Method, device and equipment for generating high-precision map based on intersection lane connection

Abstract

The embodiment of the present application provides a method, device and equipment for generating a high-precision map based on lane connection at an intersection. The method includes: determining an exit lane corresponding to an entry lane in an intersection, and determining a candidate lane for an entry lane from each exit lane according to the arrangement position of each entry lane and the arrangement position of each exit lane; wherein the entry lane represents a lane entering the intersection, the exit lane represents a lane exiting the intersection, each entry lane is a lane in the same straight direction, and the arrangement position represents the left-right arrangement order between the lanes; if the angle between the entry lane and the candidate lane meets the preset angle condition, then according to the position information of the entry lane and the position information of each exit lane, determine the target lane of the entry lane from each exit lane; connect the entry lane and the target lane to generate data for a high-precision map in the straight direction. The method can match the exit lane with the entry lane and improve the accuracy of intersection connection.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a method, device and equipment for generating a high-precision map based on intersection lane connection. Background Art

[0002] High-precision maps play an important role in the field of autonomous driving. Based on high-precision maps, lane-level driving paths can be generated for vehicles, thereby guiding vehicles to perform autonomous driving. High-precision maps include lane-related information for each intersection. Vehicles can enter the intersection from the entrance lane of the intersection and then exit the intersection from the exit lane. Different entry lanes can correspond to different exit lanes.

[0003] When a vehicle is driving in the entry lane, it can determine which exit lane it needs to drive to through the high-precision map. Therefore, when generating the high-precision map, it is necessary to connect the entry lane and the exit lane to obtain the relationship between the entry lane and the exit lane. If the connection between the entry lane and the exit lane is incorrect, it will affect the driving experience, easily cause traffic congestion, and affect road safety. Summary of the invention

[0004] The embodiments of the present application provide a method, device and equipment for generating a high-precision map based on intersection lane coupling, so as to improve the accuracy of map generation.

[0005] In a first aspect, an embodiment of the present application provides a method for generating a high-precision map based on intersection lane linkage, comprising:

[0006] Determine an exit lane corresponding to an entry lane in the intersection, and determine a candidate lane for the entry lane from the exit lanes according to the arrangement position of each entry lane and the arrangement position of each exit lane; wherein the entry lane represents a lane entering the intersection, the exit lane represents a lane exiting the intersection, each entry lane is a lane in the same straight direction, and the arrangement position represents a left-right arrangement order between the lanes;

[0007] If the angle between the entry lane and the candidate lanes satisfies a preset angle condition, determining a target lane of the entry lane from each of the exit lanes according to the position information of the entry lane and the position information of each of the exit lanes;

[0008] The entry lane and the target lane are connected to generate data for a high-precision map in the straight direction of the intersection.

[0009] In a possible implementation, if the angle between the entering lane and the candidate lanes satisfies a preset angle condition, determining the target lane of the entering lane from the exit lanes according to the position information of the entering lane and the position information of each of the exit lanes includes:

[0010] If the angle between the entry lane and the candidate lane meets the preset angle condition, the articulation angle corresponding to the exit lane is determined according to the position information of the entry lane and the position information of the exit lane; wherein the articulation angle represents the angle between the entry lane and the articulation lane, and the articulation lane is used to connect the entry lane and the exit lane;

[0011] According to the articulation angles corresponding to the exit lanes, a target lane for the entry lane is determined from the exit lanes.

[0012] In a possible implementation, determining the articulation angle corresponding to the exit lane according to the position information of the entry lane and the position information of the exit lane includes:

[0013] generating a connecting lane between the entering lane and the exiting lane according to the position information of the entering lane and the position information of the exiting lane;

[0014] The angle between the entry lane and the connection lane is determined as a connection angle corresponding to an exit lane connected to the connection lane.

[0015] In a possible implementation, determining the target lane of the entry lane from each of the exit lanes according to the articulation angles corresponding to each of the exit lanes includes:

[0016] Determine the articulation angle corresponding to the candidate lane as a first angle, and determine the articulation angle corresponding to other lanes as a second angle; wherein the other lanes represent exit lanes other than the candidate lanes;

[0017] determining an angle difference between the first angle and the second angle;

[0018] If the angle difference is greater than a preset difference threshold, the other lane corresponding to the second angle is determined as the target lane of the entry lane.

[0019] In a possible implementation, it further includes:

[0020] If it is determined that the first angle is greater than a preset angle threshold, the step of determining an angle difference between the first angle and the second angle is performed; if the angle difference is greater than a preset difference threshold, the other lane corresponding to the second angle is determined as the target lane of the entry lane; and / or,

[0021] If there are multiple angle differences greater than a preset difference threshold, sorting the other lanes according to the second angles;

[0022] Other lanes located at preset sorting positions are determined as target lanes for the entering lane.

[0023] In a possible implementation, determining a candidate lane for the entry lane from the exit lanes according to the arrangement positions of the entry lanes and the arrangement positions of the exit lanes includes:

[0024] Determine a lane state of the exit lane; wherein the lane state is an idle state or an occupied state, wherein the idle state indicates that the exit lane can only receive vehicles coming from the entry lane, and the occupied state indicates that the exit lane receives vehicles coming from the entry lane and vehicles coming from a lane in a different direction from the entry lane;

[0025] determining the number of the entry lanes as a first number, and determining the number of the exit lanes in the idle state as a second number;

[0026] If the first number is greater than the second number, then based on the arrangement positions of the entry lanes and the arrangement positions of the exit lanes, the exit lane at the same arrangement position as the entry lane is determined as a candidate lane for the entry lane.

[0027] In a possible implementation, it further includes:

[0028] If the first number is less than the second number, for each idle exit lane, determining the corresponding articulation angle of each entry lane;

[0029] According to the articulation angles corresponding to the entry lanes, a matching lane is determined from the entry lanes, and the exit lane in the idle state is determined as a target lane of the matching lane.

