corrected.

[0115] In some specific embodiments, the method for determining the deviation center line includes:

[0116] In response to detecting that the target segmented lane is a non-reference lane, a geometric mean center line of the non-reference lane is determined as the deviation correction center line, wherein the geometric mean center line is a middle line between two lane lines.

[0117] In some specific implementations, correcting the first lane centerline according to the correction centerline to generate the second lane centerline includes:

[0118] Obtaining the intersection point between the lane centerline in the target non-reference lane and its corresponding deviation correction centerline;

[0119] Obtaining respectively a first vertical distance and a second vertical distance between a lane centerline between two adjacent intersection points and any point in the deviation correction centerline and a reference lane line;

[0120] In response to detecting that the second vertical distance is less than the first vertical distance, the lane centerline between the two adjacent intersections is corrected using the correction centerline between the two adjacent intersections, and a second lane centerline is generated based on the lane centerline after correction. If the second vertical distance is greater than or equal to the first vertical distance, no correction is required.

[0121] Specifically, Figure 6 (a)-6(d) shows the deviation correction process. In the non-reference lane, the vehicle moves forward along the center line of the initial lane (i.e., the initial center line) according to the advancing direction. If the deviation correction center line is encountered and the deviation correction center line is closer to the reference lane line, the vehicle moves forward along the deviation correction center line. If the vehicle moves forward further, if the intersection of the deviation correction center line and the initial lane center line is encountered and the deviation correction center line is far from the reference lane line, the initial lane center line is used as the advancing route. Finally, Figure 6 The solid line in the drivable lane area in (d) is the lane centerline of the segmented lane obtained after deviation correction.

[0122] S4: Fitting the center line of the second lane to generate a center line of the target lane.

[0123] It should be noted that the lane centerline fitting method is to use a non-uniform rational B-spline (NURBS) curve to fit the lane centerline so that the lane centerline is continuous and smooth. The specific fitting method is a common method and will not be repeated here.

[0124] After generating the target lane centerline, the topology between lane centerlines is maintained, including: establishing the topology between it and the lane and the lane lines on both sides; within a single connected path of the lane, establishing the topology of adjacent lane centerlines according to the lane topology; between single connected paths of different lanes, establishing the topology between lane centerlines at the endpoints according to the lane topology.

[0125] In some specific implementations, after generating the target lane centerline, the method further includes:

[0126] Determining a lane centerline of an adjacent single connected path based on the target lane centerline and the lane topology network;

[0127] splicing a plurality of lane centerlines to generate a lane centerline topological network, and fitting the lane centerline topological network;

[0128] According to the geometric range of the lane topology network, the fitted lane centerline topology network is assigned to the corresponding lane.

[0129] Specifically, within a single connected path of the lane, all lane centerlines are spliced ​​into a complete curve (aggregate centerline), and then the lane centerlines are fitted using non-uniform rational B-spline (NURBS) curves to make the lane centerlines continuous and smooth. After the fitting is completed, the lane centerlines are reallocated to the corresponding lanes according to the geometric range of the lanes. During the fitting process, the following conditions need to be met:

[0130] Fixed point constraint: For the aggregate centerline, the positions of its first and last points do not change before and after fitting;

[0131] Tangential constraint: The tangential constraints of the center lines of the single connected paths of different lanes are consistent at the connection point, so that the center lines can ensure smoothness at the connection point after fitting.

[0132] In the above-mentioned lane centerline generation method, the method includes: based on a lane topology network composed of multiple segmented lanes, obtaining a single connected path, and determining the passing points of each segmented lane in the single connected path; connecting the passing points of each segmented lane to generate a first lane centerline; correcting the first lane centerline according to the correction centerline to generate a second lane centerline; fitting the second lane centerline to generate a target lane centerline. The present application is based on the optimized lane centerline generation method, which can well ensure the continuity, smoothness and passability of the lane centerline, improve the safety of intelligent driving and enhance the user driving experience.

