Method, device, electronic device and storage medium for generating intersection guiding lines

Abstract

The present disclosure provides a method, apparatus, electronic device, and storage medium for generating intersection guiding lines, relating to the field of autonomous driving technology. The method includes: obtaining the vehicle driving trajectories within the target area to which the target intersection belongs; determining the first section of trajectory and the second section of trajectory in the vehicle driving trajectories; determining target control points according to the first section of trajectory and the second section of trajectory; and generating a guiding line corresponding to the target intersection based on the target control points. Thus, the target control points for generating the guiding line can be determined according to the driving trajectories of vehicles when passing through the target intersection, and then the guiding line corresponding to the target intersection can be automatically generated based on the target control points, without manual participation, saving labor costs and improving the efficiency of generating the guiding line.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and particularly to a method, an apparatus, an electronic device, and a storage medium for generating intersection guiding lines. Background Art

[0002] In recent years, crowdsourcing technology has gradually shown its advantages in map data collection. The crowdsourcing technology can collect relevant data through sensors carried by vehicles (including but not limited to IMUs, wheel speedometers, cameras, etc.), and then make information about intersections or roads through crowdsourcing mapping algorithms at the vehicle end and the cloud end.

[0003] However, the crowdsourcing technology only focuses on the production of map element information (including lane lines, lane centerlines, ground markings, zebra crossings), and there are often no perceivable map elements to mark the road topology information of intersections (such as guiding lines, etc.), and it often needs to be manually drawn on the crowdsourcing map produced. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a method, an apparatus, an electronic device, and a storage medium for generating intersection guiding lines.

[0005] According to the first aspect of the embodiments of the present disclosure, a method for generating an intersection guiding line is provided, including:

[0006] Obtaining vehicle driving trajectories within a target area to which a target intersection belongs;

[0007] Determining a first segment of the vehicle driving trajectories and a second segment of the vehicle driving trajectories, where the first segment of the vehicle driving trajectories is the trajectory before the vehicle enters the target intersection, and the second segment of the vehicle driving trajectories is the trajectory after the vehicle exits the target intersection;

[0008] Determining target control points according to the first segment of the vehicle driving trajectories and the second segment of the vehicle driving trajectories;

[0009] Generating a guiding line corresponding to the target intersection based on the target control points.

[0010] According to the second aspect of the embodiments of the present disclosure, an apparatus for generating an intersection guiding line is provided, including:

[0011] An obtaining module, configured to obtain vehicle driving trajectories within a target area to which a target intersection belongs;

[0012] A first determining module, configured to determine a first segment of the vehicle driving trajectories and a second segment of the vehicle driving trajectories, where the first segment of the vehicle driving trajectories is the trajectory before the vehicle enters the target intersection, and the second segment of the vehicle driving trajectories is the trajectory after the vehicle exits the target intersection;

[0013] A second determination module, configured to determine a target control point according to the first - segment trajectory and the second - segment trajectory;

[0014] A generation module, configured to generate a guiding line corresponding to the target intersection based on the target control point.

[0015] According to a third aspect of the embodiments of the present disclosure, there is provided an electronic device, including: a processor; a memory for storing processor - executable instructions; wherein, the processor is configured to: implement the steps of the method for generating an intersection guiding line proposed in the first - aspect embodiments of the present disclosure.

[0016] According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer - readable storage medium, when the instructions in the storage medium are executed by a processor, the steps of the method for generating an intersection guiding line proposed in the first - aspect embodiments of the present disclosure are implemented.

[0017] An embodiment of a fifth aspect of the present disclosure provides a computer program product, including a computer program, where when the computer program is executed by a processor, the method for generating an intersection guiding line proposed in the first - aspect embodiments of the present disclosure is implemented.

[0018] An embodiment of a sixth aspect of the present disclosure provides a chip system, including a processing unit and an interface circuit, the processing unit obtains program instructions through the interface circuit, and the program instructions are executed by the processing unit, and the processing unit is configured to execute the method for generating an intersection guiding line proposed in the first - aspect embodiments of the present disclosure.

[0019] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0020] In the embodiments of the present disclosure, the driving trajectories of vehicles within the target area to which the target intersection belongs are obtained, then the first - segment trajectory and the second - segment trajectory in the vehicle driving trajectories are determined, then the target control point is determined according to the first - segment trajectory and the second - segment trajectory, and finally, based on the target control point, a guiding line corresponding to the target intersection is generated. Thus, according to the driving trajectories of vehicles when passing through the target intersection, the target control point for generating the guiding line can be determined, and then based on the target control point, the guiding line corresponding to the target intersection can be automatically generated without manual intervention, saving labor costs and improving the efficiency of generating the guiding line.

[0021] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure:

[0023] Figure 1 It is a schematic flowchart of a method for generating intersection guiding lines shown in some embodiments of the present disclosure;

[0024] Figure 2 It is a schematic diagram of a vehicle driving trajectory shown in an embodiment of the present disclosure;

[0025] Figure 3 It is a flowchart of a method for generating intersection guiding lines shown in some embodiments of the present disclosure;

[0026] Figure 4 It is a schematic diagram of a vehicle driving trajectory shown in some embodiments of the present disclosure;

[0027] Figure 5 It is a schematic diagram of another vehicle driving trajectory shown in some embodiments of the present disclosure;

[0028] Figure 6 It is a schematic diagram of another vehicle driving trajectory shown in some embodiments of the present disclosure;

[0029] Figure 7 It is a schematic diagram of another target coordinate point shown in some embodiments of the present disclosure;

[0030] Figure 8 It is a schematic diagram of another target coordinate point shown in some embodiments of the present disclosure;

[0031] Figure 9 It is a schematic diagram of another target coordinate point shown in some embodiments of the present disclosure;

[0032] Figure 10 It is a schematic diagram of a road topology map shown in some embodiments of the present disclosure;

[0033] Figure 11 It is a block diagram of a device for generating intersection guiding lines shown in some embodiments of the present disclosure;

[0034] Figure 12 It shows a block diagram of an exemplary electronic device suitable for implementing the embodiments of the present disclosure;

[0035] Figure 13 It is a schematic structural diagram of a chip proposed in an embodiment of the present disclosure. Detailed implementation manners

[0036] Some embodiments of the present disclosure will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Various changes, variations, and equivalents of the methods, apparatuses, and / or systems described herein will become apparent after understanding the present disclosure. For example, the order of operations described herein is merely exemplary and is not limited to those set forth herein, but may be changed as will be apparent after understanding the present disclosure, except for operations that must be performed in a specific order. Additionally, descriptions of features known in the art may be omitted for the sake of clarity and brevity.

