Lane line generation method and device and electronic equipment
By obtaining the center line and target offset distance of the project object, determining and processing the parameter equations of the offset curve, the problems of unsmooth and distortion of the offset curve are solved, and the optimized design and precise generation of lane lines are achieved.
Patent Information
- Application Number
- CN202311213969.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-19
- Publication Date
- 2025-03-21
AI Technical Summary
In the prior art, the offset curve is not smooth and there are distortion problems, which affects the implementation of the project.
By obtaining the reference curve and target offset distance corresponding to the center line of the project object, the parameter equation of the first offset curve of the reference curve is determined, and a singular smoothing process is performed to obtain a smooth second offset curve.
The problem of non-smooth and distortion of the offset curve was solved, a smooth and complete offset curve was obtained, and the design of the lane line was optimized, and a smooth and accurate equidistant lane line was generated.
Smart Images
Figure CN119672162A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a method, device and electronic device for generating lane lines. Background Art
[0002] At present, offset curves are widely used in many projects, such as the construction of workpieces, modeling of lane lines, etc. However, the offset curve is still determined based on the segmentation idea, which cannot solve the problem of uneven offset curves and distortion of offsets, which is not conducive to the implementation of projects. Summary of the invention
[0003] In order to overcome the problems existing in the related art, the present disclosure provides a lane line generation method, device, electronic device, and computer-readable storage medium to solve the problem of uneven offset curves and distorted offset curves of engineering targets. The technical solution of the present disclosure is as follows:
[0004] According to a first aspect of an embodiment of the present disclosure, a method for generating a lane line is provided, comprising: obtaining a reference curve corresponding to a center line of an engineering object; obtaining a target offset distance; determining a parametric equation of a first offset curve corresponding to the reference curve based on the reference curve and the target offset distance; and generating an engineering target of the engineering object based on the parametric equation of the first offset curve.
[0005] In one embodiment of the present disclosure, determining the parametric equation of the first offset curve corresponding to the reference curve based on the reference curve and the target offset distance includes: determining the normal angle of any point on the reference curve based on the reference curve; and obtaining the parametric equation of the first offset curve based on the normal angle and the target offset distance.
[0006] In one embodiment of the present disclosure, the parametric equation of the first offset curve is obtained based on the normal angle and the target offset distance, including: determining the direction of the offset point and the offset distance of the offset point based on the normal angle and the target offset distance, the offset distance including a first offset distance of the offset point on the horizontal axis and a second offset distance on the vertical axis; obtaining the horizontal axis parametric equation of the first offset curve based on the direction of the offset point and the first offset distance; and obtaining the vertical axis parametric equation of the first offset curve based on the second offset distance.
[0007] In one embodiment of the present disclosure, determining the normal angle of any point on the reference curve based on the reference curve includes: deriving the reference curve to obtain a first-order derivative of the reference curve, and obtaining the normal angle of any point on the reference curve based on the first-order derivative.
[0008] In one embodiment of the present disclosure, the lane line of the target road is generated based on the first offset curve, including: if there is a singular point in the first offset curve, the first offset curve is subjected to singular smoothing processing to obtain a second offset curve; based on the second offset curve, the engineering target of the engineering object is generated.
[0009] In one embodiment of the present disclosure, the method further includes: differentiating the horizontal axis parameter equation of the first offset curve to obtain the first-order derivative of the horizontal axis parameter equation; if the first-order derivative of the horizontal axis parameter equation does not satisfy the curve monotonicity condition, it is determined that the first offset curve has a singular point.
[0010] In one embodiment of the present disclosure, the singular smoothing process is performed on the first offset curve to obtain the second offset curve, including: obtaining a singular position point of the first offset curve; searching for a first position point and a second position point located on both sides of the singular position point on the first offset curve; determining a second-order Beerset curve connecting the first position point and the second position point based on the singular position point, the first position point and the second position point; determining a singular curve segment located between the first position point and the second position point on the first offset curve; and updating the singular curve segment to the second-order Beerset curve to obtain the second offset curve.
[0011] In one embodiment of the present disclosure, the step of searching for the first position point and the second position point located on both sides of the singular position point on the first offset curve includes: determining a selection distance of the position points based on the target offset distance; and selecting the first position point and the second position point located on both sides of the singular position point on the first offset curve and separated from the singular position point by the selection distance.
[0012] In one embodiment of the present disclosure, generating the engineering target of the engineering object based on the second offset curve includes: acquiring a plurality of candidate position points based on the second offset curve, and drawing the engineering target of the engineering object based on the candidate position points.
[0013] According to a second aspect of an embodiment of the present disclosure, a lane line generation device is provided, including: a first acquisition module, used to acquire a reference curve corresponding to a center line of an engineering object; a second acquisition module, used to acquire a target offset distance; a determination module, used to determine a parameter equation of a first offset curve corresponding to the reference curve based on the reference curve and the target offset distance; and a generation module, used to generate an engineering target of the engineering object based on the parameter equation of the first offset curve.
[0014] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, comprising a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to implement the steps of the method described in the first aspect of the embodiment of the present disclosure.
[0015] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by an electronic device, the steps of the method described in the first aspect of the embodiment of the present disclosure are implemented.