[0133] It should be understood that although Figure 2-Figure 3The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2-Figure 3 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0134] In one embodiment, Figure 7 As shown, a lane centerline generating device is provided, comprising: a passing point determination module, a first lane centerline generating module, a second lane centerline generating module and a target lane centerline generating module, wherein:

[0135] A passing point determination module, used to obtain a single connected path based on a lane topology network composed of multiple segmented lanes, and determine a passing point of each segmented lane in the single connected path;

[0136] A first lane centerline generating module, used for connecting the passing points of each segmented lane to generate a first lane centerline;

[0137] A second lane centerline generating module, configured to correct the first lane centerline according to the correction centerline to generate a second lane centerline;

[0138] The target lane centerline generation module is used to fit the second lane centerline to generate a target lane centerline.

[0139] As a preferred implementation, in the embodiment of the present invention, the passing point determination module is specifically used for:

[0140] Get the lane width at the beginning and end of each segmented lane;

[0141] In response to detecting that the absolute value of the difference in lane widths of two segmented lanes at a connection is greater than a preset threshold, defining the segmented lane with a smaller lane width at the connection as a reference lane;

[0142] The middle point between the two lane line endpoints at the connection in the reference lane is obtained, and the middle point is defined as the passing point at the connection of the two segmented lanes.

[0143] As a preferred implementation, in the embodiment of the present invention, the passing point determination module is further used for:

[0144] In response to detecting that both segmented lanes between two adjacent passing points are reference lanes, determining whether lane widths at a connection point between the two reference lanes are the same;

[0145] If the lane widths at the connection of two reference lanes are the same, the middle point between the two lane line endpoints at the connection is defined as the passing point at the connection of the two reference lanes;

[0146] If the lane widths at the connection of two reference lanes are different, obtain the first middle point between the end points of the lane lines of the previous reference lane and the second middle point between the beginning points of the next reference lane, and define the first middle point and the second middle point as the passing points at the connection of the two reference lanes.

[0147] As a preferred implementation, in the embodiment of the present invention, the passing point determination module is further used for:

[0148] In response to detecting that both segmented lanes between two adjacent passing points are non-reference lanes, selecting a reference lane line according to the distance between the passing point and lane lines on both sides of the non-reference lane;

[0149] Based on the reference lane line and the distance between the reference lane line and the passing point, a passing point at the connection of two non-reference lanes is determined, wherein the distance relationship between two adjacent passing points and the passing point at the connection of two non-reference lanes and the reference lane line is:

[0150]

[0151] Among them, L1 represents the distance between the first passing point and the beginning end point of its corresponding reference lane line, L2 represents the distance between the passing point at the connection of two non-reference lanes and the end point of its corresponding reference lane line, L3 represents the distance between the second passing point and the end point of its corresponding reference lane line, D1 represents the length of the first non-reference lane, and D2 represents the length of the second non-reference lane.

[0152] As a preferred implementation, in the embodiment of the present invention, the passing point determination module is further used for:

[0153] In response to detecting that the starting lane is connected to a plurality of front drive lanes, taking the middle point between the first and second end points of the corresponding lanes of the starting lane as the starting passing point;

[0154] In response to detecting that the starting lane is one of the plurality of subsequent lanes, taking a passing point of the starting lane corresponding to the preceding lane as the starting passing point;

[0155] In response to detecting that there is no preceding lane in the starting lane, if the starting lane is a reference lane, the middle point between the first and second end points of the lane corresponding to the starting lane is taken as the starting passing point; if the starting lane is a non-reference lane, the starting passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the starting lane.

[0156] As a preferred implementation, in the embodiment of the present invention, the passing point determination module is further used for:

[0157] In response to detecting that the end lane is connected to a plurality of subsequent lanes, taking the middle point between the end endpoints of the lane lines corresponding to the end lane as the end passing point;

[0158] In response to detecting that the end lane is one of the plurality of front lanes, taking a passing point of the end lane corresponding to the subsequent lane as an end passing point;

[0159] In response to detecting that the end lane has no successor lane, if the successor lane is a reference lane, the middle point between the end endpoints of the corresponding lanes of the successor lane is used as the end passing point; if the successor lane is a non-reference lane, the end passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the end lane.