[0030] In a second aspect, an embodiment of the present application provides a device for generating a high-precision map based on intersection lane connection, comprising:

[0031] A candidate determination module is used to determine an exit lane corresponding to an entry lane in an intersection, and determine a candidate lane of the entry lane from each of the exit lanes according to an arrangement position of each of the entry lanes and an arrangement position of each of the exit lanes; wherein the entry lane represents a lane entering the intersection, the exit lane represents a lane exiting the intersection, each of the entry lanes is a lane in the same straight direction, and the arrangement position represents a left-right arrangement order between the lanes;

[0032] a target determination module, configured to determine a target lane of the entry lane from each of the exit lanes according to the position information of the entry lane and the position information of each of the exit lanes if the angle between the entry lane and the candidate lanes satisfies a preset angle condition;

[0033] A map generation module is used to perform a hooking process on the entry lane and the target lane to generate data for a high-precision map in the straight direction of the intersection.

[0034] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0035] The memory stores computer-executable instructions;

[0036] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the first aspect of the present application and / or various possible implementations of the first aspect.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0038] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0039] The embodiment of the present application provides a method, device and apparatus for generating a high-precision map based on lane connection at an intersection. Through the correspondence between the entry lane and the exit lane in each direction, the exit lane corresponding to the entry lane in the intersection can be determined. According to the arrangement order between the entry lanes and the arrangement order between the exit lanes, the exit lane can be matched from each entry lane as a candidate lane for the entry lane. The angle between the entry lane and the candidate lane is determined. If the angle meets the preset angle condition, the exit lane needs to be re-screened, and a lane is determined from the exit lane as the target lane of the entry lane, so that the entry lane and the target lane are connected, and data for a high-precision map in the straight direction of the intersection is generated. By determining the angle between the entry lane and the candidate lane, it can be determined whether the target lane needs to be further confirmed, so as to find the exit lane that best matches the entry lane, improve the connection accuracy between the entry lane and the exit lane, and then improve the accuracy and rationality of the generation of the high-precision map, improve the driving experience of autonomous driving, and ensure smooth road traffic. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0041] Figure 1 A flowchart of a method for generating a high-precision map based on intersection lane linkage provided in this application;

[0042] Figure 2 A schematic diagram of the intersection provided for this application;

[0043] Figure 3 A schematic diagram of the angle between the entry lane and the candidate lane provided for this application;

[0044] Figure 4 A flowchart of a method for generating a high-precision map based on intersection lane linkage provided in this application;

[0045] Figure 5 A schematic diagram of the angle between the entry lane and the hook-up lane provided for this application;

[0046] Figure 6 A schematic diagram of the intersection scene provided for this application;

[0047] Figure 7 A flowchart of a method for generating a high-precision map based on intersection lane linkage provided in this application;

[0048] Figure 8 A schematic diagram of the lane status provided for this application;

[0049] Fig. 9 A schematic diagram of the candidate lanes provided for this application;

[0050] Fig.10 A schematic diagram of the target lane provided for this application;

[0051] Fig.11 A structural block diagram of a device for generating a high-precision map based on intersection lane connection provided by the present application;

[0052] Fig.12 A structural block diagram of a device for generating a high-precision map based on intersection lane connection provided by the present application;

[0053] Fig.13 A schematic diagram of the structure of the electronic device provided in this application.

[0054] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0056] The production process of high-precision maps is mainly divided into three main processes: field collection, office data entry, and product conversion. Office data entry can include two methods: automatic data entry and manual data entry. This application mainly affects the automatic data entry link in office data entry.

[0057] When making a high-precision map, in order to connect the lanes in the intersection, it is necessary to determine which exit lane the vehicle on the entry lane can exit the intersection from, so as to connect the entry lane and the exit lane to form a connected lane. When the vehicle is navigated at the lane level through the high-precision map, the vehicle can be instructed to drive in the connected lane. Especially for the intersection scene, the intersection scene is a very important scene in the driving of the autonomous driving vehicle. When making the high-precision map, it is necessary to make a reasonable lane connection between the entry lane and the exit lane of the intersection, so as to provide the autonomous driving vehicle with a passable path in and out of the intersection. At present, when connecting, the entry lane and the exit lane are usually matched directly according to the traffic rules and the order of the lanes. For example, the first entry lane is connected with the first exit lane. This connection method cannot form a straight connection relative to the current direction of travel in some intersections, but presents an inclined connection, which affects the accuracy of the map, thereby affecting the driving experience and safety of the autonomous driving.

[0058] The present application provides a method, device and equipment for generating a high-precision map based on intersection lane connection, aiming to solve the above technical problems of the prior art.

[0059] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0060] Figure 1 The present invention provides a flow chart of a method for generating a high-precision map based on lane junctions, which can be executed by a device for generating a high-precision map based on lane junctions. Figure 1As shown, the method comprises the following steps:

[0061] S101. Determine an exit lane corresponding to an entry lane in an intersection, and determine a candidate lane for the entry lane from the exit lanes according to an arrangement position of each entry lane and an arrangement position of each exit lane; wherein the entry lane represents a lane entering the intersection, the exit lane represents a lane exiting the intersection, each entry lane is a lane in the same straight direction, and the arrangement position represents a left-right arrangement order between the lanes.

[0062] Exemplarily, there may be roads with multiple orientations in an intersection, and each road may have multiple lanes. For example, the intersection may be a crossroad with roads oriented north-south and east-west. The north-south roads may include roads with a driving direction from south to north and roads with a driving direction from north to south. The east-west roads may include roads with a driving direction from east to west and roads with a driving direction from west to east. There may be multiple lanes on each road, and the lanes may have two driving directions for the intersection. The lanes for entering the intersection may be used as entry lanes, and the lanes for exiting the intersection may be used as exit lanes. Vehicles enter the intersection from entry lanes and exit the intersection from exit lanes, that is, each entry lane corresponds to at least one exit lane.

[0063] For each intersection, the entry lane in the intersection and the exit lane corresponding to the entry lane can be determined automatically or manually. In the process of urban road planning, the entry lanes and corresponding exit lanes for each driving direction in the intersection are pre-planned and stored. At present, when urban road planning is carried out, the entry lanes and exit lanes in the intersection are planned and stored. When generating a high-precision map at the intersection, the entry lanes for each driving direction in the intersection can be found from the pre-selected and stored data, and then for the entry lane in the intersection, the exit lane corresponding to the entry lane can be directly found from the pre-selected and stored data, so as to automatically determine the entry lane and the corresponding exit lane in the intersection. It is also possible to manually specify the entry lane in the intersection when generating a high-precision map for a certain intersection, and manually confirm the exit lane corresponding to the entry lane in the intersection. For example, for a road with a driving direction from south to north, the lane entering the intersection can be recorded as the entry lane, and the lane exiting the intersection can be recorded as the exit lane. Figure 2 A schematic diagram of the intersection. Figure 2 For a road from south to north, the entry lanes are a, b, and c, and the exit lanes are d, e, and f. Among them, the entry lane a is a left turn lane, and you cannot drive to d, e, and f. That is, for the entry lanes b and c, the corresponding exit lanes are d, e, and f. In this embodiment, for the entry lanes in the straight direction of the same driving direction, the exit lane corresponding to the entry lane is determined. For example, Figure 2Among them, b and c are the entry lanes for the straight direction of the same driving direction, and the corresponding exit lanes are d, e, and f.