[0016] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by an electronic device of a vision detection device, the steps of the method described in the first aspect of the embodiment of the present disclosure are implemented.
[0017] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: by determining the reference curve corresponding to the center line of the engineering object and determining the target offset distance between the center line and the engineering target, the parametric equation of the first offset curve of the reference curve may be determined. Based on the parametric equation, a more accurate engineering target may be drawn, which is beneficial to the realization of the project, solves the problem that the offset curve is not smooth or has singular parts, and obtains a smooth and complete offset curve. Drawing lane lines based on the offset curves can optimize the design of lane lines and generate smooth, accurate and equidistant lane lines.
[0018] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.
[0020] Figure 1 It is a flowchart of a method for generating lane lines according to some embodiments of the present disclosure.
[0021] Figure 2 is a schematic diagram of a road according to some embodiments of the present disclosure.
[0022] Figure 3 It is a flowchart of another method for generating lane lines according to some embodiments of the present disclosure.
[0023] Figure 4 It is a flowchart of another method for generating lane lines according to some embodiments of the present disclosure.
[0024] Figure 5is a schematic diagram of an offset curve with a singular point according to some embodiments of the present disclosure.
[0025] Figure 6 It is a flowchart of another method for generating lane lines according to some embodiments of the present disclosure.
[0026] Figure 7 is a schematic diagram of a deviation curve according to some embodiments of the present disclosure.
[0027] Figure 8 It is a flowchart of another method for generating lane lines according to some embodiments of the present disclosure.
[0028] Fig. 9 is a flowchart of generating lane lines according to some embodiments of the present disclosure.
[0029] Fig.10 It is a block diagram of a lane line generating device according to some embodiments of the present disclosure.
[0030] Fig.11 It is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure.
[0031] Fig.12 It is a structural block diagram of an electronic device according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION
[0032] Some embodiments of the present disclosure will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Various changes, modifications and equivalents of the methods, devices and / or systems described herein will become apparent after understanding the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those orders set forth herein, but can be changed as becomes apparent after understanding the present disclosure, except for operations that must be performed in a specific order. In addition, for clarity and brevity, descriptions of features known in the art may be omitted.
[0033] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.
[0034] Figure 1 is a flow chart of a method for generating lane lines according to some embodiments of the present disclosure. Figure 1 As shown, the process of the lane line generation method includes but is not limited to the following steps:
[0035] S101, obtaining a reference curve corresponding to the center line of the engineering object.
[0036] It should be noted that the execution subject of the lane line generation method in the embodiment of the present disclosure is an electronic device, which can be an intelligent platform, server, etc. with data processing capabilities. Optionally, the intelligent platform can be an artificial intelligence development platform, or a big data analysis platform, etc. Optionally, the server can be a cloud server, or a server of a distributed system, or a server combined with a blockchain, etc. The embodiment of the present disclosure is not specifically limited.
[0037] It is understandable that the embodiments of the present disclosure can be applied to the road field or the product simulation field. In the road field, the engineering object can be a road, such as a city road, a highway, etc. In the product simulation field, the engineering object can be a workpiece, such as a screw, a nut, a bearing, etc.
[0038] In the embodiment of the present disclosure, a project target may be set in advance for the project object. Optionally, if the project object is a workpiece, the project target may be the width and height of the workpiece. If the project object is a road, the project target may be a generated lane line.
[0039] In some implementations, the centerline of the engineering object may be measured to obtain the centerline data, and a reference curve may be constructed based on the centerline data. The reference curve may be a third-order curve, such as f(x)=ax 3 +bx 2 +cx+d, where a, b, c, and d are constants. Optionally, the reference curve may also be a parabola, a hyperbola, a sine curve, or other types of curves, and the present disclosure does not limit the type of the reference curve.
[0040] It is understood that in the field of roads, the centerline refers to the central axis of the road, located in the middle of the road and extending longitudinally along the road. The shape of the centerline of the road can be a straight line segment, a curve segment, or a complex combination of curves. In the field of product simulation, the centerline of a workpiece refers to the symmetry axis of the workpiece in the geometric shape.
[0041] Optionally, the coordinate data of the center line may be measured based on a global positioning system (GPS), and a corresponding reference curve may be generated according to the coordinate data.
[0042] For example, if the engineering object is a road, the center line of the road is measured, the coordinate data of the center line is obtained, and then a reference curve corresponding to the center line is generated. Optionally, the coordinate data can be preprocessed to ensure the quality and continuity of the coordinate data, and then the coordinate data can be fitted into a curve based on a curve fitting algorithm. The curve is the reference curve corresponding to the center line. The center line is a physical curve, and the reference curve is a simulated curve of the physical line in an electronic device. The reference curve has the same shape as the center line. The reference curve can be a straight line, a parabola, a third-order curve, etc. Figure 2 In the road schematic diagram shown, the center line of the road in the figure is the solid line in the figure.
[0043] S102, obtaining a target offset distance.
[0044] In some implementations, the target offset distance between the center line and the engineering target can be determined according to the requirements of the engineering target. Optionally, a correspondence between one or more engineering targets and the target offset distance can be pre-established according to the actual requirements of the engineering target, and the correspondence can be stored in a memory. After the engineering object is determined, the target offset distance can be determined by querying the correspondence. The target offset distance refers to the target offset distance between the engineering target and the center line.