[0160] As a preferred implementation, in the embodiment of the present invention, the device further includes a reference lane line determination module, and the reference lane line determination module is specifically used to:

[0161] In response to detecting that the target segmented lane is a reference lane, taking lane lines on both sides of the target segmented lane as reference lane lines;

[0162] In response to detecting that the target segmented lane is a non-reference lane, the average distances between the two passing points and the lane lines on both sides are calculated respectively, and the lane line corresponding to the smaller average distance is defined as the reference lane line.

[0163] As a preferred implementation, in an embodiment of the present invention, the first lane centerline generating module is specifically used for:

[0164] In response to detecting that the target segmented lane is a reference lane, taking a geometric mean center line corresponding to a reference lane line as a connecting line between two passing points of the target segmented lane, and connecting the two passing points based on the connecting line to generate a lane center line of the target segmented lane;

[0165] In response to detecting that the target segmented lane is a non-reference lane, connecting two passing points of the target segmented lane with the determined reference lane line according to a curve translation mechanism to generate a lane centerline of the target segmented lane;

[0166] The lane center lines of the reference lane and the non-reference lane are connected in sequence to generate the first lane center line.

[0167] As a preferred implementation, in the embodiment of the present invention, the second lane centerline generating module is specifically used for:

[0168] In response to detecting that the target segmented lane is a non-reference lane, a geometric mean center line of the non-reference lane is determined as the deviation correction center line.

[0169] As a preferred implementation, in the embodiment of the present invention, the second lane centerline generating module is further configured to:

[0170] Obtaining the intersection point between the lane centerline in the target non-reference lane and its corresponding deviation correction centerline;

[0171] Obtaining respectively a first vertical distance and a second vertical distance between a lane centerline between two adjacent intersection points and any point in the deviation correction centerline and a reference lane line;

[0172] In response to detecting that the second vertical distance is smaller than the first vertical distance, the lane centerline between the two adjacent intersections is corrected using the correction centerline between the two adjacent intersections to generate a second lane centerline.

[0173] As a preferred implementation, in the embodiment of the present invention, the device further includes an allocation module, and the allocation module is specifically used to:

[0174] Determining a lane centerline of an adjacent single connected path based on the target lane centerline and the lane topology network;

[0175] splicing a plurality of lane centerlines to generate a lane centerline topological network, and fitting the lane centerline topological network;

[0176] According to the geometric range of the lane topology network, the fitted lane centerline topology network is assigned to the corresponding lane.

[0177] For the specific definition of the lane centerline generating device, please refer to the definition of the lane centerline generating method above, which will not be repeated here. Each module in the above lane centerline generating device can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0178] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. 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 and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network 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 centerline generation method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0179] Those skilled in the art will understand that Figure 8 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.

[0180] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0181] S1: Based on a lane topology network consisting of a plurality of segmented lanes, a single connected path is obtained, and a passing point of each segmented lane in the single connected path is determined;

[0182] S2: Connect the passing points of each segmented lane to generate a center line of the first lane;

[0183] S3: Correcting the first lane centerline according to the correction centerline to generate a second lane centerline;

[0184] S4: Fitting the center line of the second lane to generate a center line of the target lane.

[0185] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0186] Get the lane width at the beginning and end of each segmented lane;

[0187] In response to detecting that the absolute value of the difference in lane widths of two segmented lanes at a connection is greater than a preset threshold, defining the segmented lane with a smaller lane width at the connection as a reference lane;

[0188] The middle point between the two lane line endpoints at the connection in the reference lane is obtained, and the middle point is defined as the passing point at the connection of the two segmented lanes.

[0189] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0190] In response to detecting that both segmented lanes between two adjacent passing points are reference lanes, determining whether lane widths at a connection point between the two reference lanes are the same;

[0191] If the lane widths at the connection of two reference lanes are the same, the middle point between the two lane line endpoints at the connection is defined as the passing point at the connection of the two reference lanes;

[0192] If the lane widths at the connection of two reference lanes are different, obtain the first middle point between the end points of the lane lines of the previous reference lane and the second middle point between the beginning points of the next reference lane, and define the first middle point and the second middle point as the passing points at the connection of the two reference lanes.