[0037] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0038] Figure 1 is a flowchart of a method for generating intersection guiding lines according to some embodiments of the present disclosure. It should be noted that the method for generating intersection guiding lines in this embodiment can be applied to an intersection guiding line generation device. In some possible embodiments, the device can be configured in an electronic device or a chip so that the electronic device or the chip can perform the function of generating intersection guiding lines.

[0039] As Figure 1 shown, the method for generating intersection guiding lines is used in a terminal and includes the following steps:

[0040] Step 101, obtain the vehicle driving trajectories within the target area to which the target intersection belongs.

[0041] Among them, the target intersection can be the intersection for which guiding lines are to be generated.

[0042] Among them, the target area can be the area within the first distance around the target intersection, where the first distance can be 20 meters, 30 meters, etc. The present disclosure does not limit this.

[0043] Among them, there can be one or multiple vehicle driving trajectories within the target area. The present disclosure does not limit this.

[0044] In some embodiments, the historical driving trajectories of multiple vehicles in the target area can be obtained first, and then the multiple historical driving trajectories are clustered to obtain at least one clustering cluster, where each historical driving trajectory in the clustering cluster is in the same lane; the historical driving trajectories in each clustering cluster are fused to obtain the vehicle driving trajectory corresponding to each clustering cluster.

[0045] In some embodiments, a connected traffic clustering algorithm may be employed to cluster multiple historical driving trajectories.

[0046] In some embodiments, an unclustered historical driving trajectory may be first selected as the seed trajectory in the clustering cluster, and the first target distance between the trajectory points in each unclustered historical driving trajectory and the seed trajectory may be calculated. Based on the first target distance, the historical driving trajectories that can be added to the clustering cluster where the seed trajectory is located may be determined, and the historical driving trajectories added to the clustering cluster may be marked as clustered. Further, each historical driving trajectory in the clustering cluster may be sequentially determined as a new seed trajectory, and the second target distance between the trajectory points in each unclustered historical driving trajectory and the new seed trajectory may be calculated. Based on the first target distance, the historical driving trajectories that can be added to the clustering cluster where the new seed trajectory is located may be determined, and the historical driving trajectories added to the clustering cluster may be marked as clustered.

[0047] In some embodiments, when the ratio of the number of trajectory points with the first target distance less than the second distance to the total number of trajectory points in the historical driving trajectory is greater than a preset ratio, it is determined that the historical driving trajectory can be added to the clustering cluster where the seed trajectory is located.

[0048] In some embodiments, a method of polynomial curve fitting or averaging the corresponding trajectory points in multiple historical driving trajectories may be employed to fuse the historical driving trajectories in each clustering cluster.

[0049] In some embodiments, when the shape of at least one historical driving trajectory in the clustering cluster is a curve, based on the inflection points of each historical driving trajectory, each historical driving trajectory may be divided into a first driving trajectory and a second driving trajectory, where the first driving trajectory includes the trajectory of the vehicle entering the target intersection, and the second driving trajectory includes the trajectory of the vehicle leaving the target intersection. The first driving trajectories in each historical driving trajectory may be fused to obtain a first fused trajectory, the second driving trajectories in each historical driving trajectory may be fused to obtain a second fused trajectory, and the first fused trajectory and the second fused trajectory may be spliced to obtain the vehicle driving trajectory corresponding to the clustering cluster. Thus, the historical driving trajectories with a curve shape can be more accurately fused to reduce the curvature of the vehicle driving trajectory.

[0050] In some embodiments, the most standard driving trajectory among the multiple historical driving trajectories of the clustering cluster may also be determined as the vehicle driving trajectory.

[0051] Step 102: Determine the first segment of the vehicle driving trajectory and the second segment of the vehicle driving trajectory, where the first segment is the trajectory before the vehicle enters the target intersection, and the second segment is the trajectory after the vehicle leaves the target intersection.

[0052] Among them, the first segment of the trajectory can be the trajectory of the vehicle traveling on the first lane of the first road section.

[0053] Among them, the first road section can be the road section where the vehicle is located before entering the target intersection. In some embodiments, the first road section can also be referred to as the road section where the vehicle exits, which can be denoted as src_link.

[0054] Among them, the first lane can be the lane where the vehicle is located before entering the target intersection. In some embodiments, the first lane can also be referred to as the lane where the vehicle exits.

[0055] Among them, the second segment of the trajectory can be the trajectory of the vehicle traveling on the second lane of the second road section.

[0056] Among them, the second road section can be the road section where the vehicle is located before exiting the target intersection. In some embodiments, the second road section can also be referred to as the road section where the vehicle enters, which can be denoted as dst_link.

[0057] Among them, the second lane can be the lane where the vehicle is located before entering the target intersection. In some embodiments, the second lane can also be referred to as the lane where the vehicle enters.

[0058] Figure 2 It is a schematic diagram of a vehicle driving trajectory shown in an embodiment of the present disclosure; as Figure 2 shown, for the vehicle driving trajectory in the vehicle U-turn scenario, the first segment of the trajectory is the trajectory on the first road section, and the second segment of the trajectory is the trajectory on the second road section.

[0059] Step 103, determine the target control point according to the first segment of the trajectory and the second segment of the trajectory.