[0045] In the road field, the engineering object is the road, and the engineering goal is to generate one or more lane lines. Usually, the interval distance between two adjacent lane lines is required to be 3 meters. According to this requirement, the target offset distances between multiple lane lines and the center line can be determined. That is to say, the target offset distance between the lane line closest to the center line and the center line is 1.5 meters, and then the correspondence between multiple different lane lines and target offset distances is established. When any lane line is determined, the target offset distance between the lane line and the center line can be determined by querying the correspondence. Among them, in the road field, the offset direction of the target offset distance can be left, right, etc. For example, 3 meters to the left, 5 meters to the right, etc. The right direction can be set as the positive direction, and the target offset distance is -3 meters, +5 meters, etc. Figure 2 In the road diagram shown, the center line is Figure 2 The solid line in the figure, the engineering goal is to generate Figure 2 For multiple lane lines A, B, C, and D in the vehicle, by querying the pre-established correspondence between multiple lane lines and target offset distances, it is determined that the target offset distance of lane line A is -1.5 meters, the target offset distance of lane line B is -4.5 meters, the target offset distance of lane line C is 1.5 meters, and the target offset distance of lane line D is 4.5 meters.
[0046] S103: Determine a parameter equation of a first offset curve corresponding to the reference curve based on the reference curve and the target offset distance.
[0047] In some implementations, the parametric equation of the first offset curve can be determined based on the offset point on the first offset curve. Alternatively, the offset direction of the offset point and the offset distance of the offset point on the horizontal and vertical axes can be determined based on the target offset distance and any coordinate point on the reference curve, and then the parametric equation of the first offset curve corresponding to the reference curve can be obtained.
[0048] Optionally, the offset direction of the offset point and the offset distance of the offset point on the horizontal and vertical axes can be determined based on the normal angle of any point on the reference curve. Further, based on the offset direction and the offset distance of the offset point on the horizontal and vertical axes, the parametric equation of the first offset curve corresponding to the reference curve can be determined.
[0049] S104: Generate an engineering target of the engineering object based on the parameter equation of the first offset curve.
[0050] In some implementations, multiple position points can be obtained from the parametric equation of the first offset curve, and the engineering target can be drawn based on the multiple position points. Optionally, multiple position points with the same interval can be selected on the first offset curve, and then a curve or curve segment can be generated based on the position points to obtain the engineering target.
[0051] Optionally, if the engineering object is a workpiece, the engineering target may be the width and height of the workpiece. If the engineering object is a road, the engineering target may be the generated lane line.
[0052] For example, in the road field, the engineering goal is to draw lane lines on the road. Based on the first offset curve, the lane lines can be accurately positioned, multiple lane lines parallel to each other can be obtained, the design of the lane lines can be optimized, and smooth and complete lane lines can be drawn. Figure 2 As shown in the figure, lane line A, lane line B, lane line C, and lane line D are offset from the center line by a certain distance. The interval between two adjacent lane lines also meets the engineering requirements and is parallel to the center line.
[0053] It should be noted that the lane line generation method disclosed in the present invention can be applied to the autonomous driving of vehicles. Lane lines are one of the important information of visual perception in the autonomous driving system. The autonomous driving system of the vehicle can detect and track the position, shape and change of lane lines based on cameras or other sensors. Drawing lane lines based on offset curves helps to accurately model and represent lanes, thereby providing accurate lane information for the autonomous driving system, helping the autonomous driving vehicle to make driving decisions and control adjustments according to the position and shape of the lane lines, improving the safety of autonomous driving and avoiding collisions.
[0054] In the lane line generation method provided in the embodiment of the present disclosure, by determining the reference curve corresponding to the center line of the engineering object and determining the target offset distance between the center line and the engineering target, the parametric equation of the first offset curve of the reference curve can be determined. Based on the parametric equation, a more accurate engineering target can be drawn, which is beneficial to the realization of the project, solves the problem that the offset curve is not smooth or has singular parts, and obtains a smooth and complete offset curve. Drawing lane lines based on the offset curve can optimize the design of the lane lines and generate smooth, accurate and equidistant lane lines.
[0055] Figure 3 is a flow chart of a method for generating lane lines according to some embodiments of the present disclosure. Figure 3 As shown, the process of the lane line generation method includes but is not limited to the following steps:
[0056] S301, obtaining a reference curve corresponding to the center line of the engineering object.
[0057] In the embodiment of the present disclosure, the implementation method of step S301 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0058] S302, obtaining a target offset distance.
[0059] In the embodiment of the present disclosure, the implementation method of step S302 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0060] S303: Determine the normal angle of any point on the reference curve based on the reference curve.
[0061] In some implementations, the reference curve may be differentiated to obtain a first-order derivative of the reference curve, and the normal angle of any point on the reference curve may be obtained based on the first-order derivative. Alternatively, the normal angle of any point on the reference curve may be determined based on a trigonometric function and the first-order derivative of the reference curve, wherein the trigonometric function may be a tangent function.