[0064] Each entry lane may correspond to multiple exit lanes, and the same exit lane may also correspond to multiple entry lanes. That is, vehicles in the same entry lane may enter different exit lanes, and vehicles in different entry lanes may also enter the same exit lane.

[0065] The same straight-going direction entry lane refers to the same straight-going direction entry lane. There are multiple same straight-going direction entry lanes. For these entry lanes, the corresponding exit lanes are determined. The correspondence between each entry lane and the exit lane can be stored in advance, or it can be determined according to the lane's driving direction and traffic rules. These entry lanes can be arranged side by side, such as Figure 2 In the example, lanes b and c are arranged side by side. Exit lanes can also be arranged between them, such as Figure 2 In the figure, d, e, and f are arranged left and right.

[0066] According to the arrangement position of each entry lane and the arrangement position of each exit lane, the candidate lane of each entry lane can be determined from each exit lane. The arrangement position can represent the left-right arrangement order between lanes. For lanes arranged left-right, they can be sorted from left to right, and for lanes arranged up and down, they can be sorted from top to bottom. Lanes can be numbered according to the arrangement order, for example, the numbers from left to right are 1, 2, 3, ... . The determination rules of candidate lanes can be pre-selected and set, and the determination rules of candidate lanes can be formulated according to the numbers of signs, traffic regulations and corresponding lane sequences. For example, the exit lane numbered 1 can be determined as a candidate lane for the entry lane numbered 1, that is, the exit lane of a certain arrangement position can be determined as a candidate lane for the entry lane of that arrangement position.

[0067] In this embodiment, determining an exit lane corresponding to an entry lane in an intersection includes: determining an exit lane corresponding to the entry lane in the intersection according to a lane orientation of the entry lane in the intersection.

[0068] Specifically, the lane direction of the entry lane in the intersection is determined. For example, the lane direction can be an east-west direction or a north-south direction. For the east-west direction, it can be specifically divided into a direction from east to west and a direction from west to east; for the north-south direction, it can be specifically divided into a direction from south to north and a direction from north to south.

[0069] According to the lane orientation of the entry lane, an exit lane with the same orientation as the entry lane is determined as the exit lane corresponding to the entry lane. For example, if the lane orientation of the entry lane is from south to north, then an exit lane from south to north can be determined from all exit lanes at the intersection as the exit lane corresponding to the entry lane.

[0070] The beneficial effect of this setting is that the correspondence between the entry lane and the exit lane can be quickly determined according to the lane direction, thereby improving the efficiency of lane connection and further improving the efficiency of high-precision map generation.

[0071] S102: If the angle between the entering lane and the candidate lanes satisfies a preset angle condition, a target lane of the entering lane is determined from among the exit lanes according to the position information of the entering lane and the position information of each exit lane.

[0072] For example, the entry lanes and exit lanes are matched one by one according to the arrangement positions to obtain candidate lanes for each entry lane. One entry lane may correspond to at least one candidate lane. In this embodiment, it may be stipulated that one entry lane corresponds to at most two candidate lanes, so as to realize the diversion of vehicles on the lanes and ensure the orderliness of the road.

[0073] In this embodiment, in the case where the number of exit lanes is less than the number of entry lanes, one entry lane can only correspond to one candidate lane, and the same exit lane can be a candidate lane for multiple entry lanes.

[0074] Determine the angle between the entry lane and each corresponding candidate lane. For example, the center line of the lane may be extended, and the angle between the center line of the entry lane and the center line of the candidate lane may be determined as the angle between the entry lane and the candidate lane. Figure 3 Schematic diagram of the angle between the entering lane and the candidate lane. Figure 3 In the example, the leftmost entry lane is the left-turn lane. Therefore, the second entry lane is sorted, and the entry lane corresponds to the leftmost exit lane, that is, the leftmost exit lane is the corresponding candidate lane. The dotted line is the center line of the lane, and the angle α between the two dotted lines is the angle between the entry lane and the candidate lane.

[0075] An angle condition is preset to determine whether the angle between the entry lane and the candidate lane meets the preset angle condition. If so, it means that there may be a better exit lane that can replace the candidate lane. According to the position information of the entry lane and the position information of each exit lane, a better exit lane can be determined from each exit lane as the target lane of the entry lane; if not, the candidate lane is used as the target lane, and the entry lane and the target lane are connected to generate a high-precision map of the intersection. In this embodiment, the preset angle condition is not specifically limited.

[0076] If it is determined that the angle between the entry lane and the candidate lane meets the preset angle condition, the position information of the entry lane and the position information of each exit lane can be obtained. The position information can be the intersection of the lane and the intersection, that is, the position information of the entry lane represents the position from the entry lane to the intersection, and the position information of the exit lane represents the position from the intersection to the exit lane. According to the position information of the entry lane and the position information of each exit lane, the target lane of the entry lane is determined from each exit lane. For example, the exit lane closer to the entry lane can be used as the target lane.

[0077] S103: Connect the entry lane and the target lane to generate data for a high-precision map in the straight-ahead direction of the intersection.

[0078] Exemplarily, after determining the entry lane and the corresponding target lane, the entry lane and the target lane in the straight direction of the intersection can be connected. The connection process is to determine the connection lane between the entry lane and the target lane, and the connection lane is used to connect the entry lane and the target lane. When the vehicle is automatically driving, it can drive from the entry lane to the target lane according to the connection lane. By generating the connection lane between the entry lane and the target lane, the data of the high-precision map between the entry lane and the target lane is obtained. The connection lane between the entry lane and the target lane can be used as data in the high-precision map, that is, the high-precision map contains the connection lane between the entry lane and the target lane. In this embodiment, especially for the lane in the straight direction of the intersection, the generated connection lane is applied to the high-precision map, and the high-precision map can be used by the vehicle for automatic driving to instruct the vehicle to go straight and smoothly through the intersection.