[0060] In some embodiments, some guide line samples corresponding to sample intersections can be manually drawn first, and then the manually drawn guide line is regarded as a Bessel curve to determine its sample control points. Furthermore, the target relationship between the sample control points and the first segment of the trajectory sample and the first segment of the trajectory sample corresponding to the guide line sample is statistically determined. Finally, after determining the first segment of the trajectory and the second segment of the trajectory of the guide line to be generated, the target control point can be determined based on the target relationship.

[0061] In some embodiments, the center line of the first lane corresponding to the first segment of the trajectory and the center line of the second lane corresponding to the second segment of the trajectory can be determined, and then the target control point can be determined according to the center line of the first lane, the center line of the second lane, the first segment of the trajectory, and the second segment of the trajectory. Thus, according to the driving trajectory of the vehicle when passing through the target intersection and the relationship between the driving trajectory and the center line of the lane in the target area, the target control point can be determined, and then the guide line between lanes can be automatically generated without manual participation, saving labor costs and improving the efficiency of generating the guide line.

[0062] Among them, the center line of the first lane is the center line corresponding to the first lane where the first segment of the trajectory is located. In some embodiments, the center line of the first lane corresponding to the first lane can be denoted as src_lane.

[0063] Among them, the center line of the second lane is the center line corresponding to the second lane where the second segment of the trajectory is located. In some embodiments, the center line of the second lane corresponding to the second lane can be denoted as dst_lane.

[0064] In some embodiments, obtain the target map corresponding to the target area, where the target map includes each road segment and the center line of each lane corresponding to each lane in each road segment. Then, according to the first position and the first direction corresponding to the first segment of the trajectory, and the second position and the second direction corresponding to each road segment, determine the first road segment corresponding to the first segment of the trajectory. According to the third position and the third direction corresponding to the second segment of the trajectory, and the second position and the second direction corresponding to each road segment, determine the second road segment corresponding to the second segment of the trajectory. Determine the center line of the first lane as the center line of the lane in the first road segment with the smallest distance from the first segment of the trajectory, and determine the center line of the second lane as the center line of the lane in the second road segment with the smallest distance from the second segment of the trajectory. Thus, through the position and direction of the first segment of the trajectory, the first road segment where the first segment of the trajectory is located is screened out, and through the position and direction of the second segment of the trajectory, the second road segment where the second segment of the trajectory is located is screened out, and then the center line of the first lane and the center line of the second lane can be quickly determined.

[0065] In some embodiments, receive the vehicle-end mapping results of the target area sent by multiple vehicles, and fuse the multiple vehicle-end mapping results to obtain the target map.

[0066] It should be noted that in the embodiments of the present disclosure, a guiding line between the first lane and the second lane can be generated based on a B-spline curve. Therefore, it is necessary to first determine the target control points of the B-spline curve, and then generate the guiding line based on the B-spline curve formula.

[0067] In some embodiments, a third-order B-spline curve can be used to generate the guiding line, or a second-order B-spline curve can be used to generate the guiding line. The present disclosure does not limit this.

[0068] In some embodiments, some guiding line samples corresponding to sample intersections can be manually drawn first, and then the manually drawn guiding lines are used as B-spline curves to determine their sample control points. Then, the target relationship between the sample control points and the first lane center line samples, the second lane center line samples, and the vehicle driving trajectory samples corresponding to the guiding line samples is statistically determined. Finally, after determining the center line of the first lane, the center line of the second lane, and the first segment of the trajectory and the second segment of the trajectory of the guiding line to be generated, the target control points can be determined based on the target relationship.

[0069] Step 104: Generate a guiding line corresponding to the target intersection based on the target control points.

[0070] In the embodiments of the present disclosure, after determining the target control points, a guiding line between the first lane where the first trajectory is located and the second lane where the second trajectory is located can be generated according to the Bezier curve formula and the target control points.

[0071] In the embodiments of the present disclosure, obtain the vehicle driving trajectories within the target area to which the target intersection belongs, then determine the first trajectory and the second trajectory in the vehicle driving trajectories, then determine the target control points according to the first trajectory and the second trajectory, and finally, based on the target control points, generate a guiding line corresponding to the target intersection. Thus, according to the driving trajectories of the vehicle when passing through the target intersection, the target control points for generating the guiding line can be determined, and then, based on the target control points and combined with the Bezier curve, a guiding line corresponding to the target intersection can be automatically generated without manual intervention, saving labor costs and improving the efficiency of generating the guiding line.

[0072] Figure 3 is a flowchart of a method for generating an intersection guiding line according to some embodiments of the present disclosure, as Figure 3 shown, including the following steps:

[0073] Step 301: Obtain the vehicle driving trajectories within the target area to which the target intersection belongs.

[0074] Step 302: Determine the first trajectory and the second trajectory in the vehicle driving trajectories, where the first trajectory is the trajectory before the vehicle enters the target intersection, and the second trajectory is the trajectory after the vehicle exits the target intersection.

[0075] Step 303: Determine the center line of the first lane corresponding to the first trajectory and the center line of the second lane corresponding to the second trajectory.

[0076] Among them, for the specific implementation forms of Step 301 to Step 303, reference can be made to the detailed descriptions in other embodiments of the present disclosure, and details will not be elaborated here.

[0077] Step 304: Determine the first distance between the first coordinate point on the center line of the first lane and the second coordinate point on the first trajectory, where the first coordinate point is the coordinate point on the center line of the first lane closest to the target intersection, and the second coordinate point is the last trajectory point on the first trajectory.

[0078] In some embodiments, if the first trajectory is the vehicle driving on the center line of the first lane, the first coordinate point and the second coordinate point can be the same coordinate point.

[0079] Among them, the last trajectory point on the first section of the trajectory can be the last trajectory point that the vehicle has passed through on the first section of the trajectory.

[0080] Step 305: Determine the second distance between the third coordinate point on the center line of the second lane and the fourth coordinate point on the second section of the trajectory, where the third coordinate point is the coordinate point on the center line of the second lane that is closest to the target intersection, and the fourth coordinate point is the first trajectory point on the second section of the trajectory.