[0062] For example, assume that the reference curve is a third-order curve f(x)=ax 3 +bx 2 +cx+d, then the first-order derivative of the reference curve is f′(x)=3ax 2 +2bx+c, then the normal angle at any point on the reference curve is Where f′(x) is the first-order derivative of the reference curve and x is the variable.
[0063] S304: Obtain a parameter equation of a first offset curve based on the normal angle and the target offset distance.
[0064] In some implementations, after determining the normal angle, the direction of the offset point and the offset distance of the offset point can be determined based on the normal angle and the target offset distance, wherein the offset distance includes a first offset distance of the offset point on the horizontal axis and a second offset distance on the vertical axis.
[0065] Optionally, the direction of the offset point can be determined by calculating the ratio of the normal angle to the absolute value of the normal angle. The offset direction is Optionally, the first offset distance may be determined based on the cosine function, the normal angle and the target offset distance, and the first offset distance is: Optionally, the second offset distance can be determined based on the sine function, the normal angle and the target offset distance, and the second offset distance is Where m is the target offset distance.
[0066] Furthermore, the horizontal axis parameter equation of the first offset curve can be obtained based on the direction of the offset point and the first offset distance. The calculation formula of the horizontal axis parameter equation is as follows:
[0067]
[0068] Among them, t is a variable, m is the target offset distance, 3at 2 +2bt+c is the first derivative of the reference curve.
[0069] Optionally, the longitudinal axis parameter equation of the first offset curve may be obtained based on the second offset distance. The calculation formula of the longitudinal axis parameter equation is as follows:
[0070]
[0071] Among them, t is a variable, m is the target offset distance, 3at 2 +2bt+c is the first derivative of the reference curve, at 3 +bt 2 +ct+d is the reference curve.
[0072] Furthermore, based on the horizontal axis parameter equation and the vertical axis parameter equation, the parameter equation of the first offset curve can be obtained. The parameter equation of the first offset curve is as follows:
[0073]
[0074] S305: Generate an engineering target of the engineering object based on the parameter equation of the first offset curve.
[0075] In the embodiment of the present disclosure, the implementation method of step S305 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0076] In the lane line generation method provided in the embodiment of the present disclosure, by determining the reference curve corresponding to the center line of the engineering object and the target offset distance, and determining the normal angle of any point on the reference curve based on the reference curve, and then determining the offset direction and the first offset distance and the second offset distance based on the normal angle, the parametric equation of the first offset curve can be determined. Based on the parametric equation, more accurate engineering goals can be drawn, which is beneficial to the implementation of the project, solves the problem of the offset curve being not smooth or having singular parts, and obtains a smooth and complete offset curve. Drawing lane lines based on the offset curve can optimize the design of the lane lines and generate smooth, accurate and equidistant lane lines.
[0077] Figure 4 is a flow chart of a method for generating lane lines according to some embodiments of the present disclosure. Figure 4 As shown, the process of the lane line generation method includes but is not limited to the following steps:
[0078] S401, obtaining a reference curve corresponding to the center line of the engineering object.
[0079] In the embodiment of the present disclosure, the implementation method of step S401 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0080] S402, obtaining a target offset distance.
[0081] In the embodiment of the present disclosure, the implementation method of step S402 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0082] S403: Determine a parameter equation of a first offset curve corresponding to the reference curve based on the reference curve and the target offset distance.
[0083] In the embodiment of the present disclosure, the implementation method of step S403 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0084] S404: If there is a singular point in the first offset curve, perform a singular smoothing process on the first offset curve to obtain a second offset curve.
[0085] It is understood that the singular point of the deviation curve usually refers to a point that exhibits unusual characteristics or behaviors on the image. For example, the intersection point in the deviation curve image is a singular point. Figure 5 The offset curve with a singular point shown in a, the curve passing through the origin is the reference curve, the curve on the left side of the reference curve is the first offset curve, and the intersection point of the first offset curve is the singular point.
[0086] In some implementations, it is possible to determine whether the first offset curve has a singular point based on the monotonicity of the horizontal axis parameter equation. Optionally, the horizontal axis parameter equation of the first offset curve can be differentiated to obtain the first-order derivative of the horizontal axis parameter equation. Then, based on the monotonicity condition of the first-order derivative of the horizontal axis parameter equation, it is determined whether the first offset curve has a singular point. Among them, the curve monotonicity condition is that the first-order derivative is always greater than 0, or always less than 0. If the first-order derivative of the horizontal axis parameter equation does not meet the curve monotonicity condition, it is determined that the first offset curve has a singular point. In other words, the first-order derivative of the horizontal axis parameter equation is not always greater than 0, or not always less than 0.
[0087] like Figure 5 The deviation curve with singular points shown is Figure 5 a. Figure 5 b. Figure 5 The first-order derivatives of the horizontal axis parameter equations in the offset curve in c fail to satisfy the monotonicity condition of the curve, that is, the first-order derivative is not always greater than 0, or is not always less than 0. Then, the offset curves have intersection points, that is, singular points, where the singular points satisfy x(t1)=x(t2), y(t1)=y(t2).