[0079] In this embodiment, the entry lane and the target lane are linked to generate data for a high-precision map in the straight direction of the intersection, including: linking the entry lane and the candidate lane, and linking the entry lane and the target lane to generate data for a high-precision map in the straight direction of the intersection.

[0080] Specifically, the candidate lane is a lane that may be connected to the entry lane according to the preset rules. After the target lane is determined, the candidate lane can be retained. That is, not only the entry lane and the target lane can be connected, but also the entry lane and the candidate lane can be connected, making the information in the high-precision map richer. When driving in the entry lane, the vehicle can enter the candidate lane from the entry lane, or it can enter the target lane from the entry lane.

[0081] The beneficial effect of such a setting is that by connecting the entering lane with the candidate lane and the target lane respectively, the vehicles on the entering lane can be diverted after entering the intersection, avoiding all vehicles from entering the target lane, alleviating the pressure on the target lane, avoiding road congestion, and improving driving safety and efficiency.

[0082] In the embodiment of the present application, the exit lane corresponding to the entry lane in the intersection can be determined through the correspondence between the entry lane and the exit lane in each direction. According to the arrangement order between the entry lanes and the arrangement order between the exit lanes, the exit lane can be matched from each entry lane as a candidate lane for the entry lane. The angle between the entry lane and the candidate lane is determined. If the angle meets the preset angle condition, the exit lane needs to be re-screened, and a lane is determined from the exit lane as the target lane for the entry lane, so that the entry lane and the target lane are connected, and data for high-precision maps in the straight direction of the intersection are generated. By determining the angle between the entry lane and the candidate lane, it can be determined whether the target lane needs to be further confirmed, so as to find the exit lane that best matches the entry lane, improve the connection accuracy between the entry lane and the exit lane, and then improve the accuracy and rationality of high-precision map generation, improve the driving experience of autonomous driving, and ensure smooth road traffic.

[0083] Figure 4 A flow chart of a method for generating a high-precision map based on lane junction connection provided by this application is provided. Figure 1 On the basis of the embodiments, a method for generating a high-precision map based on intersection lane coupling is described in detail.

[0084] If the angle between the entering lane and the candidate lane meets the preset angle condition, then according to the position information of the entering lane and the position information of each exit lane, the target lane of the entering lane is determined from each exit lane, including: if the angle between the entering lane and the candidate lane meets the preset angle condition, then according to the position information of the entering lane and the position information of the exit lane, the articulation angle corresponding to the exit lane is determined; wherein the articulation angle represents the angle between the entering lane and the articulation lane, and the articulation lane is used to connect the entering lane and the exit lane; according to the articulation angle corresponding to each exit lane, the target lane of the entering lane is determined from each exit lane.

[0085] like Figure 4 As shown, the method includes:

[0086] S401. Determine an exit lane corresponding to an entry lane in an intersection, and determine a candidate lane for the entry lane from the exit lanes according to an arrangement position of each entry lane and an arrangement position of each exit lane; wherein the entry lane represents a lane entering the intersection, the exit lane represents a lane exiting the intersection, each entry lane is a lane in the same straight direction, and the arrangement position represents a left-right arrangement order between the lanes.

[0087] Exemplarily, this step may refer to the above-mentioned step S101 and will not be described in detail.

[0088] S402. If the angle between the entry lane and the candidate lane meets the preset angle condition, determine the connection angle corresponding to the exit lane according to the position information of the entry lane and the position information of the exit lane; wherein the connection angle represents the angle between the entry lane and the connection lane, and the connection lane is used to connect the entry lane and the exit lane.

[0089] For example, it is determined whether the angle between the entry lane and the candidate lane meets the preset angle condition. If so, the position information of the entry lane and the position information of the exit lane are obtained. The position of the entry lane and the position of the exit lane are connected to obtain the connection lane between the entry lane and the exit lane. The connection lane can be represented by a connecting line between the position of the entry lane and the position of the exit lane.

[0090] For an entry lane, determine the exit lane corresponding to the entry lane, the exit lane corresponding to the entry lane refers to the exit lane that can be entered from the entry lane, and determine the articulation angle corresponding to each exit lane. The articulation angle represents the angle between the entry lane and the articulation lane. Figure 5 Schematic diagram of the angle between the entry lane and the hooking lane. Figure 5 In the example, the first entry lane on the left can be connected to each exit lane. Taking the first exit lane on the left as an example, the connection angle between the entry lane and the exit lane is β. If one entry lane corresponds to two exit lanes, one entry lane can correspond to two connection angles.

[0091] In this embodiment, if the angle between the entering lane and the candidate lane satisfies the preset angle condition, the articulation angle corresponding to the exit lane is determined according to the position information of the entering lane and the position information of the exit lane, including: if it is determined that the angle between the entering lane and the candidate lane is less than the preset angle threshold, then it is determined that the angle between the entering lane and the candidate lane satisfies the preset angle condition; based on the position information of the entering lane and the position information of the exit lane, a articulation lane between the entering lane and the exit lane is generated; and the angle between the entering lane and the articulation lane is determined as the articulation angle corresponding to the exit lane connected to the articulation lane.

[0092] Specifically, an angle threshold is preset, for example, the angle threshold is 5 degrees. It is determined whether the angle between the entering lane and the candidate lane is less than the preset angle threshold. If so, it is determined that the angle between the entering lane and the candidate lane meets the preset angle condition; if not, it is determined that the angle between the entering lane and the candidate lane does not meet the preset angle condition.

[0093] If it is determined that the angle between the entry lane and the candidate lane is less than the preset angle threshold, it means that when the vehicle drives from the entry lane to the candidate lane, the lane is tilted and needs to turn, and the driving experience is poor. Therefore, it is necessary to determine the connection lane with the minimum angle in the straight direction. The connection lane between the entry lane and each exit lane can be generated based on the position information of the entry lane and the position information of the exit lane. The angle between the entry lane and the connection lane is determined as the connection angle corresponding to the exit lane connected to the connection lane. The exit lane corresponding to the minimum connection angle can be determined as the target lane.