[0081] In some embodiments, if the second section of the trajectory is the vehicle driving on the center line of the second lane, the third coordinate point and the fourth coordinate point can be the same coordinate point.

[0082] Among them, the first trajectory point on the second section of the trajectory can be the first trajectory point that the vehicle has passed through on the second section of the trajectory.

[0083] Figure 4 A schematic diagram of a vehicle driving trajectory shown in some embodiments of the present disclosure is as Figure 4 shown, which is the driving trajectory of the vehicle turning left. The first coordinate point and the second coordinate point are both point A, and the third coordinate point and the fourth coordinate point are both point B.

[0084] Figure 5 Another schematic diagram of a vehicle driving trajectory shown in some embodiments of the present disclosure is as Figure 5 shown, which is the driving trajectory of the vehicle turning right. The first coordinate point is A1, the second coordinate point is point A2, and the third coordinate point and the fourth coordinate point are both point B.

[0085] Figure 6 Another schematic diagram of a vehicle driving trajectory shown in some embodiments of the present disclosure is as Figure 6 shown, which is the driving trajectory of the vehicle turning right. The first coordinate point and the second coordinate point are both point A, the third coordinate point is B1, and the fourth coordinate point is point B2.

[0086] Step 306: Determine a plurality of target coordinate points according to at least one of the center line of the first lane and the first section of the trajectory, at least one of the center line of the second lane and the second section of the trajectory, the first distance, and the second distance.

[0087] In some embodiments, when both the first distance and the second distance are less than the first threshold, it indicates that the vehicle is basically driving along the center line of the lane. A plurality of target coordinate points can be determined according to the center line of the first lane and the center line of the second lane.

[0088] In some embodiments, when both the first distance and the second distance are less than the first threshold, the coordinate point on the first lane center line whose distance from the first coordinate point is the preset distance is determined as the first target coordinate point, the first coordinate point is the second target coordinate point, the third coordinate point is the third target coordinate point, and the coordinate point on the second lane center line whose distance from the third coordinate point is the preset distance is determined as the fourth target coordinate point.

[0089] Wherein, the first threshold may be half of the width of a lane, for example, 1.6 meters.

[0090] Figure 7 Another schematic diagram of target coordinate points shown in some embodiments of the present disclosure. As Figure 7 shown, the vehicle driving trajectory is a left-turn driving trajectory of the vehicle. P1 is the first target coordinate point, P2 is the second target coordinate point, P3 is the third target coordinate point, and P4 is the fourth target coordinate point. As Figure 7 shown, since both the first distance and the second distance are less than the first threshold, P1 and P2 are on the first lane center line, and P3 and P4 are on the second lane center line.

[0091] In some embodiments, when the first distance is greater than or equal to the first threshold and the second distance is less than the first threshold, it means that the vehicle does not travel along the first lane center line before entering the target intersection and travels along the second lane center line after exiting the target intersection. Therefore, multiple target coordinate points can be determined according to the first section of the trajectory and the second lane center line. Thus, the generated guiding line can better fit the user's driving trajectory.

[0092] In some embodiments, when the first distance is greater than or equal to the first threshold and the second distance is less than the first threshold, the trajectory point on the first section of the trajectory whose distance from the second target coordinate point is the preset distance is determined as the first target coordinate point, the trajectory point on the first section of the trajectory whose distance from the first lane center line is the first threshold is determined as the second target coordinate point, the third coordinate point is the third target coordinate point, and the coordinate point on the second lane center line whose distance from the third coordinate point is the preset distance is determined as the fourth target coordinate point.

[0093] Figure 8 Another schematic diagram of target coordinate points shown in some embodiments of the present disclosure. As Figure 8 shown, the vehicle driving trajectory is a right-turn driving trajectory of the vehicle. P1 is the first target coordinate point, P2 is the second target coordinate point, P3 is the third target coordinate point, and P4 is the fourth target coordinate point.

[0094] It should be noted that the first section extends in front of the second section. It is difficult for a vehicle to drive out of the first section along the center line of the first lane and then drive to the second section. Therefore, in order to drive from the first section to the second section more simply, the vehicle starts to turn right before driving out of the first section, resulting in the vehicle not driving along the center line of the first lane, and thus the first distance may be greater than or equal to the first threshold. Therefore, P1 and P2 are determined from the first section of the trajectory, and P3 and P4 are on the center line of the second lane.

[0095] In some embodiments, when the first distance is less than the first threshold and the second distance is greater than or equal to the first threshold, it means that the vehicle drives along the center line of the first lane before entering the target intersection and does not drive along the center line of the second lane after driving out of the target intersection. Therefore, multiple target coordinate points can be determined according to the center line of the first lane and the second end trajectory, so that the generated guiding line fits the driving trajectory of the user more closely.

[0096] In some embodiments, when the first distance is less than the first threshold and the second distance is greater than or equal to the first threshold, the coordinate point on the center line of the first lane whose distance from the first coordinate point is the preset distance is determined as the first target coordinate point, the first coordinate point is the second target coordinate point, the trajectory point on the second section of the trajectory whose distance from the center line of the second lane is the first threshold is determined as the third target coordinate point, and the trajectory point on the second section of the trajectory whose distance from the third target coordinate point is the preset distance is determined as the fourth target coordinate point.

[0097] Figure 9 Another schematic diagram of target coordinate points shown in some embodiments of the present disclosure. As Figure 9 shown, P1 is the first target coordinate point, P2 is the second target coordinate point, P3 is the third target coordinate point, and P4 is the fourth target coordinate point.

[0098] It should be noted that the second section extends in front of the first section. It is difficult for a vehicle to drive along the center line of the first lane and then drive along the center line of the second lane after driving out of the first section. Therefore, in order to drive from the first section to the second section more simply, after driving out of the first section, the vehicle can enter the second lane from other lanes of the second section, resulting in the vehicle not driving along the center line of the second lane when entering the second section, and thus the second distance may be greater than or equal to the first threshold. Therefore, P1 and P2 are determined from the center line of the first lane, and P3 and P4 are determined from the second section of the trajectory.