[0088] Furthermore, a smooth second offset curve is obtained by performing a singular smoothing process on the first offset curve having a singular point. Optionally, two position points may be determined near the singular point of the first offset curve, and based on the two position points, a second-order Bezier curve is drawn, and the curve of the singular part is replaced with the second-order Bezier curve to obtain a smooth second offset curve.
[0089] S405: Generate an engineering target of the engineering object based on the second offset curve.
[0090] In some implementations, multiple candidate position points may be obtained based on the second offset curve, and the engineering target of the engineering object may be drawn based on the candidate position points. Optionally, multiple candidate position points with the same interval may be selected on the second offset curve, and then a curve or curve segment may be generated based on the candidate position points to obtain a smooth engineering target without distortion.
[0091] For example, a lane line may be generated based on the second offset curve, such as Figure 2 As shown in the road schematic diagram, there are multiple lane lines. Based on the reference curve of the center line and different target offset distances, multiple different second offset curves are obtained. Further, based on the multiple second offset curves, lane line A, lane line B, lane line C, and lane line D with different offset directions and offset distances can be obtained.
[0092] In the lane line generation method provided in the embodiment of the present disclosure, by determining the reference curve corresponding to the center line of the engineering object and determining the target offset distance between the center line and the engineering target, the parametric equation of the first offset curve of the reference curve can be determined. Furthermore, by determining whether there are singular points on the first offset curve and performing singular smoothing on the first offset curve, a second offset curve is obtained. Based on the second offset curve, a more accurate engineering target can be drawn, which is beneficial to the implementation of the project, solves the problem that the offset curve is not smooth or has singular parts, and obtains a smooth and complete offset curve. By drawing lane lines based on the offset curves, the design of the lane lines can be optimized to generate smooth, accurate and equidistant lane lines.
[0093] Figure 6 is a flow chart of a method for generating lane lines according to some embodiments of the present disclosure. Figure 6 As shown, the process of the lane line generation method includes but is not limited to the following steps:
[0094] S601, obtaining a reference curve corresponding to the center line of the engineering object.
[0095] In the embodiment of the present disclosure, the implementation method of step S601 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0096] S602, obtaining a target offset distance.
[0097] In the embodiment of the present disclosure, the implementation method of step S602 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0098] S603: Determine a parameter equation of a first offset curve corresponding to the reference curve based on the reference curve and the target offset distance.
[0099] In the embodiment of the present disclosure, the implementation method of step S603 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0100] S604: Determine whether a singular point exists in the first offset curve, and obtain the singular position point of the first offset curve.
[0101] In some implementations, when it is determined that the first offset curve has a singular point based on the monotonicity of the first-order derivative of the horizontal axis parameter equation of the first offset curve, the singular position point of the first offset curve can be determined by judging whether the position point of the first offset curve satisfies the condition of the singular point. The condition of the singular point is x(t1)=x(t2), y(t1)=y(t2).
[0102] Optionally, the position points satisfying the singular point condition may be determined by traversing the position points of the first offset curve. When a position point satisfies the singular point condition, the position point is determined to be a singular position point.
[0103] S605: Searching for a first position point and a second position point located on both sides of the singular position point on the first offset curve.
[0104] In some implementations, the selection distance of the position point can be determined based on the target offset distance. For example, if the target offset distance is m, the selection distance is nm, where n is an empirical value and can be 0.3. Then, the first position point and the second position point located on both sides of the singular position point and separated from the singular position point by the selection distance are selected from the first offset curve. In other words, the first position point and the second position point separated from the singular position point by 0.3m can be selected on the first offset curve.
[0105] For example, by determining that the singular position point of the first offset curve is P1, the selection distance of the position point is 0.3m, two position points located on both sides of the singular position point and 0.3m away from the singular position point are selected from the first offset curve, and the first position point is set as P0 and the second position point is set as P2.
[0106] S606: Determine a second-order Beerset curve connecting the first position point and the second position point based on the singular position point, the first position point and the second position point.
[0107] It can be understood that the second-order Bezier curve is composed of a control point, a starting point and an end point, the starting point and the end point are the two end points of the curve, and the control point determines the shape of the curve. In the embodiment of the present disclosure, the starting point and the end point are the first position point P0 and the second position point P2, and the control point is the singular position point P1. The second-order Bezier curve can achieve a smooth transition between the starting point and the end point, so the first offset curve can be singularly smoothed.
[0108] In some implementations, a formula for determining a second-order Belset curve connecting the first location point and the second location point is as follows:
[0109]
[0110] Among them, t is a variable, P0 is the first position point, P2 is the second position point, and P1 is a singular position point.
[0111] S607: Determine a singular curve segment between the first position point and the second position point on the first offset curve.
[0112] S608: Update the singular curve segment to a second-order Beerse curve to obtain a second offset curve.
[0113] In some implementations, when the first position point and the second position point on both sides of the singular position point are determined, the curve segment between the first position point and the second position point is a singular curve segment, and the singular curve segment is a singular portion of the first offset curve, and the curves intersect. Figure 7 In the first offset curve shown in a, the curve segment between the first position point B and the second position point C is a singular curve segment.