[0094] The beneficial effect of this setting is that if the angle between the entry lane and the candidate lane is less than the angle threshold, it is necessary to further confirm the target lane to improve the connection accuracy between the entry lane and the exit lane, thereby improving the generation accuracy of the high-precision map.

[0095] S403: Determine a target lane for entering the lane from among the exit lanes according to the coupling angles corresponding to the exit lanes.

[0096] For example, the hook angles corresponding to the exit lanes are compared, and an exit lane is selected from the exit lanes as the target lane. For example, the exit lane corresponding to the minimum hook angle can be used as the target lane. By determining the target lane with the minimum hook angle, when the vehicle is automatically driving according to the high-precision map, the steering angle of the vehicle passing through the intersection is reduced, thereby improving the driving experience.

[0097] In this embodiment, a target lane for entering a lane is determined from each exit lane according to the hooking angle corresponding to each exit lane, including: determining the hooking angle corresponding to the candidate lane as a first angle, and determining the hooking angle corresponding to other lanes as a second angle; wherein the other lanes represent exit lanes other than the candidate lanes; determining an angle difference between the first angle and the second angle; if the angle difference is greater than a preset difference threshold, determining the other lanes corresponding to the second angle as the target lane for entering the lane.

[0098] Specifically, the candidate lane is a lane in the exit lane, therefore, it is also necessary to determine the connection lane between the entry lane and the candidate lane, and obtain the angle between the entry lane and the connection lane, which is the connection angle corresponding to the candidate lane. The connection angle corresponding to the candidate lane is determined as the first angle. For other exit lanes except the candidate lane, these exit lanes are determined as other lanes. The connection angles corresponding to the other lanes are determined as the second angle.

[0099] Determine the angle difference between the first angle and each second angle, pre-set a difference threshold, and judge whether each angle difference is greater than the preset difference threshold. If so, determine the other lane corresponding to the angle difference as the target lane for entering the lane; if not, determine that the other lane corresponding to the angle difference is not the target lane for entering the lane.

[0100] For example, the preset difference threshold is 2 degrees. If the angle difference is less than 2 degrees, for example, the angle difference is 0.1 degrees, 0.2 degrees, etc., there is little significance in adding the target lane, and there is an over-addition situation, which wastes resources and computing power. If the angle difference is greater than or equal to 2 degrees, it means that the exit lane corresponding to the angle difference is better than the candidate lane, and the exit lane can be determined as the target lane.

[0101] The beneficial effect of this setting is that if the difference between the first angle and the second angle is greater than 2 degrees, it means that the candidate lane is not the optimal target lane, which improves the accuracy of determining the connection lane and further improves the accuracy of generating high-precision maps.

[0102] In this embodiment, the method also includes: if it is determined that the first angle is greater than a preset angle threshold, determining the angle difference between the first angle and the second angle; if the angle difference is greater than the preset difference threshold, determining the other lane corresponding to the second angle as the target lane for entering the lane.

[0103] Specifically, an angle threshold is preset, and after obtaining the first angle, it is determined whether the first angle is greater than the preset angle threshold. The angle threshold may be consistent with the difference threshold, for example, the angle threshold is also 2 degrees.

[0104] If the first angle is less than the preset angle threshold, there is no need to add a new connection, that is, there is no need to determine the target lane, and the candidate lane can be determined as the target lane; if the first angle is equal to or greater than the preset angle threshold, the angle difference between the first angle and the second angle can be determined. If the angle difference is greater than the preset difference threshold, the other lane corresponding to the second angle is determined as the target lane for entering the lane.

[0105] The beneficial effect of this setting is that if the angle of β itself is already smaller than the angle threshold, there is no need to add a new attachment, which reduces the amount of calculation and improves the efficiency of high-precision map generation.

[0106] In this embodiment, the method also includes: if there are multiple angle differences greater than a preset difference threshold, sorting the other lanes according to each second angle; and determining the other lanes located at the preset sorting position as the target lane for entering the lane.

[0107] Specifically, one entry lane corresponds to multiple exit lanes, that is, one entry lane may correspond to multiple angle differences. If only one angle difference is greater than a preset difference threshold, the exit lane corresponding to the angle difference is the target lane; if no angle difference is greater than the preset difference threshold, the candidate lane is determined to be the target lane.

[0108] If there are multiple angle differences greater than the preset difference threshold, the other lanes can be sorted according to the size of each angle difference. For example, the lanes can be sorted in descending order of the angle difference. The other lanes located at the preset sorting position are determined as the target lanes for the entry lanes. For example, the exit lane with the largest angle difference can be determined as the target lane, that is, the exit lane with the smallest hook angle can be determined as the target lane.

[0109] The beneficial effect of this setting is that the target lane with the smallest hooking angle is selected, thereby improving the determination accuracy of the high-precision map.

[0110] Figure 6 A schematic diagram of an intersection scene. Figure 6 In the figure, the entry lanes for the straight direction occupy 3 lanes, and the exit lanes occupy 2 lanes. For the first entry lane on the left, there are two corresponding exit lanes, of which the first exit lane is matched as a candidate lane, and the second exit lane is another lane. The angle between the entry lane and the candidate lane is α. When α is less than 5 degrees, the direction of the entry lane and the exit lane changes little, and the turning at the intersection is not obvious. The lane inclination causes the vehicle to turn to pass the intersection, which is not a good vehicle experience and also affects the prediction of the trajectory of other vehicles. Therefore, it is necessary to determine the target lane. When α is greater than 5 degrees, the vehicle turns obviously when passing the intersection. Therefore, the lane inclination conforms to the road trend and has little impact on the driving experience. Figure 6 In the example, the first angle is β1, the second angle is β2, and the difference between the first angle and the second angle is less than 2 degrees, then the other lane is the target lane.

[0111] S404: Connect the entry lane and the target lane to generate data for a high-precision map in the straight-ahead direction of the intersection.

[0112] Exemplarily, this step may refer to the above-mentioned step S103 and will not be described in detail.

[0113] In the embodiment of the present application, the exit lane corresponding to the entry lane in the intersection can be determined through the correspondence between the entry lane and the exit lane in each direction. According to the arrangement order between the entry lanes and the arrangement order between the exit lanes, the exit lane can be matched from each entry lane as a candidate lane for the entry lane. The angle between the entry lane and the candidate lane is determined. If the angle meets the preset angle condition, the exit lane needs to be re-screened, and a lane is determined from the exit lane as the target lane for the entry lane, so that the entry lane and the target lane are connected, and data for high-precision maps in the straight direction of the intersection are generated. By determining the angle between the entry lane and the candidate lane, it can be determined whether the target lane needs to be further confirmed, so as to find the exit lane that best matches the entry lane, improve the connection accuracy between the entry lane and the exit lane, and then improve the accuracy and rationality of high-precision map generation, improve the driving experience of autonomous driving, and ensure smooth road traffic.