[0099] Step 307, determine target control points based on multiple target coordinate points.

[0100] In some embodiments, according to the second target coordinate point and the third target coordinate point, the fifth coordinate point and the sixth coordinate point are determined. Then, the second target coordinate point is determined as the first target control point, the foot of the perpendicular from the fifth coordinate point to the first straight line is determined as the second target control point, the foot of the perpendicular from the sixth coordinate point to the second straight line is determined as the third target control point, and the third target coordinate point is determined as the fourth target control point, where the first straight line is the straight line where the first target coordinate point and the second target coordinate point are located, and the second straight line is the straight line where the third coordinate point and the fourth coordinate point are located.

[0101] In some embodiments, the difference between the third target coordinate point and the second target coordinate point is determined, and the first product between the difference and the first value and the second product between the difference and the second value are determined, where the second value is greater than the first value. The sum of the first product and the second target coordinate point is determined as the fifth coordinate point, and the sum of the second product and the third target coordinate point is determined as the sixth coordinate point.

[0102] Among them, the first value can be 0.3, and the second value can be 0.8.

[0103] In some embodiments, the formula for determining the fifth coordinate point O1 is O1 = P2 + (P3 - P2) * 0.3; the formula for determining the sixth coordinate point O2 is O1 = P2 + (P3 - P2) * 0.8.

[0104] Step 308, generate a guiding line corresponding to the target intersection based on the target control points.

[0105] In some embodiments, based on the Bezier curve formula, the first target control point, the second target control point, the third target control point, and the fourth target control point, generate a guiding line between the first lane where the first lane center line is located and the second lane where the second lane center line is located.

[0106] In some embodiments, assume that a point on the guiding line is generated every 1m. Calculate the distance d between points p2 and p3. Then the total number of points generated on the guiding line is (n = d / 1m). For the i-th (0 ≤ i ≤ n) point, its parameter t on the Bezier curve spline is t = i / n, and its coordinates are:

[0107] p = (1 - t) 3 C0 + 3 * t * (1 - t) 2 C1 + 3 * t 2 * (1 - t) C2 + t 3 * C3, t ∈ [0, 1]

[0108] Among them, C0 is the first target control point, C1 is the second target control point, C2 is the third target control point, and C3 is the fourth target control point.

[0109] In the embodiments of the present disclosure, first, the vehicle driving trajectories within the target area to which the target intersection belongs are obtained. Then, the first trajectory and the corresponding first lane center line in the vehicle driving trajectories, and the second trajectory and the corresponding second lane center line are determined. Furthermore, the first distance between the first coordinate point in the first lane center line and the second coordinate point in the first trajectory, and the second distance between the third coordinate point in the second lane center line and the fourth coordinate point in the second trajectory are determined. And based on at least one of the first lane center line and the first trajectory, at least one of the second lane center line and the second trajectory, the first distance and the second distance, a plurality of target coordinate points are determined. Based on the plurality of target coordinate points, target control points are determined. Finally, based on the target control points, a guiding line corresponding to the target intersection is generated. Thus, according to the trajectory points when the vehicle enters the target intersection, the first distance deviating from the first lane center line, and the trajectory points when the vehicle exits the target intersection, the second distance deviating from the second lane center line, it can be determined whether to select the target coordinate points for generating the target control points from the vehicle driving trajectories or the lane center lines, so that the generated guiding line is more consistent with the driving trajectory of the user's vehicle when driving, and further the generated guiding line facilitates more accurate control of the vehicle when the autonomous driving vehicle passes through the target intersection.

[0110] In some embodiments, after determining the guiding line between the first lane and the second lane, a road topology map corresponding to the target area can also be generated according to the target map corresponding to the target area and the guiding line. Furthermore, the road topology map of the target area can be sent to the vehicle, so that guiding line information can be provided for the autonomous driving vehicle when passing through the intersection.

[0111] Figure 10 A schematic diagram of a road topology map shown in some embodiments of the present disclosure. As Figure 10 shown, the line connecting the two lanes in the middle area is the guiding line.

[0112] To implement the above embodiments, the present disclosure also proposes a device for generating an intersection guiding line.

[0113] Figure 11 A block diagram of a device for generating an intersection guiding line shown in some embodiments of the present disclosure. Referring to Figure 11 , the device 1100 for generating an intersection guiding line includes:

[0114] An acquisition module 1101, configured to acquire the vehicle driving trajectories within the target area to which the target intersection belongs;

[0115] The first determination module 1102 is configured to determine the first section of the vehicle driving trajectory and the second section of the vehicle driving trajectory, where the first section of the trajectory is the trajectory before the vehicle enters the target intersection, and the second section of the trajectory is the trajectory after the vehicle exits the target intersection;

[0116] The second determination module 1103 is configured to determine the target control point according to the first section of the trajectory and the second section of the trajectory;

[0117] The generation module 1104 is configured to generate a guiding line corresponding to the target intersection based on the target control point.

[0118] In some embodiments, the second determination module 1103 is configured to:

[0119] Determine the first lane centerline corresponding to the first section of the trajectory and the second lane centerline corresponding to the second section of the trajectory;

[0120] Determine the target control point according to the first lane centerline, the second lane centerline, the first section of the trajectory, and the second section of the trajectory.

[0121] In some embodiments, the second determination module 1103 is configured to:

[0122] Determine the first distance between the first coordinate point in the first lane centerline and the second coordinate point in the first section of the trajectory, where the first coordinate point is the coordinate point closest to the target intersection in the first lane centerline, and the second coordinate point is the last trajectory point on the first section of the trajectory;

[0123] Determine the second distance between the third coordinate point in the second lane centerline and the fourth coordinate point in the second section of the trajectory, where the third coordinate point is the coordinate point closest to the target intersection in the second lane centerline, and the fourth coordinate point is the first trajectory point on the second section of the trajectory;

[0124] Determine a plurality of target coordinate points according to at least one of the first lane centerline and the first section of the trajectory, at least one of the second lane centerline and the second section of the trajectory, the first distance, and the second distance;

[0125] Determine the target control point based on the plurality of target coordinate points.