[0114] In some implementations, the starting point and the end point of the second-order Bezier curve are the first position point and the second position point respectively, and the first offset curve can be smoothed based on the second-order Bezier curve to obtain the second offset curve. Optionally, the second offset curve is obtained by replacing the singular curve segment with a smooth second-order Bezier curve.
[0115] For example, Figure 7 The offset curve shown, where the reference curve is f(x) = 0.05x 3 -5x, the reference curve passes through the origin. Figure 7 In a, the singular position point on the first offset curve is point A. Two position points, point B and point C, are selected on the first offset curve with a selected distance from point A. The curve between point B and point C is a singular curve segment. Then, the singular curve segment is replaced by a second-order Belset curve to obtain a smooth second offset curve, as shown in Figure 7 b shows the second offset curve after singular smoothing.
[0116] S609: Generate an engineering target of the engineering object based on the second offset curve.
[0117] In the embodiment of the present disclosure, the implementation method of step S609 can be implemented by any method in the embodiments of the present disclosure, which is not limited here and will not be repeated.
[0118] In the lane line generation method provided in the embodiment of the present disclosure, by determining the reference curve corresponding to the center line of the engineering object and determining the target offset distance between the center line and the engineering target, the parametric equation of the first offset curve of the reference curve can be determined. Furthermore, by determining whether there are singular points on the first offset curve and performing singular smoothing on the first offset curve, a second offset curve is obtained. Based on the second offset curve, a more accurate engineering target can be drawn, which is beneficial to the implementation of the project, solves the problem that the offset curve is not smooth or has singular parts, and obtains a smooth and complete offset curve. By drawing lane lines based on the offset curves, the design of the lane lines can be optimized to generate smooth, accurate and equidistant lane lines.
[0119] Figure 8 is a flow chart of a method for generating lane lines according to some embodiments of the present disclosure. Figure 8As shown, the process of the lane line generation method includes but is not limited to the following steps:
[0120] S801, obtaining a reference curve corresponding to the center line of the engineering object.
[0121] S802, obtaining a target offset distance.
[0122] S803, based on the reference curve, determining the normal angle of any point on the reference curve.
[0123] S804, determining the direction of the offset point and the offset distance of the offset point based on the normal angle and the target offset distance, where the offset distance includes a first offset distance of the offset point on the horizontal axis and a second offset distance on the vertical axis.
[0124] S805: Obtain a horizontal axis parameter equation of a first offset curve based on the direction of the offset point and the first offset distance.
[0125] S806: Obtain a vertical axis parameter equation of the first offset curve based on the second offset distance.
[0126] S807: If there is a singular point in the first offset curve, perform a singular smoothing process on the first offset curve to obtain a second offset curve.
[0127] S808: Acquire a plurality of candidate position points based on the second offset curve, and draw an engineering target of the engineering object based on the candidate position points.
[0128] In the lane line generation method provided in the embodiment of the present disclosure, by determining the reference curve corresponding to the center line of the engineering object and determining the target offset distance between the center line and the engineering target, the parametric equation of the first offset curve of the reference curve can be determined. Based on the parametric equation, a more accurate engineering target can be drawn, which is beneficial to the realization of the project, solves the problem that the offset curve is not smooth or has singular parts, and obtains a smooth and complete offset curve. Drawing lane lines based on the offset curve can optimize the design of the lane lines and generate smooth, accurate and equidistant lane lines.
[0129] Fig. 9 The flowchart for generating lane lines is shown. Based on the reference curve of the road centerline, the normal angle of a point on the reference curve can be determined, and then the offset direction of the offset point can be determined. According to the target offset distance and offset direction, the first offset distance of the offset point on the horizontal axis and the second offset distance on the vertical axis can be determined, and then the parametric equation of the first offset curve can be determined by the above formula (1) and formula (2). Further, it is determined whether there is a singular point on the first offset curve. If there is a singular point, the singular part can be processed based on the second-order Bezier curve to obtain a smooth second offset curve. Further, the lane line can be drawn based on the second offset curve.
[0130] Fig.10 FIG1 is a block diagram 1000 of a lane line generation device according to some embodiments of the present disclosure. Fig.10 The device includes a first acquisition module 1001, a second acquisition module 1002, a determination module 1003 and a generation module 1004.
[0131] The first acquisition module 1001 is used to acquire a reference curve corresponding to the center line of the engineering object.
[0132] The second acquisition module 1002 is used to acquire the target offset distance.
[0133] The determination module 1003 is configured to determine a parameter equation of a first offset curve corresponding to the reference curve based on the reference curve and the target offset distance.
[0134] The generating module 1004 is configured to generate an engineering target of the engineering object based on the parametric equation of the first offset curve.
[0135] In one embodiment of the present disclosure, the determination module 1003 is further used to: determine the normal angle of any point on the reference curve based on the reference curve; and obtain a parameter equation of the first offset curve based on the normal angle and the target offset distance.
[0136] In one embodiment of the present disclosure, the determination module 1003 is further used to: determine the direction of the offset point and the offset distance of the offset point based on the normal angle and the target offset distance, the offset distance including the first offset distance of the offset point on the horizontal axis and the second offset distance on the vertical axis; obtain the horizontal axis parameter equation of the first offset curve based on the direction of the offset point and the first offset distance; and obtain the vertical axis parameter equation of the first offset curve based on the second offset distance.