[0193] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0194] In response to detecting that both segmented lanes between two adjacent passing points are non-reference lanes, selecting a reference lane line according to the distance between the passing point and lane lines on both sides of the non-reference lane;

[0195] Based on the reference lane line and the distance between the reference lane line and the passing point, a passing point at the connection of two non-reference lanes is determined, wherein the distance relationship between two adjacent passing points and the passing point at the connection of two non-reference lanes and the reference lane line is:

[0196]

[0197] Among them, L1 represents the distance between the first passing point and the beginning end point of its corresponding reference lane line, L2 represents the distance between the passing point at the connection of two non-reference lanes and the end point of its corresponding reference lane line, L3 represents the distance between the second passing point and the end point of its corresponding reference lane line, D1 represents the length of the first non-reference lane, and D2 represents the length of the second non-reference lane.

[0198] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0199] In response to detecting that the starting lane is connected to a plurality of front drive lanes, taking the middle point between the first and second end points of the corresponding lanes of the starting lane as the starting passing point;

[0200] In response to detecting that the starting lane is one of the plurality of subsequent lanes, taking a passing point of the starting lane corresponding to the preceding lane as the starting passing point;

[0201] In response to detecting that there is no preceding lane in the starting lane, if the starting lane is a reference lane, the middle point between the first and second end points of the lane corresponding to the starting lane is taken as the starting passing point; if the starting lane is a non-reference lane, the starting passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the starting lane.

[0202] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0203] In response to detecting that the end lane is connected to a plurality of subsequent lanes, taking the middle point between the end endpoints of the lane lines corresponding to the end lane as the end passing point;

[0204] In response to detecting that the end lane is one of the plurality of front lanes, taking a passing point of the end lane corresponding to the subsequent lane as an end passing point;

[0205] In response to detecting that the end lane has no successor lane, if the successor lane is a reference lane, the middle point between the end endpoints of the corresponding lanes of the successor lane is used as the end passing point; if the successor lane is a non-reference lane, the end passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the end lane.

[0206] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0207] In response to detecting that the target segmented lane is a reference lane, taking lane lines on both sides of the target segmented lane as reference lane lines;

[0208] In response to detecting that the target segmented lane is a non-reference lane, the average distances between the two passing points and the lane lines on both sides are calculated respectively, and the lane line corresponding to the smaller average distance is defined as the reference lane line.

[0209] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0210] In response to detecting that the target segmented lane is a reference lane, taking a geometric mean center line corresponding to a reference lane line as a connecting line between two passing points of the target segmented lane, and connecting the two passing points based on the connecting line to generate a lane center line of the target segmented lane;

[0211] In response to detecting that the target segmented lane is a non-reference lane, connecting two passing points of the target segmented lane with the determined reference lane line according to a curve translation mechanism to generate a lane centerline of the target segmented lane;

[0212] The lane center lines of the reference lane and the non-reference lane are connected in sequence to generate the first lane center line.

[0213] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0214] In response to detecting that the target segmented lane is a non-reference lane, a geometric mean center line of the non-reference lane is determined as the deviation correction center line.

[0215] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0216] Obtaining the intersection point between the lane centerline in the target non-reference lane and its corresponding deviation correction centerline;

[0217] Obtaining respectively a first vertical distance and a second vertical distance between a lane centerline between two adjacent intersection points and any point in the deviation correction centerline and a reference lane line;

[0218] In response to detecting that the second vertical distance is smaller than the first vertical distance, the lane centerline between the two adjacent intersections is corrected using the correction centerline between the two adjacent intersections to generate a second lane centerline.

[0219] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0220] Determining a lane centerline of an adjacent single connected path based on the target lane centerline and the lane topology network;

[0221] splicing a plurality of lane centerlines to generate a lane centerline topological network, and fitting the lane centerline topological network;

[0222] According to the geometric range of the lane topology network, the fitted lane centerline topology network is assigned to the corresponding lane.