[0126] In some embodiments, the second determination module 1103 is configured to:

[0127] In the case where both the first distance and the second distance are less than the first threshold, determine that the coordinate point on the first lane centerline whose distance from the first coordinate point is the preset distance is the first target coordinate point, the first coordinate point is the second target coordinate point, the third coordinate point is the third target coordinate point, and the coordinate point on the second lane centerline whose distance from the third coordinate point is the preset distance is the fourth target coordinate point; or,

[0128] When the first distance is greater than or equal to the first threshold and the second distance is less than the first threshold, determine the trajectory point on the first segment of the trajectory whose distance from the second target coordinate point is the preset distance as the first target coordinate point, the trajectory point on the first segment of the trajectory whose distance from the first lane center line is the first threshold as the second target coordinate point, the third coordinate point as the third target coordinate point, and the coordinate point on the second lane center line whose distance from the third coordinate point is the preset distance as the fourth target coordinate point; or,

[0129] When the first distance is less than the first threshold and the second distance is greater than or equal to the first threshold, determine the coordinate point on the first lane center line whose distance from the first coordinate point is the preset distance as the first target coordinate point, the first coordinate point as the second target coordinate point, the trajectory point on the second segment of the trajectory whose distance from the second lane center line is the first threshold as the third target coordinate point, and the trajectory point on the second segment of the trajectory whose distance from the third target coordinate point is the preset distance as the fourth target coordinate point.

[0130] In some embodiments, the second determination module 1103 is configured to:

[0131] Determine a fifth coordinate point and a sixth coordinate point according to the second target coordinate point and the third target coordinate point;

[0132] Determine the second target coordinate point as the first target control point, the foot of the perpendicular from the fifth coordinate point to the first straight line as the second target control point, the foot of the perpendicular from the sixth coordinate point to the second straight line as the third target control point, and the third target coordinate point as the fourth target control point, where the first straight line is the straight line where the first target coordinate point and the second target coordinate point are located, and the second straight line is the straight line where the third coordinate point and the fourth coordinate point are located.

[0133] In some embodiments, the second determination module 1103 is configured to:

[0134] Determine the difference between the third target coordinate point and the second target coordinate point;

[0135] Determine a first product of the difference and the first value and a second product of the difference and the second value, where the second value is greater than the first value;

[0136] Determine the sum of the first product and the second target coordinate point as the fifth coordinate point;

[0137] Determine the sum of the second product and the third target coordinate point as the sixth coordinate point.

[0138] In some embodiments, the generation module 1104 is configured to:

[0139] Generate a guiding line between the first lane where the center line of the first lane is located and the second lane where the center line of the second lane is located based on the Bessel curve formula, the first target control point, the second target control point, the third target control point, and the fourth target control point.

[0140] In some embodiments, the second determination module 1103 is configured to:

[0141] Obtain a target map corresponding to the target area, where the target map includes each road segment and the center line of each lane in each road segment;

[0142] Determine the first road segment corresponding to the first trajectory according to the first position and the first direction corresponding to the first trajectory, the second position and the second direction corresponding to each road segment;

[0143] Determine the second road segment corresponding to the second trajectory according to the third position and the third direction corresponding to the second trajectory, the second position and the second direction corresponding to each road segment;

[0144] Determine the center line of the lane in the first road segment with the smallest distance from the first trajectory as the center line of the first lane;

[0145] Determine the center line of the lane in the second road segment with the smallest distance from the second trajectory as the center line of the second lane.

[0146] In some embodiments, the acquisition module 1101 is configured to:

[0147] Obtain the historical driving trajectories of multiple vehicles in the target area;

[0148] Cluster multiple historical driving trajectories to obtain at least one cluster, where each historical driving trajectory in the cluster is in the same lane;

[0149] Fuse the historical driving trajectories in each cluster to obtain the vehicle driving trajectory corresponding to each cluster.

[0150] In some embodiments, the acquisition module 1101 is configured to:

[0151] In the case where the shape of at least one historical driving trajectory in the cluster is a curve, divide each historical driving trajectory into a first driving trajectory and a second driving trajectory based on the inflection points of each historical driving trajectory, where the first driving trajectory includes the trajectory of the vehicle entering the target intersection, and the second driving trajectory includes the trajectory of the vehicle leaving the target intersection;

[0152] Fuse the first driving trajectories in each historical driving trajectory to obtain a first fused trajectory;

[0153] Fuse the second driving trajectories in each historical driving trajectory to obtain a second fused trajectory;

[0154] Concatenate the first fused trajectory and the second fused trajectory to obtain the vehicle driving trajectory corresponding to the clustering cluster.

[0155] In some embodiments, it further includes a processing module for:

[0156] Generate a road topology map corresponding to the target area according to the target map corresponding to the target area and the guiding line.

[0157] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0158] The device for generating a guiding line at an intersection according to an embodiment of the present disclosure obtains the vehicle driving trajectory within the target area to which the target intersection belongs, then determines the first segment trajectory and the second segment trajectory in the vehicle driving trajectory, then determines the target control points according to the first segment trajectory and the second segment trajectory, and finally generates the guiding line corresponding to the target intersection based on the target control points. Thus, the target control points for generating the guiding line can be determined according to the driving trajectory of the vehicle when passing through the target intersection, and then the guiding line corresponding to the target intersection can be automatically generated based on the target control points in combination with the Bezier curve without manual participation, saving labor costs and improving the efficiency of generating the guiding line.

[0159] Figure 12 The block diagram of an exemplary electronic device suitable for implementing the embodiments of the present disclosure is shown. Figure 12 The displayed electronic device 12 is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present disclosure.