[0137] In one embodiment of the present disclosure, the determination module 1003 is further used to: derive the reference curve to obtain a first-order derivative of the reference curve, and obtain a normal angle of any point on the reference curve based on the first-order derivative.
[0138] In one embodiment of the present disclosure, the generating module 1004 is further used to: if there are singular points in the first offset curve, perform singular smoothing on the first offset curve to obtain a second offset curve; and generate an engineering target of the engineering object based on the second offset curve.
[0139] In one embodiment of the present disclosure, the generation module 1004 is further used to: derive the horizontal axis parameter equation of the first offset curve to obtain the first-order derivative of the horizontal axis parameter equation; if the first-order derivative of the horizontal axis parameter equation does not meet the curve monotonicity condition, it is determined that the first offset curve has a singular point.
[0140] In one embodiment of the present disclosure, the generation module 1004 is further used to: obtain a singular position point of the first offset curve; search for a first position point and a second position point located on both sides of the singular position point on the first offset curve; determine a second-order Beerset curve connecting the first position point and the second position point based on the singular position point, the first position point and the second position point; determine a singular curve segment located between the first position point and the second position point on the first offset curve; and update the singular curve segment to the second-order Beerset curve to obtain the second offset curve.
[0141] In one embodiment of the present disclosure, the generation module 1004 is further used to: determine a selection distance of a position point based on the target offset distance; and select the first position point and the second position point on the first offset curve that are located on both sides of the singular position point and are separated from the singular position point by the selection distance.
[0142] In one embodiment of the present disclosure, the generating module 1004 is further configured to: acquire a plurality of candidate position points based on the second offset curve, and draw the engineering target of the engineering object based on the candidate position points.
[0143] In the lane line generation method provided in the embodiment of the present disclosure, by determining the reference curve corresponding to the center line of the engineering object and determining the target offset distance between the center line and the engineering target, the parametric equation of the first offset curve of the reference curve can be determined. Based on the parametric equation, a more accurate engineering target can be drawn, which is beneficial to the realization of the project, solves the problem that the offset curve is not smooth or has singular parts, and obtains a smooth and complete offset curve. Drawing lane lines based on the offset curve can optimize the design of the lane lines and generate smooth, accurate and equidistant lane lines.
[0144] Fig.11 The present invention is a block diagram of an electronic device according to an exemplary embodiment. Fig.11 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.
[0145] like Fig.11As shown, the electronic device 1100 includes a processor 1101, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1102 or the program loaded from the memory 1106 to the random access memory (RAM) 1103. In the RAM 1103, various programs and data required for the operation of the electronic device 1100 are also stored. The processor 1101, the ROM 1102 and the RAM 1103 are connected to each other through a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.
[0146] The following components are connected to the I / O interface 1105: a memory 1106 including a hard disk, etc.; and a communication part 1107 including a network interface card such as a local area network (LAN) card, a modem, etc., and the communication part 1107 performs communication processing via a network such as the Internet; a drive 1108 is also connected to the I / O interface 1105 as needed.
[0147] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1107. When the computer program is executed by the processor 1101, the above-mentioned functions defined in the method of the present disclosure are executed.
[0148] In an exemplary embodiment, a storage medium including instructions is also provided, such as a memory including instructions, and the instructions can be executed by the processor 1101 of the electronic device 1100 to complete the above method. Optionally, the storage medium can be a non-transitory computer-readable storage medium, for example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.
[0149] In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.
[0150] Fig.12 The present invention is a structural block diagram of an electronic device according to an exemplary embodiment. Fig.12 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure. Fig.12 As shown, the electronic device 1200 includes a processor 1201 and a memory 1202. The memory 1202 is used to store program codes, and the processor 1201 is connected to the memory 1202 to read the program codes from the memory 1202 to implement the lane line generation method in the above embodiment.
[0151] Optionally, the number of processors 1201 may be one or more.
[0152] Optionally, the electronic device may further include an interface 1203, and the number of the interface 1203 may be multiple. The interface 1203 may be connected to an application program and may receive data from an external device such as a sensor.
[0153] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the lane line generation method provided by the present disclosure are implemented.
[0154] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a concrete way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this disclosure and the appended claims are generally understood to mean "one or more".
[0155] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although the specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and conducive to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in the specific embodiments or claims, such terms are intended to be inclusive in a manner similar to the term "comprising".
[0156] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.
[0157] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
[0158] In the above detailed description, reference is made to the accompanying drawings, which illustrate specific aspects of the present disclosure that can be practiced by way of illustration. In this regard, terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating directions or representing positional relationships, can be used with reference to the orientation of the described figures. Since the components of the described device can be positioned in a plurality of different orientations, directional terms can be used for illustrative purposes rather than restrictive. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concepts of the present disclosure. Therefore, the following detailed description should not be considered in a limiting sense.
[0159] It should be understood that, unless otherwise specifically noted, the features of some embodiments of the various present disclosures described herein may be combined with each other. As used herein, the term "and / or" includes any one of the related listed items and any combination of any two or more; similarly, "at least one of . . . " includes any one of the related listed items and any combination of any two or more.