[0223] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0224] S1: Based on a lane topology network consisting of a plurality of segmented lanes, a single connected path is obtained, and a passing point of each segmented lane in the single connected path is determined;

[0225] S2: Connect the passing points of each segmented lane to generate a center line of the first lane;

[0226] S3: Correcting the first lane centerline according to the correction centerline to generate a second lane centerline;

[0227] S4: Fitting the center line of the second lane to generate a center line of the target lane.

[0228] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0229] Get the lane width at the beginning and end of each segmented lane;

[0230] In response to detecting that the absolute value of the difference in lane widths of two segmented lanes at a connection is greater than a preset threshold, defining the segmented lane with a smaller lane width at the connection as a reference lane;

[0231] The middle point between the two lane line endpoints at the connection in the reference lane is obtained, and the middle point is defined as the passing point at the connection of the two segmented lanes.

[0232] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0233] In response to detecting that both segmented lanes between two adjacent passing points are reference lanes, determining whether lane widths at a connection point between the two reference lanes are the same;

[0234] If the lane widths at the connection of two reference lanes are the same, the middle point between the two lane line endpoints at the connection is defined as the passing point at the connection of the two reference lanes;

[0235] If the lane widths at the connection of two reference lanes are different, obtain the first middle point between the end points of the lane lines of the previous reference lane and the second middle point between the beginning points of the next reference lane, and define the first middle point and the second middle point as the passing points at the connection of the two reference lanes.

[0236] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0237] In response to detecting that both segmented lanes between two adjacent passing points are non-reference lanes, selecting a reference lane line according to the distance between the passing point and lane lines on both sides of the non-reference lane;

[0238] Based on the reference lane line and the distance between the reference lane line and the passing point, a passing point at the connection of two non-reference lanes is determined, wherein the distance relationship between two adjacent passing points and the passing point at the connection of two non-reference lanes and the reference lane line is:

[0239]

[0240] Among them, L1 represents the distance between the first passing point and the beginning end point of its corresponding reference lane line, L2 represents the distance between the passing point at the connection of two non-reference lanes and the end point of its corresponding reference lane line, L3 represents the distance between the second passing point and the end point of its corresponding reference lane line, D1 represents the length of the first non-reference lane, and D2 represents the length of the second non-reference lane.

[0241] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0242] In response to detecting that the starting lane is connected to a plurality of front drive lanes, taking the middle point between the first and second end points of the corresponding lanes of the starting lane as the starting passing point;

[0243] In response to detecting that the starting lane is one of the plurality of subsequent lanes, taking a passing point of the starting lane corresponding to the preceding lane as the starting passing point;

[0244] In response to detecting that there is no preceding lane in the starting lane, if the starting lane is a reference lane, the middle point between the first and second end points of the lane corresponding to the starting lane is taken as the starting passing point; if the starting lane is a non-reference lane, the starting passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the starting lane.

[0245] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0246] In response to detecting that the end lane is connected to a plurality of subsequent lanes, taking the middle point between the end endpoints of the lane lines corresponding to the end lane as the end passing point;

[0247] In response to detecting that the end lane is one of the plurality of front lanes, taking a passing point of the end lane corresponding to the subsequent lane as an end passing point;

[0248] In response to detecting that the end lane has no successor lane, if the successor lane is a reference lane, the middle point between the end endpoints of the corresponding lanes of the successor lane is used as the end passing point; if the successor lane is a non-reference lane, the end passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the end lane.

[0249] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0250] In response to detecting that the target segmented lane is a reference lane, taking lane lines on both sides of the target segmented lane as reference lane lines;

[0251] In response to detecting that the target segmented lane is a non-reference lane, the average distances between the two passing points and the lane lines on both sides are calculated respectively, and the lane line corresponding to the smaller average distance is defined as the reference lane line.