[0114] Figure 7 A flow chart of a method for generating a high-precision map based on lane junction connection provided by this application is provided. Figure 1 On the basis of the embodiments, a method for generating a high-precision map based on intersection lane coupling is described in detail.

[0115] Determining a candidate lane for an entry lane from among the exit lanes according to the arrangement position of each entry lane and the arrangement position of each exit lane, including: determining a lane state of the exit lane; wherein the lane state is an idle state or an occupied state, the idle state indicating that the exit lane can only receive vehicles coming from the entry lane, and the occupied state indicating that the exit lane receives vehicles coming from the entry lane and vehicles coming from lanes in different directions from the entry lane; determining the number of entry lanes, which is a first number, and determining the number of exit lanes in an idle state, which is a second number; if the first number is greater than the second number, then determining the exit lane at the same arrangement position as the entry lane as a candidate lane for the entry lane according to the arrangement position of each entry lane and the arrangement position of each exit lane.

[0116] like Figure 7 As shown, the method includes:

[0117] S701. Determine an exit lane corresponding to an entry lane at the intersection, and determine a lane state of the exit lane; wherein the lane state is an idle state or an occupied state, the idle state indicates that the exit lane can only receive vehicles coming from the entry lane, and the occupied state indicates that the exit lane receives vehicles coming from the entry lane and vehicles coming from a lane in a different direction from the entry lane.

[0118] Exemplarily, an exit lane corresponding to an entry lane in an intersection is determined, one entry lane may correspond to multiple exit lanes, and different entry lanes may correspond to the same exit lane.

[0119] For each exit lane, determine the lane state of the exit lane. The lane state can be an idle state or an occupied state. The idle state indicates that the exit lane can only receive vehicles coming from the entry lane, and the occupied state indicates that the exit lane receives vehicles coming from the entry lane and vehicles coming from lanes in different directions from the entry lane. For example, the exit lane can receive vehicles coming from the entry lane in the straight direction, and can also receive vehicles turning from the left or right lane.

[0120] Figure 8 Schematic diagram of lane status. Figure 8 In the example, exit lane d can receive vehicles entering lanes b and c, and vehicles turning left from the lanes running from west to east. Exit lane f can receive vehicles entering lanes b and c, and vehicles turning right from the lanes running from east to west. That is, exit lanes d and f are occupied, and exit lane e is idle.

[0121] S702: Determine the number of entry lanes, which is a first number, and determine the number of exit lanes in an idle state, which is a second number.

[0122] Exemplarily, the number of entry lanes is determined as a first number, such as Figure 8 In the example, the entry lanes are b and c, and the first number is 2. The number of exit lanes in the idle state is determined as the second number. Figure 8 As shown, the exit lane in an idle state is e and the second number is 1.

[0123] S703: If the first number is greater than the second number, then according to the arrangement positions of the entry lanes and the arrangement positions of the exit lanes, the exit lane at the same arrangement position as the entry lane is determined as a candidate lane for the entry lane.

[0124] Exemplarily, the first number and the second number are compared. If the first number is greater than the second number, the lane state of the exit lane is not distinguished, and the candidate lanes of each entry lane are determined according to the arrangement position of each entry lane and the arrangement position of each exit lane. For example, the exit lane at the same arrangement position as the entry lane can be determined as the candidate lane of the entry lane. For example, if the first number and the second number are the same, the entry lane can directly correspond to the exit lane.

[0125] Fig. 9 Schematic diagram for determining candidate lanes. Fig. 9, the first number is 2, the second number is 1, and the first number is greater than the second number, then the lane status of the exit lane is not distinguished. Entry lane b is the entry lane with the first arrangement position, and entry lane g is the entry lane with the second arrangement position. Exit lane d is the exit lane with the first arrangement position, exit lane e is the exit lane with the second arrangement position, and exit lane f is the exit lane with the third arrangement position. The exit lane at the same arrangement position as the entry lane is determined as a candidate lane for the entry lane, that is, exit lane d is a candidate lane for entry lane b, and exit lane e is a candidate lane for entry lane g.

[0126] In this embodiment, the method also includes: if the first number is less than the second number, then for each idle exit lane, determining the hook angle corresponding to each entry lane; determining a matching lane from each entry lane based on the hook angle corresponding to each entry lane, and determining the idle exit lane as the target lane of the matching lane.

[0127] Specifically, if the first number is less than the second number, it means that there are enough idle exit lanes to be allocated to the entry lanes, and the idle exit lanes are determined as idle lanes. For each idle lane, the idle lane is connected to each entry lane to obtain the connection angle corresponding to each entry lane. For each idle lane, the entry lane with the smallest connection angle is selected as the matching lane of the idle lane, and the idle lane is the target lane of the matching lane. Since the number of idle lanes is greater than the number of entry lanes, there is a situation where one entry lane corresponds to multiple idle lanes.

[0128] like Fig.10 As shown, Fig.10 is a schematic diagram of determining the target lane. The idle lanes and the entry lanes are sorted from left to right. For the first idle lane, the connection angle between the first idle lane and the first entry lane is the smallest, so the first idle lane is the target lane of the first entry lane; for the third idle lane, the connection angle between the third idle lane and the second entry lane is the smallest, so the third idle lane is the target lane of the second entry lane. For the second idle lane, the connection angle with the first entry lane is β3, and the connection angle with the second entry lane is β4, β3 is less than β4, so the second idle lane is the target lane of the first entry lane. That is, there are two target lanes for the first entry lane.

[0129] The beneficial effect of this setting is that, by following the principle of keeping the attachment angle as small as possible, the target lane is determined for entering the lane, the accuracy of determining the target lane is improved, and thus the accuracy of generating high-precision maps is improved.