[0160] As Figure 12 shown, the electronic device 12 is presented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0161] Bus 18 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, an Accelerated Graphics Port, a processor, or a local bus using any of the various bus architectures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnection (PCI) bus.

[0162] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including volatile and nonvolatile media, removable and non-removable media.

[0163] Memory 28 can include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and / or cache memory 32. Electronic device 12 can further include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, storage system 34 can be used for reading and writing on non-removable, nonvolatile magnetic media ( Figure 12 not shown, typically referred to as a "hard disk drive"). Although Figure 12 not shown in, a disk drive for reading and writing on a removable nonvolatile disk (such as a "floppy disk"), and an optical disk drive for reading and writing on a removable nonvolatile optical disk (such as: Compact Disc Read Only Memory (CD-ROM), Digital Video Disc Read Only Memory (DVD-ROM), or other optical media) can be provided. In these cases, each drive can be connected to bus 18 through one or more data media interfaces. Memory 28 can include at least one program product having a set (such as at least one) of program modules configured to perform the functions of the various embodiments of the present disclosure.

[0164] A program / utilities 40 having a set (at least one) of program modules 42 can be stored, for example, in a memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules 42 generally execute the functions and / or methods in the embodiments described in this disclosure.

[0165] The electronic device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 22. In addition, the electronic device 12 can also communicate with one or more networks (such as a Local Area Network (LAN), a Wide Area Network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the electronic device 12 through a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0166] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the methods mentioned in the foregoing embodiments.

[0167] To implement the above embodiments, the present disclosure also proposes a computer-readable storage medium storing a computer program, which when executed by a processor, implements the method for generating intersection guiding lines proposed in the foregoing embodiments of the present disclosure.

[0168] To implement the above embodiments, the present disclosure also proposes a computer program product including a computer program, which when executed by a processor, implements the method for generating intersection guiding lines proposed in the foregoing embodiments of the present disclosure.

[0169] Figure 13 is a schematic structural diagram of a chip proposed in the embodiments of the present disclosure. Reference can be made to Figure 13 the schematic structural diagram of the chip 1300 shown, but not limited thereto.

[0170] The chip 1300 includes a processing circuit 1301, which is configured to execute any of the above methods.

[0171] In some embodiments, the chip 1300 further includes one or more interface circuits 1302. Optionally, the interface circuit 1302 is connected to the memory 1303. The interface circuit 1302 can be used to receive signals from the memory 1303 or other devices, and the interface circuit 1302 can be used to send signals to the memory 1303 or other devices. For example, the interface circuit 1302 can read the instructions stored in the memory 1303 and send the instructions to the processing circuit 1301.

[0172] In some embodiments, the interface circuit 1302 executes at least one of the communication steps such as sending and / or receiving in the above method, and the processing circuit 1301 executes other steps.

[0173] In some embodiments, terms such as interface circuit, interface, transceiver pin, transceiver, etc. can be used interchangeably.

[0174] In some embodiments, the chip 1300 further includes one or more memories 1303 for storing instructions. Optionally, all or part of the memory 1303 can be outside the chip 1300.

[0175] In addition, the word "exemplary" is used herein to mean serving as an example, instance, illustration. Any aspect or design described herein as "exemplary" is not necessarily to be understood as being advantageous compared to other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean 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 mean any permutation in a natural inclusive arrangement. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied in any of the foregoing instances. Additionally, unless otherwise specified or clear from the context to the singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0176] 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 upon 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. Specifically with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. Additionally, although a particular feature of the present disclosure may have been disclosed with respect to only one of several implementations, such a feature may be combined with one or more other features of the other implementations as may be desired and advantageous for any given or particular application. Further, with respect to the use of "comprises," "comprising," "has," "having," "includes," or "including" in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "including."

[0177] Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known or customary techniques in the art that are not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0178] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for generating intersection guiding lines, characterized in that, The method includes: Obtaining the vehicle driving trajectories within the target area to which the target intersection belongs; Determining a first trajectory and a second trajectory in the vehicle driving trajectories, wherein the first trajectory is the trajectory before the vehicle enters the target intersection, and the second trajectory is the trajectory after the vehicle exits the target intersection; Determining a target control point according to the first trajectory and the second trajectory; Generating a guiding line corresponding to the target intersection based on the target control point; Generating a road topology map corresponding to the target area according to the target map corresponding to the target area and the guiding line; The determining a target control point according to the first trajectory and the second trajectory includes: Determining a first lane centerline corresponding to the first trajectory and a second lane centerline corresponding to the second trajectory; Determining the target control point according to the first lane centerline, the second lane centerline, the first trajectory, and the second trajectory.

2. The method according to claim 1, characterized in that, The determining the target control point according to the first lane centerline, the second lane centerline, the first trajectory, and the second trajectory includes: Determining a first distance between a first coordinate point in the first lane centerline and a second coordinate point in the first trajectory, wherein the first coordinate point is the coordinate point closest to the target intersection in the first lane centerline, and the second coordinate point is the last trajectory point on the first trajectory; Determining a second distance between a third coordinate point in the second lane centerline and a fourth coordinate point in the second trajectory, wherein the third coordinate point is the coordinate point closest to the target intersection in the second lane centerline, and the fourth coordinate point is the first trajectory point on the second trajectory; Determining a plurality of target coordinate points according to at least one of the first lane centerline and the first trajectory, at least one of the second lane centerline and the second trajectory, the first distance, and the second distance; Determining the target control point based on the plurality of target coordinate points.