[0252] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0253] In response to detecting that the target segmented lane is a reference lane, taking a geometric mean center line corresponding to a reference lane line as a connecting line between two passing points of the target segmented lane, and connecting the two passing points based on the connecting line to generate a lane center line of the target segmented lane;

[0254] In response to detecting that the target segmented lane is a non-reference lane, connecting two passing points of the target segmented lane with the determined reference lane line according to a curve translation mechanism to generate a lane centerline of the target segmented lane;

[0255] The lane center lines of the reference lane and the non-reference lane are connected in sequence to generate the first lane center line.

[0256] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0257] In response to detecting that the target segmented lane is a non-reference lane, a geometric mean center line of the non-reference lane is determined as the deviation correction center line.

[0258] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0259] Obtaining the intersection point between the lane centerline in the target non-reference lane and its corresponding deviation correction centerline;

[0260] Obtaining respectively a first vertical distance and a second vertical distance between a lane centerline between two adjacent intersection points and any point in the deviation correction centerline and a reference lane line;

[0261] In response to detecting that the second vertical distance is smaller than the first vertical distance, the lane centerline between the two adjacent intersections is corrected using the correction centerline between the two adjacent intersections to generate a second lane centerline.

[0262] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0263] Determining a lane centerline of an adjacent single connected path based on the target lane centerline and the lane topology network;

[0264] splicing a plurality of lane centerlines to generate a lane centerline topological network, and fitting the lane centerline topological network;

[0265] According to the geometric range of the lane topology network, the fitted lane centerline topology network is assigned to the corresponding lane.

[0266] 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 memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0267] The technical features of the above embodiments may be combined arbitrarily. 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.

[0268] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A lane centerline generation method, characterized in that: The method comprises: Based on a lane topology network consisting of a plurality of segmented lanes, a single connected path is obtained, and a passing point of each segmented lane in the single connected path is determined; Connecting the passing points of each segmented lane to generate a center line of the first lane; Correcting the first lane centerline according to the correction centerline to generate a second lane centerline; The second lane centerline is fitted to generate a target lane centerline.

2. The lane centerline generation method according to claim 1, characterized in that: The method for determining the passing point of each segmented lane in the single connected path includes: Get the lane width at the beginning and end of each segmented lane; In response to detecting that the absolute value of the difference in lane widths of two segmented lanes at a connection is greater than a preset threshold, defining the segmented lane with a smaller lane width at the connection as a reference lane; The middle point between the two lane line endpoints at the connection in the reference lane is obtained, and the middle point is defined as the passing point at the connection of the two segmented lanes.

3. The lane centerline generation method according to claim 2, characterized in that: The method further comprises: In response to detecting that both segmented lanes between two adjacent passing points are reference lanes, determining whether lane widths at a connection point between the two reference lanes are the same; If the lane widths at the connection of two reference lanes are the same, the middle point between the two lane line endpoints at the connection is defined as the passing point at the connection of the two reference lanes; If the lane widths at the connection of two reference lanes are different, obtain the first middle point between the end points of the lane lines of the previous reference lane and the second middle point between the beginning points of the next reference lane, and define the first middle point and the second middle point as the passing points at the connection of the two reference lanes.

4. The lane centerline generation method according to claim 3, characterized in that: The method further comprises: In response to detecting that both segmented lanes between two adjacent passing points are non-reference lanes, selecting a reference lane line according to the distance between the passing point and lane lines on both sides of the non-reference lane; Based on the reference lane line and the distance between the reference lane line and the passing point, a passing point at the connection of two non-reference lanes is determined, wherein the distance relationship between two adjacent passing points and the passing point at the connection of two non-reference lanes and the reference lane line is: Among them, L1 represents the distance between the first passing point and the beginning end point of its corresponding reference lane line, L2 represents the distance between the passing point at the connection of two non-reference lanes and the end point of its corresponding reference lane line, L3 represents the distance between the second passing point and the end point of its corresponding reference lane line, D1 represents the length of the first non-reference lane, and D2 represents the length of the second non-reference lane.