[0130] In this embodiment, there may also be special intersection scenarios, where the entrance lane and exit lane of the intersection are greatly misaligned, that is, the connection angle between each entrance lane and each exit lane exceeds the preset maximum angle. Fig.10 The entry lane in the example needs to be shifted to the right for a certain distance. For this scenario, when the first number is less than the second number, some entry lanes do not have corresponding target lanes. In this case, the connection angles between the entry lane and each idle lane can be determined, and the idle lane corresponding to the minimum connection angle is used as the target lane of the entry lane. For example, Fig.10 The two entry lanes in the figure are both translated to the lower right position of the exit lane. For each idle lane, the connection angle between the first entry lane and each idle lane is the smallest, so the second entry lane has no corresponding target lane. Determine the connection angle between the second entry lane and each idle lane, and determine the minimum value of the connection angle. The idle lane corresponding to the minimum value is the third idle lane, so the third idle lane can be determined as the target lane for the second entry lane.

[0131] S704: If the angle between the entering lane and the candidate lanes satisfies a preset angle condition, a target lane of the entering lane is determined from among the exit lanes according to the position information of the entering lane and the position information of each exit lane.

[0132] Exemplarily, this step may refer to the above-mentioned step S102 and will not be described in detail.

[0133] S705: Connect the entry lane and the target lane to generate data for a high-precision map in the straight-ahead direction of the intersection.

[0134] Exemplarily, this step may refer to the above-mentioned step S103 and will not be described in detail.

[0135] In the embodiment of the present application, the exit lane corresponding to the entry lane in the intersection can be determined through the correspondence between the entry lane and the exit lane in each direction. According to the arrangement order between the entry lanes and the arrangement order between the exit lanes, the exit lane can be matched from each entry lane as a candidate lane for the entry lane. The angle between the entry lane and the candidate lane is determined. If the angle meets the preset angle condition, the exit lane needs to be re-screened, and a lane is determined from the exit lane as the target lane for the entry lane, so that the entry lane and the target lane are connected, and data for high-precision maps in the straight direction of the intersection are generated. By determining the angle between the entry lane and the candidate lane, it can be determined whether the target lane needs to be further confirmed, so as to find the exit lane that best matches the entry lane, improve the connection accuracy between the entry lane and the exit lane, and then improve the accuracy and rationality of high-precision map generation, improve the driving experience of autonomous driving, and ensure smooth road traffic.

[0136] Fig.11 A structural block diagram of a device for generating a high-precision map based on intersection lane linkage provided by an embodiment of the present invention. For ease of explanation, only the parts related to the embodiment of the present disclosure are shown. Fig.11 The device 1100 for generating a high-precision map based on intersection lane connection includes: a candidate determination module 1101, a target determination module 1102 and a map generation module 1103.

[0137] The candidate determination module 1101 is used to determine an exit lane corresponding to an entry lane in an intersection, and determine a candidate lane of the entry lane from each of the exit lanes according to an arrangement position of each of the entry lanes and an arrangement position of each of the exit lanes; wherein the entry lane represents a lane entering the intersection, the exit lane represents a lane exiting the intersection, each of the entry lanes is a lane in the same straight direction, and the arrangement position represents a left-right arrangement order between the lanes;

[0138] A target determination module 1102 is configured to determine a target lane of the entry lane from among the exit lanes according to the position information of the entry lane and the position information of each of the exit lanes if the angle between the entry lane and the candidate lanes satisfies a preset angle condition;

[0139] The map generation module 1103 is used to perform a connection process on the entry lane and the target lane to generate data for a high-precision map in the straight direction of the intersection.

[0140] Fig.12 A structural block diagram of a device for generating a high-precision map based on intersection lane connection provided in an embodiment of the present disclosure, such as Fig.12 As shown, the device 1200 for generating a high-precision map based on intersection lane coupling includes a candidate determination module 1201, a target determination module 1202 and a map generation module 1203, wherein the target determination module 1202 includes an angle determination unit 12021 and a target determination unit 12022.

[0141] An angle determination unit 12021 is used to determine, if the angle between the entry lane and the candidate lane meets a preset angle condition, a connection angle corresponding to the exit lane according to the position information of the entry lane and the position information of the exit lane; wherein the connection angle represents the angle between the entry lane and the connection lane, and the connection lane is used to connect the entry lane and the exit lane;

[0142] The target determination unit 12022 is used to determine the target lane of the entry lane from each of the exit lanes according to the articulation angle corresponding to each of the exit lanes.

[0143] In one example, the angle determination unit 12021 is specifically configured to:

[0144] generating a connecting lane between the entering lane and the exiting lane according to the position information of the entering lane and the position information of the exiting lane;

[0145] The angle between the entry lane and the connection lane is determined as a connection angle corresponding to an exit lane connected to the connection lane.

[0146] In one example, the target determination unit 12022 is specifically configured to:

[0147] Determine the articulation angle corresponding to the candidate lane as a first angle, and determine the articulation angle corresponding to other lanes as a second angle; wherein the other lanes represent exit lanes other than the candidate lanes;

[0148] determining an angle difference between the first angle and the second angle;

[0149] If the angle difference is greater than a preset difference threshold, the other lane corresponding to the second angle is determined as the target lane of the entry lane.

[0150] In one example, the target determination unit 12022 is further configured to:

[0151] If it is determined that the first angle is greater than a preset angle threshold, the step of determining an angle difference between the first angle and the second angle is performed; if the angle difference is greater than a preset difference threshold, the other lane corresponding to the second angle is determined as the target lane of the entry lane; and / or,

[0152] If there are multiple angle differences greater than a preset difference threshold, sorting the other lanes according to the second angles;

[0153] Other lanes located at preset sorting positions are determined as target lanes for the entering lane.

[0154] In one example, the candidate determination module 1201 includes:

[0155] The lane determination unit is used to determine an exit lane corresponding to the entry lane in the intersection according to the lane orientation of the entry lane in the intersection.

[0156] In one example, the candidate determination module 1201 includes:

[0157] a state determination unit, configured to determine a lane state of the exit lane; wherein the lane state is an idle state or an occupied state, wherein the idle state indicates that the exit lane can only receive vehicles coming from the entry lane, and the occupied state indicates that the exit lane receives vehicles coming from the entry lane and vehicles coming from a lane in a different direction from the entry lane;

[0158] a number determination unit, configured to determine the number of the entry lanes as a first number, and determine the number of the exit lanes in the idle state as a second number;

[0159] A candidate determination unit is used to determine, if the first number is greater than the second number, an exit lane at the same arrangement position as the entry lane as a candidate lane for the entry lane based on the arrangement position of each entry lane and the arrangement position of each exit lane.