3. The method according to claim 2, wherein The determining a plurality of target coordinate points according to at least one of the first lane centerline and the first trajectory, at least one of the second lane centerline and the second trajectory, the first distance, and the second distance includes: In the case where both the first distance and the second distance are less than a first threshold, determining the coordinate point whose distance from the first coordinate point in the first lane centerline is a preset distance as the first target coordinate point, the first coordinate point as the second target coordinate point, the third coordinate point as the third target coordinate point, and the coordinate point whose distance from the third coordinate point in the second lane centerline is a preset distance as the fourth target coordinate point; or, When the first distance is greater than or equal to the first threshold and the second distance is less than the first threshold, determine the trajectory point on the first segment of the trajectory whose distance from the second target coordinate point is the preset distance as the first target coordinate point, the trajectory point on the first segment of the trajectory whose distance from the first lane center line is the first threshold as the second target coordinate point, the third coordinate point as the third target coordinate point, and the coordinate point on the second lane center line whose distance from the third coordinate point is the preset distance as the fourth target coordinate point; or, When the first distance is less than the first threshold and the second distance is greater than or equal to the first threshold, determine the coordinate point on the first lane center line whose distance from the first coordinate point is the preset distance as the first target coordinate point, the first coordinate point as the second target coordinate point, the trajectory point on the second segment of the trajectory whose distance from the second lane center line is the first threshold as the third target coordinate point, and the trajectory point on the second segment of the trajectory whose distance from the third target coordinate point is the preset distance as the fourth target coordinate point.

4. The method according to claim 3, wherein The determining the target control points based on the multiple target coordinate points includes: Determine a fifth coordinate point and a sixth coordinate point according to the second target coordinate point and the third target coordinate point; Determine the second target coordinate point as the first target control point, the foot of the perpendicular from the fifth coordinate point to the first straight line as the second target control point, the foot of the perpendicular from the sixth coordinate point to the second straight line as the third target control point, and the third target coordinate point as the fourth target control point, where the first straight line is the straight line passing through the first target coordinate point and the second target coordinate point, and the second straight line is the straight line passing through the third coordinate point and the fourth coordinate point.

5. The method according to claim 4, wherein The determining the fifth coordinate point and the sixth coordinate point according to the second target coordinate point and the third target coordinate point includes: Determine the difference between the third target coordinate point and the second target coordinate point; Determine a first product of the difference and a first value, and a second product of the difference and a second value, where the second value is greater than the first value; Determine the sum of the first product and the second target coordinate point as the fifth coordinate point; Determine the sum of the second product and the third target coordinate point as the sixth coordinate point.

6. The method according to claim 4, characterized in that, The generating the guiding line corresponding to the target intersection based on the target control points includes: Generate a guiding line between the first lane where the first lane center line is located and the second lane where the second lane center line is located based on the Bezier curve formula, the first target control point, the second target control point, the third target control point, and the fourth target control point.

7. The method according to claim 1, characterized in that, The determining the first lane center line corresponding to the first segment of the trajectory and the second lane center line corresponding to the second segment of the trajectory includes: Obtain a target map corresponding to the target area, where each road segment and the center line of each lane in each road segment are included in the target map; Determine the first road segment corresponding to the first trajectory according to the first position and the first direction corresponding to the first trajectory, and the second position and the second direction corresponding to each road segment; Determine the second road segment corresponding to the second trajectory according to the third position and the third direction corresponding to the second trajectory, and the second position and the second direction corresponding to each road segment; Determine the center line of the lane with the minimum distance between the first road segment and the first trajectory as the first center line of the lane; Determine the center line of the lane with the minimum distance between the second road segment and the second trajectory as the second center line of the lane.

8. The method according to claim 1, wherein The obtaining of the vehicle driving trajectories within the target area to which the target intersection belongs includes: Obtain the historical driving trajectories of multiple vehicles in the target area; Cluster the multiple historical driving trajectories to obtain at least one cluster, where each historical driving trajectory in the cluster is on the same lane; Fuse the historical driving trajectories in each cluster to obtain the vehicle driving trajectory corresponding to each cluster.

9. The method according to claim 8, characterized in that The fusing of the historical driving trajectories in each cluster to obtain the vehicle driving trajectory corresponding to each cluster includes: When the shape of at least one historical driving trajectory in the cluster is a curve, divide each historical driving trajectory into a first driving trajectory and a second driving trajectory based on the inflection points of each historical driving trajectory, where the first driving trajectory includes the trajectory of the vehicle entering the target intersection, and the second driving trajectory includes the trajectory of the vehicle leaving the target intersection; Fuse the first driving trajectories in each historical driving trajectory to obtain a first fused trajectory; Fuse the second driving trajectories in each historical driving trajectory to obtain a second fused trajectory; Splice the first fused trajectory and the second fused trajectory to obtain the vehicle driving trajectory corresponding to the cluster.

10. A method and device for generating intersection guiding lines, characterized in that, The device includes: An obtaining module, configured to obtain vehicle driving trajectories within the target area to which the target intersection belongs; A first determining module, configured to determine a first trajectory and a second trajectory in the vehicle driving trajectory, where the first trajectory is the trajectory before the vehicle enters the target intersection, and the second trajectory is the trajectory after the vehicle leaves the target intersection; A second determining module, configured to determine a target control point according to the first trajectory and the second trajectory; A generating module, configured to generate a guiding line corresponding to the target intersection based on the target control point; A processing module, configured to generate a road topology map corresponding to the target area according to the target map corresponding to the target area and the guiding line; The second determining module is specifically configured to: Determine the first center line of the lane corresponding to the first trajectory and the second center line of the lane corresponding to the second trajectory; Determine the target control point according to the first lane center line, the second lane center line, the first section of trajectory, and the second section of trajectory.

11. An electronic device, characterized in that, Comprising: A processor; A memory for storing instructions executable by the processor; wherein the processor is configured to implement the steps of the method according to any one of claims 1-9.

12. A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor, capable of executing the steps of the method according to any one of claims 1-9.

13. A computer program product, characterized in that, Comprising a computer program, which when executed by a processor implements the method according to any one of claims 1-9.

14. A chip, characterized in that, The chip includes a processing unit and an interface circuit. The processing unit obtains program instructions through the interface circuit, and the program instructions are executed by the processing unit. The processing unit is used to execute the steps of the method according to any one of claims 1-9.

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