5. The lane centerline generation method according to claim 4, characterized in that: The method for determining the starting point of the single connected path includes: In response to detecting that the starting lane is connected to a plurality of front drive lanes, taking the middle point between the first and second end points of the corresponding lanes of the starting lane as the starting passing point; In response to detecting that the starting lane is one of the plurality of subsequent lanes, taking a passing point of the starting lane corresponding to the preceding lane as the starting passing point; In response to detecting that there is no preceding lane in the starting lane, if the starting lane is a reference lane, the middle point between the first and second end points of the lane corresponding to the starting lane is taken as the starting passing point; if the starting lane is a non-reference lane, the starting passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the starting lane.

6. The lane centerline generation method according to claim 4, characterized in that: The method for determining the end point of the single connected path includes: In response to detecting that the end lane is connected to a plurality of subsequent lanes, taking the middle point between the end endpoints of the lane lines corresponding to the end lane as the end passing point; In response to detecting that the end lane is one of the plurality of front lanes, taking a passing point of the end lane corresponding to the subsequent lane as an end passing point; In response to detecting that the end lane has no successor lane, if the successor lane is a reference lane, the middle point between the end endpoints of the corresponding lanes of the successor lane is used as the end passing point; if the successor lane is a non-reference lane, the end passing point is determined based on a reference lane line and a distance between the reference lane line and the passing point at the other end of the end lane.

7. The lane centerline generation method according to claim 1, characterized in that: Before connecting the passing points of each segmented lane to generate the first lane centerline, the method further includes: In response to detecting that the target segmented lane is a reference lane, taking lane lines on both sides of the target segmented lane as reference lane lines; In response to detecting that the target segmented lane is a non-reference lane, the average distances between the two passing points and the lane lines on both sides are calculated respectively, and the lane line corresponding to the smaller average distance is defined as the reference lane line.

8. The lane centerline generation method according to claim 7, characterized in that: Connecting the passing points of each segmented lane to generate the center line of the first lane includes: In response to detecting that the target segmented lane is a reference lane, taking a geometric mean center line corresponding to a reference lane line as a connecting line between two passing points of the target segmented lane, and connecting the two passing points based on the connecting line to generate a lane center line of the target segmented lane; In response to detecting that the target segmented lane is a non-reference lane, connecting two passing points of the target segmented lane with the determined reference lane line according to a curve translation mechanism to generate a lane centerline of the target segmented lane; The lane center lines of the reference lane and the non-reference lane are connected in sequence to generate the first lane center line.

9. The lane centerline generation method according to claim 1, characterized in that: The method for determining the deviation correction center line comprises: In response to detecting that the target segmented lane is a non-reference lane, a geometric mean center line of the non-reference lane is determined as the deviation correction center line.

10. The lane centerline generation method according to claim 9, characterized in that: Correcting the first lane centerline according to the correction centerline to generate a second lane centerline includes: Obtaining the intersection point between the lane centerline in the target non-reference lane and its corresponding deviation correction centerline; Respectively obtain the first vertical distance and the second vertical distance between the lane centerline between two adjacent intersection points and any point in the deviation correction centerline and the reference lane line; In response to detecting that the second vertical distance is smaller than the first vertical distance, the lane centerline between the two adjacent intersections is corrected using the correction centerline between the two adjacent intersections to generate a second lane centerline.

11. The lane centerline generation method according to claim 1, characterized in that: After generating the target lane centerline, the method further includes: Determining a lane centerline of an adjacent single connected path based on the target lane centerline and the lane topology network; splicing a plurality of lane centerlines to generate a lane centerline topological network, and fitting the lane centerline topological network; According to the geometric range of the lane topology network, the fitted lane centerline topology network is assigned to the corresponding lane.

12. A lane centerline generating device, characterized in that: The device comprises: A passing point determination module, configured to obtain a single connected path based on a lane topology network consisting of a plurality of segmented lanes, and determine a passing point of each segmented lane in the single connected path; A first lane centerline generating module, used for connecting the passing points of each segmented lane to generate a first lane centerline; A second lane centerline generating module, configured to correct the first lane centerline according to the correction centerline to generate a second lane centerline; The target lane centerline generation module is used to fit the second lane centerline to generate a target lane centerline.

13. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 11 is implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 11 is implemented.

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