[0160] In one example, the candidate determination module 1201 further includes:

[0161] A quantity comparison unit is used to determine, if the first quantity is less than the second quantity, for each idle exit lane, a corresponding coupling angle of each entry lane; determine a matching lane from each entry lane according to the coupling angle corresponding to each entry lane, and determine the idle exit lane as a target lane of the matching lane.

[0162] In one example, the map generation module 1203 is specifically used to:

[0163] The entry lane and the candidate lane are connected, and the entry lane and the target lane are connected to generate data for a high-precision map in the straight direction of the intersection.

[0164] The device for generating a high-precision map based on intersection lane attachment provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and this embodiment will not be described in detail here.

[0165] Fig.13 This is a schematic diagram of the structure of the electronic device provided in this application. Fig.13 As shown, the electronic device 130 provided in this embodiment includes: at least one processor 1301 and a memory 1302. Optionally, the device 130 also includes a communication component 1303. The processor 1301, the memory 1302 and the communication component 1303 are connected via a bus 1304.

[0166] In a specific implementation process, at least one processor 1301 executes the computer-executable instructions stored in the memory 1302, so that at least one processor 1301 executes the above method.

[0167] The specific implementation process of the processor 1301 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0168] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0169] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0170] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0171] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0172] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0173] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0174] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0175] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0176] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0177] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0178] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0179] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0180] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for generating a high-precision map based on intersection lane linkage, characterized in that: include: Determine an exit lane corresponding to an entry lane in the intersection, and determine a candidate lane for the entry lane from the exit lanes according to the arrangement position of each entry lane and the arrangement position of each exit lane; wherein the entry lane represents a lane entering the intersection, the exit lane represents a lane exiting the intersection, each entry lane is a lane in the same straight direction, and the arrangement position represents a left-right arrangement order between the lanes; If the angle between the entry lane and the candidate lanes satisfies a preset angle condition, determining a target lane of the entry lane from each of the exit lanes according to the position information of the entry lane and the position information of each of the exit lanes; The entry lane and the target lane are connected to generate data for a high-precision map in the straight direction of the intersection.

2. The method according to claim 1, characterized in that If the angle between the entering lane and the candidate lanes satisfies a preset angle condition, determining a target lane of the entering lane from each of the exit lanes according to the position information of the entering lane and the position information of each of the exit lanes, comprising: If the angle between the entry lane and the candidate lane meets the preset angle condition, the articulation angle corresponding to the exit lane is determined according to the position information of the entry lane and the position information of the exit lane; wherein the articulation angle represents the angle between the entry lane and the articulation lane, and the articulation lane is used to connect the entry lane and the exit lane; According to the articulation angles corresponding to the exit lanes, a target lane for the entry lane is determined from the exit lanes.

3. The method according to claim 2, characterized in that The determining, according to the position information of the entry lane and the position information of the exit lane, a hook angle corresponding to the exit lane includes: generating a connecting lane between the entering lane and the exiting lane according to the position information of the entering lane and the position information of the exiting lane; The angle between the entry lane and the connection lane is determined as a connection angle corresponding to an exit lane connected to the connection lane.

4. The method according to claim 2, characterized in that: The step of determining the target lane of the entry lane from each of the exit lanes according to the articulation angles corresponding to each of the exit lanes includes: Determine the articulation angle corresponding to the candidate lane as a first angle, and determine the articulation angle corresponding to other lanes as a second angle; wherein the other lanes represent exit lanes other than the candidate lanes; determining an angle difference between the first angle and the second angle; If the angle difference is greater than a preset difference threshold, the other lane corresponding to the second angle is determined as the target lane of the entry lane.

5. The method according to claim 4, characterized in that The method further comprises: If it is determined that the first angle is greater than a preset angle threshold, the step of determining an angle difference between the first angle and the second angle is performed; if the angle difference is greater than a preset difference threshold, the other lane corresponding to the second angle is determined as the target lane of the entry lane; and / or, If there are multiple angle differences greater than a preset difference threshold, sorting the other lanes according to the second angles; Other lanes located at preset sorting positions are determined as target lanes for the entering lane.

6. The method according to claim 2, characterized in that The step of determining a candidate lane for the entry lane from the exit lanes according to the arrangement positions of the entry lanes and the arrangement positions of the exit lanes includes: Determine a lane state of the exit lane; wherein the lane state is an idle state or an occupied state, wherein the idle state indicates that the exit lane can only receive vehicles coming from the entry lane, and the occupied state indicates that the exit lane receives vehicles coming from the entry lane and vehicles coming from a lane in a different direction from the entry lane; determining the number of the entry lanes as a first number, and determining the number of the exit lanes in the idle state as a second number; If the first number is greater than the second number, then based on the arrangement positions of the entry lanes and the arrangement positions of the exit lanes, the exit lane at the same arrangement position as the entry lane is determined as a candidate lane for the entry lane.

7. The method according to claim 6, characterized in that The method further comprises: If the first number is less than the second number, for each idle exit lane, determining the corresponding articulation angle of each entry lane; According to the articulation angles corresponding to the entry lanes, a matching lane is determined from the entry lanes, and the exit lane in the idle state is determined as a target lane of the matching lane.

8. A device for generating a high-precision map based on intersection lane linkage, characterized in that: include: A candidate determination module is used to determine an exit lane corresponding to an entry lane in an intersection, and determine a candidate lane of the entry lane from each of the exit lanes according to an arrangement position of each of the entry lanes and an arrangement position of each of the exit lanes; wherein the entry lane represents a lane entering the intersection, the exit lane represents a lane exiting the intersection, each of the entry lanes is a lane in the same straight direction, and the arrangement position represents a left-right arrangement order between the lanes; a target determination module, configured to determine a target lane of the entry lane from each of the exit lanes according to the position information of the entry lane and the position information of each of the exit lanes if the angle between the entry lane and the candidate lanes satisfies a preset angle condition; A map generation module is used to perform a hooking process on the entry lane and the target lane to generate data for a high-precision map in the straight direction of the intersection.

9. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium / computer program product, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor; and / or, The computer program product comprises a computer program, which implements the method according to any one of claims 1 to 7 when executed by a processor.

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