[0160] It should be understood that, unless otherwise clearly specified and limited, the terms "joining", "attaching", "installing", "connecting", "connecting", "fixing" and the like used in the embodiments of the present disclosure should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For ordinary technicians in this field, the specific meanings of the above terms in this article can be understood according to specific circumstances.
[0161] In addition, the term "above" used in relation to a component, element or material layer formed "above" or located "above" a surface may be used herein to indicate that the component, element or material layer is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements or layers are arranged between the surface and the component, element or material layer. However, the term "above" used in relation to a component, element or material layer formed "above" or located "above" a surface may also optionally have a specific meaning: the component, element or material layer is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, such as in direct contact with the surface.
[0162] Although terms such as "first", "second" and "third" can be used herein to describe various components, parts, regions, layers or sections, these components, parts, regions, layers or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, component, region, layer or section from another component, component, region, layer or section. Therefore, without departing from the teachings of each example, the first component, component, region, layer or section mentioned in the examples described herein may also be referred to as the second component, component, region, layer or section. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may expressly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0163] It should be understood that spatially relative terms such as "above", "upper", "below", and "lower" are used herein to describe the relationship of one element to another element shown in the figures. In addition to the orientation depicted in the drawings, such spatially relative terms are also intended to include different orientations of the device in use or operation. For example, if the device in the drawings is turned over, the element described as being "above" or "upper" relative to another element will be "below" or "lower" relative to the other element. Therefore, depending on the spatial orientation of the device, the term "above" includes both upper and lower orientations. The device may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatially relative terms used herein should be interpreted accordingly.
Claims
1. A method for generating a lane line, characterized in that: The method comprises: Get the reference curve corresponding to the center line of the engineering object; Get the target offset distance; Determining a parameter equation of a first offset curve corresponding to the reference curve based on the reference curve and the target offset distance; An engineering target of the engineering object is generated based on the parametric equation of the first offset curve.
2. The method according to claim 1, characterized in that The step of determining a parameter equation of a first offset curve corresponding to the reference curve based on the reference curve and the target offset distance includes: Based on the reference curve, determining the normal angle of any point on the reference curve; A parametric equation of the first offset curve is obtained based on the normal angle and the target offset distance.
3. The method according to claim 2, characterized in that The parametric equation of the first offset curve is obtained based on the normal angle and the target offset distance, including: Based on the normal angle and the target offset distance, determine the direction of the offset point and the offset distance of the offset point, wherein the offset distance includes a first offset distance of the offset point on the horizontal axis and a second offset distance on the vertical axis; Based on the direction of the offset point and the first offset distance, obtaining a horizontal axis parameter equation of the first offset curve; Based on the second offset distance, a longitudinal axis parameter equation of the first offset curve is obtained.
4. The method according to claim 2, characterized in that: The step of determining the normal angle of any point on the reference curve based on the reference curve includes: The reference curve is derived to obtain a first-order derivative of the reference curve, and a normal angle of any point on the reference curve is obtained based on the first-order derivative.
5. The method according to any one of claims 1 to 4, characterized in that The generating the engineering target of the engineering object based on the parametric equation of the first offset curve includes: If there is a singular point in the first offset curve, performing a singular smoothing process on the first offset curve to obtain a second offset curve; An engineering target of the engineering object is generated based on the second offset curve.
6. The method according to claim 5, characterized in that The method further comprises: Deriving a horizontal axis parameter equation of the first offset curve to obtain a first-order derivative of the horizontal axis parameter equation; If the first-order derivative of the horizontal axis parameter equation does not satisfy the curve monotonicity condition, it is determined that the first offset curve has a singular point.
7. The method according to claim 6, characterized in that The step of performing singular smoothing on the first offset curve to obtain a second offset curve includes: Obtaining a singular position point of the first offset curve; Finding a first position point and a second position point located on both sides of the singular position point from the first offset curve; Determine a second-order Beerset curve connecting the first position point and the second position point based on the singular position point, the first position point and the second position point; determining a singular curve segment on the first offset curve between the first position point and the second position point; The singular curve segment is updated to the second-order Beerse curve to obtain the second offset curve.
8. The method according to claim 7, characterized in that The step of searching the first position point and the second position point located on both sides of the singular position point from the first offset curve comprises: Based on the target offset distance, determining a selection distance of a location point; The first position point and the second position point located on both sides of the singular position point and separated from the singular position point by the selected distance are selected from the first offset curve.
9. The method according to claim 5, characterized in that The step of generating an engineering target of the engineering object based on the second offset curve includes: Based on the second offset curve, a plurality of candidate position points are acquired, and the engineering target of the engineering object is drawn based on the candidate position points.
10. A lane line generating device, characterized in that: The device comprises: A first acquisition module is used to acquire a reference curve corresponding to the center line of the engineering object; The second acquisition module is used to acquire the target offset distance; A determination module, configured to determine a parameter equation of a first offset curve corresponding to the reference curve based on the reference curve and the target offset distance; A generating module is used to generate an engineering target of the engineering object based on the parametric equation of the first offset curve.
11. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Implement the steps of the method according to any one of claims 1 to 9.
12. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 9 are implemented.